+ python -m lidar_slam --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.8 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters 0.8661243681654821 Centerline is valid? [0, False] SLAMing on 0.062557844 meters SLAMing on 0.122557844 meters 0.7862394587515273 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999982e-01 1.66014043e-04 -9.07503634e-05 3.52458881e-04] [-1.65984910e-04 9.99999935e-01 3.20937109e-04 -2.03163270e-03] [ 9.08036375e-05 -3.20922040e-04 9.99999944e-01 1.71166970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182557844 meters 0.7030746176340001 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.01 [[ 9.99996547e-01 -2.61578738e-03 2.50296633e-04 -6.22436988e-03] [ 2.61642055e-03 9.99993291e-01 -2.56372653e-03 -3.45706141e-03] [-2.43588790e-04 2.56437256e-03 9.99996682e-01 6.68821771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242557844 meters 0.7632444929474187 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99993327e-01 -3.62768428e-03 -4.30506028e-04 3.30915557e-03] [ 3.62642929e-03 9.99989274e-01 -2.88097925e-03 -6.39827287e-03] [ 4.40952693e-04 2.87939883e-03 9.99995757e-01 -1.76929753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30255784399999996 meters 0.9207086428685239 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.01 [[ 9.99988586e-01 -4.77555051e-03 1.45808291e-04 -4.80970661e-03] [ 4.77594188e-03 9.99984638e-01 -2.81337973e-03 -1.26008196e-02] [-1.32370614e-04 2.81404399e-03 9.99996032e-01 6.72085746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36255784399999996 meters 0.9184976846874184 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.01 [[ 9.99989190e-01 -4.64929866e-03 5.88175381e-05 -4.47835089e-03] [ 4.64943432e-03 9.99985897e-01 -2.56676924e-03 -1.41527836e-02] [-4.68830318e-05 2.56701496e-03 9.99996704e-01 6.85021309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42255784399999996 meters 0.5591913181867634 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99984013e-01 -5.62300675e-03 -5.96721508e-04 5.71396864e-03] [ 5.62113578e-03 9.99979421e-01 -3.09209708e-03 -1.50310452e-02] [ 6.14096111e-04 3.08869339e-03 9.99995041e-01 -2.44116132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48255784399999996 meters 0.9622948477541665 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.01 [[ 9.99976037e-01 -6.92259184e-03 -6.15816015e-05 -3.70629980e-03] [ 6.92231108e-03 9.99968959e-01 -3.76338403e-03 -1.68147840e-02] [ 8.76320615e-05 3.76286756e-03 9.99992917e-01 6.75839932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5425578440000001 meters 0.5369254595548939 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:0.00 [[ 9.99988633e-01 -4.71181176e-03 -7.29785078e-04 3.14987440e-03] [ 4.71133739e-03 9.99988690e-01 -6.50381507e-04 -1.83971497e-02] [ 7.32841300e-04 6.46935851e-04 9.99999522e-01 7.85589652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602557844 meters SLAMing on 0.662557844 meters 0.5654718370387511 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999229e-01 4.71995628e-05 -1.24074779e-03 1.07707417e-02] [-4.32110879e-05 9.99994833e-01 3.21440377e-03 -1.19948382e-02] [ 1.24089310e-03 -3.21434768e-03 9.99994064e-01 -6.13976865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722557844 meters 0.5044020212144541 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99999147e-01 1.18917393e-03 -5.40542898e-04 1.80737064e-03] [-1.18738237e-03 9.99993841e-01 3.30269231e-03 -6.20056013e-03] [ 5.44467044e-04 -3.30204766e-03 9.99994400e-01 2.33634197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters 0.5350843009942258 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99999644e-01 6.17637347e-04 -5.74418493e-04 2.00435382e-03] [-6.16583481e-04 9.99998130e-01 1.83303609e-03 2.99012436e-03] [ 5.75549571e-04 -1.83268126e-03 9.99998155e-01 1.72033757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842557844 meters 0.6416376897489197 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 0.99999805 0.00152664 -0.00125569 0.01134846] [-0.00152449 0.99999737 0.00171551 0.0109282 ] [ 0.00125831 -0.00171359 0.99999774 -0.00660833] [ 0. 0. 0. 1. ]] SLAMing on 0.9025578439999999 meters SLAMing on 0.962557844 meters SLAMing on 1.022557844 meters SLAMing on 1.082557844 meters SLAMing on 1.142557844 meters SLAMing on 1.202557844 meters SLAMing on 1.262557844 meters 0.7526321513056342 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.01 [[ 9.99780558e-01 2.09413313e-02 -5.44019103e-04 -4.99776049e-02] [-2.09401135e-02 9.99778409e-01 2.15525147e-03 6.59802126e-03] [ 5.89032388e-04 -2.14338670e-03 9.99997529e-01 1.14001044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3225578439999999 meters 0.7466664107523829 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.00, Z:0.01 [[ 9.99978352e-01 6.56548416e-03 4.36368774e-04 -5.23783044e-02] [-6.56896382e-03 9.99942138e-01 8.51880473e-03 1.95933248e-03] [-3.80413447e-04 -8.52148680e-03 9.99963619e-01 1.19992050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382557844 meters 0.7224601232019475 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:0.02 [[ 9.99998919e-01 6.09896904e-04 1.33784073e-03 -5.85599894e-02] [-6.14375145e-04 9.99994202e-01 3.34951222e-03 2.61810453e-03] [-1.33579011e-03 -3.35033053e-03 9.99993495e-01 1.63810497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442557844 meters 0.7007857030111283 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.02 [[ 9.99998933e-01 8.64370717e-04 1.17756080e-03 -5.80488430e-02] [-8.69020324e-04 9.99991806e-01 3.95373372e-03 -9.70255616e-04] [-1.17413366e-03 -3.95475283e-03 9.99991491e-01 1.66606115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502557844 meters 0.691395363354636 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.02 [[ 0.99999871 0.00117844 0.0010884 -0.05771635] [-0.00118342 0.99998878 0.00458724 -0.00481831] [-0.00108298 -0.00458853 0.99998889 0.01679071] [ 0. 0. 0. 1. ]] SLAMing on 1.562557844 meters 0.6752194205149435 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.02 [[ 0.99999854 0.00130437 0.00110781 -0.05773597] [-0.00130974 0.99998735 0.00485732 -0.00643351] [-0.00110146 -0.00485877 0.99998759 0.01669311] [ 0. 0. 0. 1. ]] SLAMing on 1.622557844 meters 1.037107848038172 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.02 [[ 0.99999833 0.0014883 0.00105639 -0.05757611] [-0.00149383 0.99998511 0.00524908 -0.00876579] [-0.00104856 -0.00525065 0.99998567 0.01681415] [ 0. 0. 0. 1. ]] SLAMing on 1.682557844 meters 1.0372562215971426 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.00, Z:0.03 [[ 0.99998723 0.00456929 0.00215764 -0.05097514] [-0.00456492 0.99998753 -0.00202584 -0.00406524] [-0.00216687 0.00201597 0.99999562 0.03390054] [ 0. 0. 0. 1. ]] SLAMing on 1.742557844 meters 0.614124404320268 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.04 [[ 9.99998346e-01 4.52521980e-04 -1.76166546e-03 -2.62844828e-02] [-4.51060026e-04 9.99999554e-01 8.30179332e-04 -5.73645951e-03] [ 1.76204035e-03 -8.29383342e-04 9.99998104e-01 3.51956798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8025578439999999 meters 0.6818065472730307 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.04 [[ 9.99998052e-01 8.03296292e-04 -1.80304869e-03 -2.61661880e-02] [-8.00450132e-04 9.99998434e-01 1.57869345e-03 -1.00913657e-02] [ 1.80431402e-03 -1.57724712e-03 9.99997128e-01 3.53830161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.862557844 meters 0.7733027754734564 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.01, Z:0.04 [[ 9.99998761e-01 -6.35505317e-04 -1.43989084e-03 -3.16078782e-02] [ 6.36194924e-04 9.99999683e-01 4.78522785e-04 -1.18682568e-02] [ 1.43958628e-03 -4.79438243e-04 9.99998849e-01 4.08464887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.922557844 meters 0.7634548335615887 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.04 [[ 9.99998908e-01 -3.44733694e-04 -1.43685549e-03 -3.15643424e-02] [ 3.46360308e-04 9.99999299e-01 1.13196995e-03 -1.56016186e-02] [ 1.43646426e-03 -1.13246638e-03 9.99998327e-01 4.08311581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.982557844 meters 0.6496259223544678 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.02, Z:0.08 [[ 9.99947423e-01 3.92302307e-05 1.02542624e-02 -7.42480676e-02] [-7.68137627e-05 9.99993282e-01 3.66479376e-03 -2.48314652e-02] [-1.02540497e-02 -3.66538875e-03 9.99940708e-01 7.78962085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042557844 meters 0.679777338027437 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:0.08 [[ 0.99993769 -0.00195859 0.01098955 -0.08125372] [ 0.00193831 0.9999964 0.00185596 -0.02660688] [-0.01099315 -0.00183454 0.99993789 0.08435775] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters 0.6018072514108157 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:0.09 [[ 9.99924568e-01 -3.85832561e-03 1.16606500e-02 -8.75650615e-02] [ 3.84718391e-03 9.99992122e-01 9.77775493e-04 -3.49195831e-02] [-1.16643307e-02 -9.32841072e-04 9.99931534e-01 9.08016129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162557844 meters 0.4936390402770474 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.10 [[ 9.99905490e-01 -5.81494168e-03 1.24578375e-02 -9.46061885e-02] [ 5.82519274e-03 9.99982724e-01 -7.86732107e-04 -3.67594512e-02] [-1.24530475e-02 8.59227058e-04 9.99922089e-01 9.70663186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.222557844 meters 0.5610609941937384 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:0.10 [[ 9.99911659e-01 -5.09526638e-03 1.22764720e-02 -9.40222072e-02] [ 5.08438918e-03 9.99986654e-01 9.17067358e-04 -4.60869210e-02] [-1.22809809e-02 -8.54567982e-04 9.99924221e-01 9.74395341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.282557844 meters 0.48201387826610353 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.05, Z:0.10 [[ 0.99991392 -0.00480911 0.01220772 -0.09383036] [ 0.00478976 0.99998723 0.00161422 -0.04983079] [-0.01221533 -0.0015556 0.99992418 0.09773857] [ 0. 0. 0. 1. ]] SLAMing on 2.342557844 meters 0.26670060321445727 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.10 [[ 0.99990807 -0.00242935 0.01333996 -0.10017049] [ 0.00236181 0.99998433 0.00507645 -0.06070243] [-0.01335208 -0.00504448 0.99989813 0.10322857] [ 0. 0. 0. 1. ]] SLAMing on 2.402557844 meters 0.2620277485049941 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.10 [[ 0.99990911 -0.00223678 0.01329564 -0.10007576] [ 0.00216277 0.9999821 0.00557817 -0.06334058] [-0.01330788 -0.00554891 0.99989605 0.10345366] [ 0. 0. 0. 1. ]] SLAMing on 2.462557844 meters 0.2576606618082702 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.10 [[ 0.99991318 -0.00402078 0.01254854 -0.09342095] [ 0.00397482 0.99998531 0.00368561 -0.06389833] [-0.01256317 -0.00363541 0.99991447 0.0975455 ] [ 0. 0. 0. 1. ]] SLAMing on 2.522557844 meters 0.2586026103974187 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.07, Z:0.11 [[ 0.99998989 -0.00425194 0.00146189 -0.06425665] [ 0.00424857 0.99998833 0.00229994 -0.06519626] [-0.00147165 -0.00229371 0.99999629 0.10913422] [ 0. 0. 0. 1. ]] SLAMing on 2.582557844 meters 0.23306692988734834 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.11 [[ 0.99999836 0.00132634 -0.0012294 -0.08401257] [-0.00132896 0.99999685 -0.00212919 -0.06357223] [ 0.00122657 0.00213082 0.99999698 0.10977188] [ 0. 0. 0. 1. ]] SLAMing on 2.6425578439999997 meters 0.22586566640134678 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.11 [[ 0.9999986 0.00117417 -0.00118845 -0.08416178] [-0.00117719 0.99999606 -0.00254902 -0.06142545] [ 0.00118545 0.00255042 0.99999605 0.10979868] [ 0. 0. 0. 1. ]] SLAMing on 2.7025578439999998 meters 0.23068654021598367 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.10 [[ 9.99992867e-01 3.19277365e-03 -2.01805860e-03 -7.74462785e-02] [-3.19421519e-03 9.99994645e-01 -7.11503116e-04 -5.93847929e-02] [ 2.01577612e-03 7.17944154e-04 9.99997711e-01 1.04272519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.762557844 meters 0.22447044476990918 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.11 [[ 9.99992532e-01 3.16974411e-03 -2.21081548e-03 -7.71547927e-02] [-3.17153083e-03 9.99994647e-01 -8.05135243e-04 -5.88296696e-02] [ 2.20825158e-03 8.12140900e-04 9.99997232e-01 1.05091359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.822557844 meters 0.2254103686276559 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.10 [[ 0.99999078 -0.00411408 0.00123152 -0.05635847] [ 0.00411175 0.99998975 0.00189381 -0.05799492] [-0.0012393 -0.00188873 0.99999745 0.10342742] [ 0. 0. 0. 1. ]] SLAMing on 2.882557844 meters 0.21873813400583061 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.11 [[ 9.99990201e-01 -4.39226336e-03 5.53483781e-04 -5.56534840e-02] [ 4.39122525e-03 9.99988623e-01 1.86305265e-03 -5.80020546e-02] [-5.61660502e-04 -1.86060392e-03 9.99998111e-01 1.06042674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942557844 meters 0.2174683451023154 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.06, Z:0.11 [[ 0.99999592 0.00135854 -0.00251115 -0.08003673] [-0.00136345 0.99999716 -0.00195528 -0.0587691 ] [ 0.00250849 0.00195869 0.99999494 0.1131245 ] [ 0. 0. 0. 1. ]] SLAMing on 3.002557844 meters 0.21744703709000054 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.11 [[ 9.99997683e-01 1.98131962e-03 -8.41911739e-04 -3.62865702e-02] [-1.98313460e-03 9.99995700e-01 -2.16044736e-03 -5.49428370e-02] [ 8.37627582e-04 2.16211198e-03 9.99997312e-01 1.12233528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062557844 meters 0.2174514076918913 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.11 [[ 9.99998035e-01 1.75223870e-03 -9.27548235e-04 -3.61241633e-02] [-1.75476903e-03 9.99994722e-01 -2.73423216e-03 -5.20157482e-02] [ 9.22752312e-04 2.73585442e-03 9.99995832e-01 1.12537486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122557844 meters 0.21649198999899807 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.11 [[ 0.99999838 0.00146894 -0.0010445 -0.03601175] [-0.00147251 0.99999305 -0.00342647 -0.04844242] [ 0.00103946 0.003428 0.99999358 0.11320909] [ 0. 0. 0. 1. ]] SLAMing on 3.1825578439999997 meters 0.21573445731831536 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.12 [[ 9.99969580e-01 -4.84962784e-03 -6.10898008e-03 -5.86772346e-02] [ 4.85194919e-03 9.99988163e-01 3.65226614e-04 -5.04216510e-02] [ 6.10713656e-03 -3.94855965e-04 9.99981273e-01 1.20466405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.242557844 meters 0.21684216051633612 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.11 [[ 9.99999046e-01 -1.11941498e-03 -8.09370660e-04 -3.50897922e-02] [ 1.11487692e-03 9.99983778e-01 -5.58578511e-03 -4.54812614e-02] [ 8.15610342e-04 5.58487743e-03 9.99984072e-01 1.12792103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.302557844 meters 0.21566607344879635 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.12 [[ 9.99999180e-01 -1.22143439e-03 -3.83555422e-04 -3.73192616e-02] [ 1.21974923e-03 9.99989736e-01 -4.36345812e-03 -5.22976391e-02] [ 3.88881163e-04 4.36298670e-03 9.99990407e-01 1.16340505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.362557844 meters 0.21524884360136062 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.12 [[ 9.99999361e-01 -1.00781787e-03 -5.13013469e-04 -3.71474836e-02] [ 1.00596811e-03 9.99993038e-01 -3.59323716e-03 -5.59591284e-02] [ 5.16631226e-04 3.59271878e-03 9.99993413e-01 1.17029838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422557844 meters 0.2161265990924761 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.12 [[ 9.99999538e-01 -7.61754503e-04 -5.86190674e-04 -3.70860729e-02] [ 7.60041485e-04 9.99995457e-01 -2.91698263e-03 -5.93419865e-02] [ 5.88410036e-04 2.91653576e-03 9.99995574e-01 1.17497015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482557844 meters 0.21750374296121955 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.12 [[ 9.99999526e-01 -7.21819494e-04 -6.53966517e-04 -3.72208724e-02] [ 7.19976183e-04 9.99995780e-01 -2.81452748e-03 -5.98310256e-02] [ 6.55995338e-04 2.81405531e-03 9.99995825e-01 1.18351972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542557844 meters 0.218771696514579 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.12 [[ 9.99999620e-01 -5.02229190e-04 -7.12910388e-04 -3.73458999e-02] [ 5.00621001e-04 9.99997334e-01 -2.25419637e-03 -6.26727732e-02] [ 7.14040611e-04 2.25383861e-03 9.99997205e-01 1.19169528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6025578439999997 meters 0.21945694763462387 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.11 [[ 0.99997698 -0.0048027 0.00479206 -0.01642797] [ 0.00478764 0.99998358 0.00315077 -0.06792818] [-0.00480711 -0.00312775 0.99998355 0.11417925] [ 0. 0. 0. 1. ]] SLAMing on 3.6625578439999997 meters 0.22006523933822913 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.12 [[ 9.99959456e-01 -7.15278094e-03 5.47021935e-03 -2.28468733e-02] [ 7.14768212e-03 9.99974003e-01 9.51088247e-04 -6.79034685e-02] [-5.47688006e-03 -9.11950297e-04 9.99984586e-01 1.21215901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.722557844 meters 0.22049393053393376 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.12 [[ 0.99996153 -0.00694837 0.00535343 -0.02286234] [ 0.00693955 0.99997453 0.00166576 -0.07123621] [-0.00536487 -0.00162854 0.99998428 0.1224379 ] [ 0. 0. 0. 1. ]] SLAMing on 3.782557844 meters 0.22129988329904923 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.12 [[ 0.9999639 -0.00677406 0.00512969 -0.02277622] [ 0.00676292 0.99997474 0.00218517 -0.07359413] [-0.00514436 -0.0021504 0.99998446 0.12393762] [ 0. 0. 0. 1. ]] SLAMing on 3.842557844 meters 0.2224488828604003 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.12 [[ 0.99996246 -0.00705661 0.00502788 -0.02279362] [ 0.0070494 0.9999741 0.00145069 -0.06982483] [-0.00503799 -0.00141519 0.99998631 0.12483547] [ 0. 0. 0. 1. ]] SLAMing on 3.902557844 meters 0.2232112441259659 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.13 [[ 9.99960350e-01 -7.35119753e-03 5.02581476e-03 -2.30681206e-02] [ 7.34871712e-03 9.99972867e-01 5.11822560e-04 -6.52439175e-02] [-5.02944091e-03 -4.74868975e-04 9.99987240e-01 1.25648684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962557844 meters 0.22494262877888685 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:0.13 [[ 9.99961689e-01 -5.01677101e-03 7.17310599e-03 1.76233194e-02] [ 5.00957643e-03 9.99986931e-01 1.02060891e-03 -5.70106539e-02] [-7.17813241e-03 -9.84635583e-04 9.99973752e-01 1.26926211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022557844 meters 0.22548008639662848 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:0.13 [[ 9.99959722e-01 -5.51657248e-03 7.07968430e-03 1.75871852e-02] [ 5.51808803e-03 9.99984756e-01 -1.94554164e-04 -5.08616264e-02] [-7.07850311e-03 2.33612649e-04 9.99974920e-01 1.27866287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082557844 meters 0.2262079084905556 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:0.13 [[ 0.99996086 -0.00584661 0.00663991 0.01804134] [ 0.00585381 0.9999823 -0.00106576 -0.04642357] [-0.00663356 0.00110458 0.99997739 0.13000985] [ 0. 0. 0. 1. ]] SLAMing on 4.142557844 meters 0.22648645154176456 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.14 [[ 9.99965790e-01 -3.95185907e-03 7.26650205e-03 1.21023757e-02] [ 3.94657488e-03 9.99991937e-01 7.41393475e-04 -4.46284554e-02] [-7.26937335e-03 -7.12690317e-04 9.99973324e-01 1.36216896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202557844 meters 0.22696058818168185 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.14 [[ 9.99965671e-01 -4.20114998e-03 7.14199266e-03 1.21267627e-02] [ 4.20058281e-03 9.99991173e-01 9.44119895e-05 -4.13931953e-02] [-7.14232626e-03 -6.44082168e-05 9.99974491e-01 1.37145893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262557844 meters 0.22876068201237426 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.14 [[ 9.99965296e-01 -4.46627246e-03 7.03270826e-03 1.19355251e-02] [ 4.47091177e-03 9.99989798e-01 -6.44092219e-04 -3.77945259e-02] [-7.02975982e-03 6.75512484e-04 9.99975063e-01 1.38425225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322557844 meters 0.22764553467847487 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.15 [[ 0.99999633 0.00198224 0.00184909 -0.01560419] [-0.00197548 0.9999914 -0.00364762 -0.03231577] [-0.0018563 0.00364396 0.99999164 0.15115899] [ 0. 0. 0. 1. ]] SLAMing on 4.382557844 meters 0.2297693539723563 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:0.15 [[ 9.99972177e-01 -2.98993131e-04 7.45362322e-03 5.10994413e-03] [ 2.73922083e-04 9.99994303e-01 3.36439946e-03 -3.46463877e-02] [-7.45458668e-03 -3.36226414e-03 9.99966562e-01 1.46354220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4425578439999995 meters 0.2319203261158695 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:0.16 [[ 9.99976895e-01 4.86743323e-03 4.74522304e-03 1.10702015e-02] [-4.86857609e-03 9.99988122e-01 2.29321858e-04 -1.93041484e-02] [-4.74405047e-03 -2.52419039e-04 9.99988715e-01 1.63997752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502557844 meters 0.2314967183269857 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.17 [[ 9.99997195e-01 -2.34022649e-03 3.65985196e-04 -1.51563220e-02] [ 2.33967714e-03 9.99996146e-01 1.49432356e-03 -1.11787192e-02] [-3.69480841e-04 -1.49346308e-03 9.99998817e-01 1.74620897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562557844 meters 0.2336714371175822 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:0.17 [[ 0.99999721 -0.00179082 0.0015377 0.0302195 ] [ 0.00178906 0.99999775 0.00114371 -0.00731872] [-0.00153974 -0.00114096 0.99999816 0.17196117] [ 0. 0. 0. 1. ]] SLAMing on 4.622557844 meters 0.23374484839039894 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.18 [[ 9.99971012e-01 7.00683426e-03 -2.97980069e-03 3.75845313e-03] [-7.00823630e-03 9.99975336e-01 -4.60330938e-04 2.03017767e-03] [ 2.97650173e-03 4.81200741e-04 9.99995454e-01 1.83061210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682557844 meters 0.23626533707795022 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:0.18 [[ 0.9999951 0.00252776 0.0018453 0.02261546] [-0.00253447 0.99999015 0.00364344 0.0100057 ] [-0.00183607 -0.0036481 0.99999166 0.18147113] [ 0. 0. 0. 1. ]] SLAMing on 4.742557844 meters 0.23841593007949266 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.19 [[ 0.99998589 0.00459308 0.00266919 0.01610079] [-0.00460399 0.99998101 0.00409565 0.0206398 ] [-0.00265033 -0.00410788 0.99998805 0.18909164] [ 0. 0. 0. 1. ]] SLAMing on 4.802557844 meters 0.23738675753091557 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.03, Z:0.20 [[ 0.99998842 0.00467204 0.00115107 -0.03361514] [-0.00467514 0.99998542 0.00270264 0.0283295 ] [-0.00113842 -0.00270799 0.99999569 0.19791295] [ 0. 0. 0. 1. ]] SLAMing on 4.8625578439999995 meters 0.24107561230844338 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:0.20 [[ 0.99998263 0.00539385 0.00237581 0.01068482] [-0.00539845 0.99998356 0.00193444 0.0385207 ] [-0.00236533 -0.00194723 0.99999531 0.19590641] [ 0. 0. 0. 1. ]] SLAMing on 4.922557844 meters 0.23949028594771865 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.05, Z:0.21 [[ 0.99999274 -0.0017699 0.00337342 -0.02762624] [ 0.00175918 0.9999934 0.00317895 0.04573204] [-0.00337903 -0.003173 0.99998926 0.2127631 ] [ 0. 0. 0. 1. ]] SLAMing on 4.982557844 meters 0.24037316280767052 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.05, Z:0.21 [[ 0.99999269 -0.00195279 0.00328703 -0.02789269] [ 0.00194389 0.99999445 0.00270632 0.04806498] [-0.00329229 -0.00269991 0.99999094 0.21400597] [ 0. 0. 0. 1. ]] SLAMing on 5.042557844 meters 0.24177026374558747 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.05, Z:0.23 [[ 9.99982295e-01 5.94110807e-03 -3.37336626e-04 -5.69763146e-02] [-5.94099596e-03 9.99982297e-01 3.32380581e-04 5.30856471e-02] [ 3.39305363e-04 -3.30370580e-04 9.99999888e-01 2.26018822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102557844 meters 0.24381080632128363 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.06, Z:0.23 [[ 9.99988274e-01 4.84172791e-03 -9.76892166e-05 -6.04871009e-02] [-4.84188774e-03 9.99986819e-01 -1.70821542e-03 5.99369118e-02] [ 8.94172147e-05 1.70866839e-03 9.99998536e-01 2.30826477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162557844 meters 0.2449188538583209 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.06, Z:0.24 [[ 9.99975414e-01 6.97307208e-03 7.39550327e-04 -6.73118904e-02] [-6.97324529e-03 9.99975660e-01 2.31890009e-04 6.18002815e-02] [-7.37915340e-04 -2.37041374e-04 9.99999700e-01 2.37495072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222557844 meters 0.24678721419616587 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.24 [[ 9.99976513e-01 5.75206692e-03 3.72662426e-03 -3.11052616e-02] [-5.74917959e-03 9.99983165e-01 -7.85034689e-04 6.30826475e-02] [-3.73107709e-03 7.63591219e-04 9.99992748e-01 2.42459172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282557843999999 meters 0.2477754226639974 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.24 [[ 9.99975665e-01 5.98381104e-03 3.58646984e-03 -3.11095913e-02] [-5.98311106e-03 9.99982080e-01 -2.05870833e-04 6.01590287e-02] [-3.58763747e-03 1.84407575e-04 9.99993547e-01 2.43542071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342557844 meters 0.2503006959047705 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.06, Z:0.25 [[ 9.99997953e-01 -6.94941516e-04 1.90028539e-03 -5.70066231e-02] [ 6.89845539e-04 9.99996168e-01 2.68103207e-03 6.43598232e-02] [-1.90214127e-03 -2.67971568e-03 9.99994600e-01 2.49562531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4025578439999995 meters 0.2501152710334538 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.07, Z:0.26 [[ 9.99994726e-01 -3.43132572e-04 3.22971603e-03 -6.77781186e-02] [ 3.34425208e-04 9.99996309e-01 2.69616929e-03 6.55825545e-02] [-3.23062925e-03 -2.69507497e-03 9.99991150e-01 2.60721159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462557844 meters 0.2507389574974727 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.07, Z:0.27 [[ 9.99988958e-01 -2.27960379e-03 4.10949078e-03 -7.42754343e-02] [ 2.27758441e-03 9.99997283e-01 4.96007413e-04 6.88783898e-02] [-4.11061032e-03 -4.86642224e-04 9.99991433e-01 2.67033014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522557844 meters 0.25077995210685833 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.06, Z:0.27 [[ 9.99975731e-01 -4.48626555e-03 5.33018380e-03 -3.40137082e-02] [ 4.48843815e-03 9.99989849e-01 -3.95710747e-04 6.34401626e-02] [-5.32835443e-03 4.19625344e-04 9.99985716e-01 2.70068557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582557844 meters 0.24994319313325059 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.06, Z:0.28 [[ 0.99995972 -0.00675081 0.0059144 -0.03959345] [ 0.00676136 0.99997558 -0.00176505 0.05712482] [-0.00590234 0.00180497 0.99998095 0.27653318] [ 0. 0. 0. 1. ]] SLAMing on 5.642557844 meters 0.2509664312184473 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.05, Z:0.28 [[ 9.99963491e-01 -6.38235484e-03 5.68182339e-03 -3.93995568e-02] [ 6.38729768e-03 9.99979238e-01 -8.52217794e-04 5.26692126e-02] [-5.67626627e-03 8.88478177e-04 9.99983495e-01 2.77929024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702557844 meters 0.25177109512974327 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.04, Z:0.29 [[ 0.99999192 0.00120215 0.00383612 -0.07268754] [-0.00119515 0.99999762 -0.00182703 0.03997994] [-0.0038383 0.00182243 0.99999097 0.29333427] [ 0. 0. 0. 1. ]] SLAMing on 5.762557844 meters 0.25477288705103 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.04, Z:0.30 [[ 9.99992710e-01 1.55913883e-03 3.48552292e-03 -7.25504048e-02] [-1.55575897e-03 9.99998317e-01 -9.72186784e-04 3.56217382e-02] [-3.48703283e-03 9.66757063e-04 9.99993453e-01 2.95642065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822557843999999 meters 0.25732279864458873 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.03, Z:0.30 [[ 9.99992672e-01 2.05826813e-03 3.22788406e-03 -7.24769559e-02] [-2.05897314e-03 9.99997857e-01 2.15104525e-04 2.96616856e-02] [-3.22743440e-03 -2.21749075e-04 9.99994767e-01 2.97454604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882557844 meters 0.25634003208267725 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.02, Z:0.32 [[ 9.99993985e-01 6.97566953e-04 -3.39753587e-03 -8.78066687e-02] [-7.00166131e-04 9.99999463e-01 -7.63889122e-04 1.72270046e-02] [ 3.39700119e-03 7.66263366e-04 9.99993937e-01 3.19331544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9425578439999995 meters 0.25729847163149355 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.01, Z:0.32 [[ 9.99996596e-01 1.02516286e-04 -2.60715772e-03 -4.72200003e-02] [-1.02709065e-04 9.99999992e-01 -7.38083015e-05 8.13711666e-03] [ 2.60715013e-03 7.40758290e-05 9.99996599e-01 3.22794682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002557844 meters 0.2588936607941355 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.00, Z:0.32 [[ 9.99995967e-01 6.39999063e-04 -2.76698471e-03 -4.74989411e-02] [-6.36106045e-04 9.99998807e-01 1.40760449e-03 9.27844082e-04] [ 2.76788228e-03 -1.40583871e-03 9.99995181e-01 3.24652982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062557844 meters 0.2584668694126506 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.00, Z:0.33 [[ 9.99997024e-01 -1.42095585e-03 -1.98292402e-03 -5.41341926e-02] [ 1.42011444e-03 9.99998901e-01 -4.25670359e-04 -4.25494226e-04] [ 1.98352670e-03 4.22853114e-04 9.99997943e-01 3.30969345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122557844 meters 0.2573824107623396 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.00, Z:0.34 [[ 0.99999278 -0.00356519 -0.00131712 -0.06061642] [ 0.0035625 0.99999157 -0.0020396 -0.0044989 ] [ 0.00132438 0.00203489 0.99999705 0.3379551 ] [ 0. 0. 0. 1. ]] SLAMing on 6.182557844 meters 0.26011334854092255 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.01, Z:0.34 [[ 0.99999334 -0.00333165 -0.00149064 -0.06048402] [ 0.0033295 0.99999342 -0.00144138 -0.00735574] [ 0.00149543 0.00143641 0.99999785 0.33895405] [ 0. 0. 0. 1. ]] SLAMing on 6.242557844 meters 0.26038161738783133 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.34 [[ 0.9999853 0.005145 0.00171137 -0.04164085] [-0.00514039 0.99998318 -0.00268664 -0.01065936] [-0.00172516 0.00267781 0.99999493 0.34001711] [ 0. 0. 0. 1. ]] SLAMing on 6.302557844 meters 0.25646627217767276 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.36 [[ 0.99998793 0.00477632 -0.00115155 -0.03746204] [-0.00477231 0.99998265 0.00345318 -0.02013556] [ 0.00116802 -0.00344765 0.99999337 0.35728849] [ 0. 0. 0. 1. ]] SLAMing on 6.3625578439999995 meters 0.25720383571983385 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.36 [[ 9.99999194e-01 4.51622668e-04 -1.18674146e-03 -3.80548308e-02] [-4.52615682e-04 9.99999548e-01 -8.36621455e-04 -2.00801220e-02] [ 1.18636309e-03 8.37157919e-04 9.99998946e-01 3.58886779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422557844 meters 0.25757947787762553 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:0.36 [[ 9.99998712e-01 8.85766512e-04 -1.33875626e-03 -3.83106200e-02] [-8.85313229e-04 9.99999551e-01 3.39140170e-04 -2.57087628e-02] [ 1.33905606e-03 -3.37954515e-04 9.99999046e-01 3.60620906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482557844 meters 0.25804426482686743 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:0.37 [[ 9.99999478e-01 -8.30505898e-04 -5.95762405e-04 -4.37933699e-02] [ 8.29555180e-04 9.99998385e-01 -1.59427749e-03 -2.25466529e-02] [ 5.97085500e-04 1.59378244e-03 9.99998552e-01 3.65840542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542557844 meters 0.2608339904664859 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.37 [[ 9.99998670e-01 -1.12261029e-04 1.62704671e-03 -8.97189118e-03] [ 1.13479144e-04 9.99999713e-01 -7.48593119e-04 -2.85669004e-02] [-1.62696220e-03 7.48776759e-04 9.99998396e-01 3.73105783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602557844 meters 0.26126768055640437 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.38 [[ 9.99998965e-01 9.46239190e-04 1.08408030e-03 -8.44317809e-03] [-9.47539551e-04 9.99998832e-01 1.19962026e-03 -3.88402334e-02] [-1.08294390e-03 -1.20064623e-03 9.99998693e-01 3.75619286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662557844 meters 0.2625820533796766 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.38 [[ 9.99998696e-01 1.41361969e-03 7.80477977e-04 -8.06598481e-03] [-1.41538839e-03 9.99996421e-01 2.27029261e-03 -4.39827288e-02] [-7.77265853e-04 -2.27139433e-03 9.99997118e-01 3.77013987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722557844 meters 0.26115198342836315 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.39 [[ 9.99998771e-01 9.71541423e-05 1.56448319e-03 -6.20913933e-02] [-1.01405033e-04 9.99996303e-01 2.71727118e-03 -5.23592875e-02] [-1.56421342e-03 -2.71742649e-03 9.99995084e-01 3.89067621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782557843999999 meters 0.2632809110374146 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.39 [[ 9.99999826e-01 2.78851905e-04 5.19928988e-04 -6.19291147e-02] [-2.80561163e-04 9.99994548e-01 3.29031366e-03 -5.69683843e-02] [-5.19008643e-04 -3.29045896e-03 9.99994452e-01 3.93893951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842557844 meters 0.2655171102490327 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.39 [[ 9.99999749e-01 6.37694990e-04 3.08647045e-04 -6.15488631e-02] [-6.38958835e-04 9.99991341e-01 4.11216183e-03 -6.08544743e-02] [-3.06022068e-04 -4.11235801e-03 9.99991497e-01 3.94677799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9025578439999995 meters 0.262789366047089 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.06, Z:0.41 [[ 0.99999096 0.00269096 -0.00329268 -0.09341349] [-0.00269828 0.99999389 -0.00222059 -0.06101728] [ 0.00328669 0.00222945 0.99999211 0.40896551] [ 0. 0. 0. 1. ]] SLAMing on 6.962557844 meters 0.2643106969494461 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.07, Z:0.41 [[ 9.99986859e-01 3.52061556e-03 -3.72658561e-03 -9.43531371e-02] [-3.52134366e-03 9.99993782e-01 -1.88837285e-04 -6.99244818e-02] [ 3.72589761e-03 2.01957392e-04 9.99993038e-01 4.13046560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022557844 meters 0.2657374726243152 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:0.41 [[ 9.99997248e-01 -2.20820469e-03 7.92153243e-04 -7.29985279e-02] [ 2.20544464e-03 9.99991553e-01 3.46836319e-03 -7.61552387e-02] [-7.99805408e-04 -3.46660659e-03 9.99993671e-01 4.09965813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082557844 meters 0.2668927827091725 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.42 [[ 0.9999886 -0.00450377 0.00158779 -0.07982325] [ 0.00450184 0.99998912 0.00121854 -0.07665238] [-0.00159326 -0.00121138 0.999998 0.41738701] [ 0. 0. 0. 1. ]] SLAMing on 7.142557844 meters 0.26783583692652524 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.42 [[ 0.99998987 -0.00429229 0.00135458 -0.0797732 ] [ 0.00428992 0.99998926 0.00175127 -0.07913991] [-0.00136208 -0.00174544 0.99999755 0.41894164] [ 0. 0. 0. 1. ]] SLAMing on 7.202557843999999 meters 0.2676481582788082 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:0.43 [[ 9.99976817e-01 -6.48956393e-03 2.06172623e-03 -8.62357014e-02] [ 6.48975697e-03 9.99978938e-01 -8.69522415e-05 -8.19515091e-02] [-2.06111853e-03 1.00330328e-04 9.99997871e-01 4.26193666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262557844 meters 0.2703398290759543 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.43 [[ 9.99999057e-01 1.21919073e-03 6.32564573e-04 -6.80872643e-02] [-1.21781062e-03 9.99996888e-01 -2.17758967e-03 -8.63264677e-02] [-6.35217502e-04 2.17681727e-03 9.99997429e-01 4.32452557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322557843999999 meters 0.2703898005884226 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.43 [[ 9.99998725e-01 1.58907624e-03 1.59358303e-04 -6.74518794e-02] [-1.58885012e-03 9.99997745e-01 -1.40917557e-03 -9.01131352e-02] [-1.61597231e-04 1.40892057e-03 9.99998994e-01 4.34245705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382557844 meters 0.2721685642852722 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:0.43 [[ 0.99998712 -0.00263839 0.0043359 -0.04526552] [ 0.00262398 0.99999103 0.00332577 -0.09340535] [-0.00434463 -0.00331435 0.99998507 0.43170523] [ 0. 0. 0. 1. ]] SLAMing on 7.4425578439999995 meters 0.2725003993531595 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:0.44 [[ 0.99997523 -0.00485193 0.00509839 -0.05165018] [ 0.00484581 0.99998753 0.00121103 -0.0941531 ] [-0.0051042 -0.00118629 0.99998627 0.43833742] [ 0. 0. 0. 1. ]] SLAMing on 7.502557844 meters 0.2714560009765644 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.10, Z:0.45 [[ 9.99986037e-01 1.40003625e-03 5.09573660e-03 -7.93247500e-02] [-1.39837632e-03 9.99998968e-01 -3.29297264e-04 -1.04650109e-01] [-5.09619237e-03 3.22166908e-04 9.99986962e-01 4.46697257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562557844 meters 0.27295293065973 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.11, Z:0.45 [[ 9.99986858e-01 1.75910695e-03 4.81562438e-03 -7.91587483e-02] [-1.76202441e-03 9.99998267e-01 6.01656128e-04 -1.08971896e-01] [-4.81455765e-03 -6.10133468e-04 9.99988224e-01 4.48372790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622557844 meters 0.2748770779262122 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.12, Z:0.45 [[ 0.99998702 0.00226201 0.00456517 -0.07940522] [-0.00227062 0.99999565 0.00188154 -0.11510401] [-0.00456089 -0.00189188 0.99998781 0.4506438 ] [ 0. 0. 0. 1. ]] SLAMing on 7.682557844 meters 0.2751564505805922 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.46 [[ 9.99987017e-01 -4.04534718e-05 5.09556717e-03 -8.51997206e-02] [ 3.74642420e-05 9.99999827e-01 5.86727455e-04 -1.21395104e-01] [-5.09559002e-03 -5.86528936e-04 9.99986845e-01 4.57995078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742557843999999 meters 0.2753562821431038 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.46 [[ 9.99981264e-01 -2.38305774e-03 5.63848348e-03 -9.04937398e-02] [ 2.38599130e-03 9.99997022e-01 -5.13605835e-04 -1.29375643e-01] [-5.63724273e-03 5.27049585e-04 9.99983972e-01 4.64889873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802557844 meters 0.27726331945478033 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.47 [[ 9.99990027e-01 -1.65303012e-03 4.14879444e-03 -8.98811481e-02] [ 1.64909799e-03 9.99998188e-01 9.51019767e-04 -1.38354638e-01] [-4.15035899e-03 -9.44168514e-04 9.99990941e-01 4.70295905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8625578439999995 meters 0.2756412330914312 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.48 [[ 9.99982766e-01 5.38060809e-03 2.34897964e-03 -1.16914246e-01] [-5.37947080e-03 9.99985410e-01 -4.90214954e-04 -1.43126999e-01] [-2.35158302e-03 4.77570238e-04 9.99997121e-01 4.77982066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922557844 meters 0.27979637424631215 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.48 [[ 9.99959827e-01 8.82181488e-03 1.58771768e-03 -7.45745686e-02] [-8.82276609e-03 9.99960903e-01 5.93098162e-04 -1.39509130e-01] [-1.58242340e-03 -6.07082397e-04 9.99998564e-01 4.79565151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982557844 meters 0.282185624074016 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.49 [[ 9.99961938e-01 8.21707207e-03 2.93291247e-03 -8.50414023e-02] [-8.21755332e-03 9.99966224e-01 1.52075099e-04 -1.41664155e-01] [-2.93156379e-03 -1.76170675e-04 9.99995687e-01 4.91089728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042557844 meters 0.2803429686907362 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.14, Z:0.50 [[ 9.99992703e-01 -3.21931704e-03 2.05682935e-03 -1.13353124e-01] [ 3.22052359e-03 9.99994644e-01 -5.83566146e-04 -1.42431549e-01] [-2.05493965e-03 5.90185955e-04 9.99997714e-01 5.00694689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102557844 meters 0.2852925024261386 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.14, Z:0.51 [[ 9.99994143e-01 -1.46562126e-03 3.09291154e-03 -7.69142898e-02] [ 1.46440398e-03 9.99998849e-01 3.95800544e-04 -1.44065405e-01] [-3.09348807e-03 -3.91268954e-04 9.99995139e-01 5.06950803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162557844 meters 0.2835751935809731 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.52 [[ 0.9999958 0.00243211 0.00157395 -0.10817035] [-0.00242645 0.99999062 -0.00358774 -0.1480788 ] [-0.00158266 0.00358391 0.99999233 0.5193267 ] [ 0. 0. 0. 1. ]] SLAMing on 8.222557843999999 meters 0.2844422227193274 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.52 [[ 0.99999616 0.00244899 0.00129727 -0.10795715] [-0.00244442 0.99999083 -0.00351719 -0.14824155] [-0.00130587 0.00351401 0.99999297 0.52062588] [ 0. 0. 0. 1. ]] SLAMing on 8.282557844 meters 0.285604126710816 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.52 [[ 9.99996357e-01 2.55633861e-03 8.67199171e-04 -1.07957853e-01] [-2.55348886e-03 9.99991388e-01 -3.27149445e-03 -1.49134434e-01] [-8.75554751e-04 3.26926814e-03 9.99994273e-01 5.23082034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342557844 meters 0.2849932662314937 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.53 [[ 0.99998924 0.00440155 0.00146186 -0.11382701] [-0.00439991 0.99998969 -0.00112554 -0.15006965] [-0.00146679 0.00111909 0.9999983 0.53031042] [ 0. 0. 0. 1. ]] SLAMing on 8.402557844 meters 0.2869812114287747 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.53 [[ 9.99987718e-01 -3.17958958e-03 3.80177938e-03 -9.49218997e-02] [ 3.17829654e-03 9.99994889e-01 3.46108396e-04 -1.47820638e-01] [-3.80286043e-03 -3.34020963e-04 9.99992713e-01 5.33016055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462557843999999 meters 0.2853266095532344 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.54 [[ 0.99997439 -0.00559987 0.00445716 -0.10072463] [ 0.00560751 0.99998283 -0.00170446 -0.14914165] [-0.00444753 0.00172941 0.99998861 0.53924087] [ 0. 0. 0. 1. ]] SLAMing on 8.522557844 meters 0.284851197032388 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.54 [[ 9.99980407e-01 -4.74425386e-03 4.08376035e-03 -1.02493777e-01] [ 4.74487538e-03 9.99988733e-01 -1.42516774e-04 -1.53621433e-01] [-4.08303820e-03 1.61890916e-04 9.99991651e-01 5.44109332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582557844 meters 0.28889346313584696 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.55 [[ 0.99996758 -0.00577259 0.00561371 -0.06988362] [ 0.00577965 0.99998253 -0.00124135 -0.16048594] [-0.00560645 0.00127376 0.99998347 0.55312304] [ 0. 0. 0. 1. ]] SLAMing on 8.642557844 meters 0.2891174646689398 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.56 [[ 9.99971566e-01 -5.32960139e-03 5.33499931e-03 -7.02239316e-02] [ 5.32927143e-03 9.99985796e-01 7.60626243e-05 -1.65773930e-01] [-5.33532892e-03 -4.76288022e-05 9.99985766e-01 5.55576488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702557844 meters 0.28931770871105755 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.56 [[ 0.99997778 -0.00449774 0.00492078 -0.07227975] [ 0.00448689 0.99998748 0.00221492 -0.17807687] [-0.00493068 -0.0021928 0.99998544 0.56126352] [ 0. 0. 0. 1. ]] SLAMing on 8.762557844 meters 0.29054682009909166 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.57 [[ 0.99998568 -0.00339352 0.0041389 -0.07345797] [ 0.0033757 0.99998504 0.00430384 -0.18556715] [-0.00415344 -0.0042898 0.99998217 0.56654857] [ 0. 0. 0. 1. ]] SLAMing on 8.822557844 meters 0.2909499894428558 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.57 [[ 0.99998884 -0.00287838 0.00374725 -0.07343699] [ 0.00285802 0.99998119 0.0054273 -0.19094471] [-0.0037628 -0.00541653 0.99997825 0.56883871] [ 0. 0. 0. 1. ]] SLAMing on 8.882557843999999 meters 0.28986779295358295 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.19, Z:0.58 [[ 0.9999764 -0.00515472 0.00454215 -0.07969418] [ 0.00513883 0.99998066 0.00350413 -0.19369513] [-0.00456012 -0.0034807 0.99998354 0.5754167 ] [ 0. 0. 0. 1. ]] SLAMing on 8.942557844 meters 0.28964976496614103 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.20, Z:0.58 [[ 9.99982899e-01 3.17754737e-04 5.83961337e-03 -1.06569032e-01] [-3.28935349e-04 9.99998115e-01 1.91375432e-03 -2.03558966e-01] [-5.83899425e-03 -1.91564245e-03 9.99981118e-01 5.82761667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002557844 meters 0.29286708306856046 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.59 [[ 9.99980883e-01 7.42360297e-04 6.13866625e-03 -6.78758476e-02] [-7.49765561e-04 9.99998994e-01 1.20411778e-03 -2.05789269e-01] [-6.13776618e-03 -1.20869732e-03 9.99980433e-01 5.86133510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062557844 meters 0.2934240107225043 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.21, Z:0.59 [[ 9.99975194e-01 -1.68852132e-03 6.83808525e-03 -7.37807380e-02] [ 1.69260759e-03 9.99998392e-01 -5.91831798e-04 -2.09404825e-01] [-6.83707494e-03 6.03391312e-04 9.99976445e-01 5.92767282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122557844 meters 0.29377331710148674 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.21, Z:0.60 [[ 0.9999655 -0.00394464 0.00731042 -0.07965892] [ 0.00395885 0.9999903 -0.00193009 -0.21476564] [-0.00730274 0.00195896 0.99997142 0.6009866 ] [ 0. 0. 0. 1. ]] SLAMing on 9.182557844 meters 0.2962807711869166 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.60 [[ 9.99969995e-01 -1.76201727e-03 7.54349957e-03 -4.19008606e-02] [ 1.76804532e-03 9.99998123e-01 -7.92511677e-04 -2.18112665e-01] [-7.54208899e-03 8.05825147e-04 9.99971233e-01 6.04916809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242557844 meters 0.29623124891871183 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.62 [[ 0.99997223 0.00231032 0.00708511 -0.07765843] [-0.00228426 0.9999906 -0.00368454 -0.22329287] [-0.00709355 0.00366826 0.99996811 0.62085391] [ 0. 0. 0. 1. ]] SLAMing on 9.302557843999999 meters 0.2986119857408065 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.62 [[ 9.99936856e-01 -2.74243042e-03 1.08978816e-02 -5.67028320e-02] [ 2.74399523e-03 9.99996227e-01 -1.28638470e-04 -2.26721954e-01] [-1.08974877e-02 1.58534083e-04 9.99940608e-01 6.19881898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362557844 meters 0.29772308959686233 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.62 [[ 9.99939915e-01 -2.60496958e-03 1.06480480e-02 -5.69183863e-02] [ 2.60271763e-03 9.99996588e-01 2.25340906e-04 -2.27961235e-01] [-1.06485987e-02 -1.97613504e-04 9.99943283e-01 6.21910298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422557844 meters 0.29186308980751086 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.63 [[ 0.99994781 -0.00142251 0.01011669 -0.06036354] [ 0.00140195 0.99999694 0.00203921 -0.23296533] [-0.01011956 -0.00202492 0.99994675 0.6295201 ] [ 0. 0. 0. 1. ]] SLAMing on 9.482557844 meters 0.30017578030205677 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.63 [[ 0.99995083 -0.00142564 0.00981389 -0.06056332] [ 0.00140604 0.999997 0.00200404 -0.23242858] [-0.00981672 -0.00199014 0.99994983 0.63175785] [ 0. 0. 0. 1. ]] SLAMing on 9.542557844 meters 0.2936949142194315 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.64 [[ 9.99956582e-01 -1.00290004e-03 9.26431186e-03 -6.15788759e-02] [ 9.77869396e-04 9.99995861e-01 2.70596950e-03 -2.33870334e-01] [-9.26698733e-03 -2.69679273e-03 9.99953424e-01 6.35963458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844 meters 0.29435469928022273 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:0.64 [[ 9.99944273e-01 -3.47761933e-03 9.96780413e-03 -6.79090662e-02] [ 3.47889273e-03 9.99993943e-01 -1.10415670e-04 -2.30436600e-01] [-9.96735977e-03 1.45086438e-04 9.99950314e-01 6.42850643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662557844 meters 0.295284947255593 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:0.64 [[ 9.99945912e-01 -3.65909124e-03 9.73575305e-03 -6.77891166e-02] [ 3.66464500e-03 9.99993132e-01 -5.52672477e-04 -2.28286348e-01] [-9.73366391e-03 5.88320663e-04 9.99952454e-01 6.44040802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722557843999999 meters 0.29586000907007093 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.23, Z:0.65 [[ 0.99994719 -0.0038606 0.00952423 -0.06788552] [ 0.00387069 0.99999197 -0.00104169 -0.22583566] [-0.00952013 0.0010785 0.9999541 0.6455386 ] [ 0. 0. 0. 1. ]] SLAMing on 9.782557844 meters 0.2974392457286542 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.65 [[ 0.99994848 -0.00406983 0.00929929 -0.06850368] [ 0.00408494 0.99999037 -0.0016065 -0.22259079] [-0.00929266 0.00164441 0.99995547 0.64799073] [ 0. 0. 0. 1. ]] SLAMing on 9.842557844 meters 0.2974850132334908 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.22, Z:0.65 [[ 9.99944921e-01 -2.25345969e-03 1.02506606e-02 -7.48131409e-02] [ 2.25389868e-03 9.99997459e-01 -3.12727955e-05 -2.20138004e-01] [-1.02505641e-02 5.43750235e-05 9.99947460e-01 6.54006857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902557844 meters 0.29784294500951475 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.21, Z:0.66 [[ 9.99935701e-01 -6.93035122e-04 1.13187654e-02 -8.14117397e-02] [ 6.88874980e-04 9.99999694e-01 3.71438355e-04 -2.10919140e-01] [-1.13190194e-02 -3.63617257e-04 9.99935872e-01 6.60381265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962557843999999 meters 0.29901694542749163 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.20, Z:0.66 [[ 0.99993501 -0.00118963 0.01133841 -0.0821412 ] [ 0.00120106 0.99999878 -0.00100088 -0.20393122] [-0.0113372 0.00101443 0.99993522 0.66176544] [ 0. 0. 0. 1. ]] SLAMing on 10.022557844 meters 0.29897512548278055 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.20, Z:0.67 [[ 9.99891264e-01 -6.61976895e-04 1.47316693e-02 -9.44605720e-02] [ 6.84842200e-04 9.99998569e-01 -1.54712856e-03 -1.95590363e-01] [-1.47306240e-02 1.55704920e-03 9.99890286e-01 6.70116940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082557844 meters 0.30120998484471234 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.19, Z:0.67 [[ 9.99892309e-01 -9.52862727e-04 1.46445508e-02 -9.48473865e-02] [ 9.86554282e-04 9.99996883e-01 -2.29356861e-03 -1.91946490e-01] [-1.46423197e-02 2.30776926e-03 9.99890132e-01 6.71570613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142557843999999 meters 0.3011709682391303 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.19, Z:0.67 [[ 0.999892 -0.00132285 0.01463699 -0.09522386] [ 0.00137103 0.99999367 -0.00328223 -0.18732823] [-0.01463256 0.00330194 0.99988749 0.67255098] [ 0. 0. 0. 1. ]] SLAMing on 10.202557844 meters 0.30164703092680495 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.67 [[ 9.99890153e-01 2.37044607e-03 1.46308619e-02 -9.56313568e-02] [-2.36283186e-03 9.99997064e-01 -5.37685204e-04 -1.79568054e-01] [-1.46320935e-02 5.03055874e-04 9.99892819e-01 6.73733125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262557844 meters 0.30104419653849507 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.67 [[ 0.99988932 0.00214771 0.01472177 -0.096041 ] [-0.0021299 0.99999698 -0.00122473 -0.17653356] [-0.01472436 0.00119324 0.99989088 0.67426187] [ 0. 0. 0. 1. ]] SLAMing on 10.322557844 meters 0.3024994687828107 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.17, Z:0.68 [[ 0.99988706 0.00148421 0.01495556 -0.09706077] [-0.00144193 0.99999493 -0.00283792 -0.16670377] [-0.01495969 0.00281604 0.99988413 0.67518966] [ 0. 0. 0. 1. ]] SLAMing on 10.382557843999999 meters 0.3007256860487345 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.16, Z:0.68 [[ 9.99876732e-01 -5.66545933e-03 1.46431840e-02 -1.20269262e-01] [ 5.67234367e-03 9.99983820e-01 -4.28649066e-04 -1.60916017e-01] [-1.46405186e-02 5.11657400e-04 9.99892691e-01 6.77163430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442557844 meters 0.302329552625102 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.68 [[ 0.99983036 0.00303124 0.01816737 -0.10164556] [-0.00300285 0.99999423 -0.00158965 -0.16007532] [-0.01817208 0.00153483 0.9998337 0.67669876] [ 0. 0. 0. 1. ]] SLAMing on 10.502557844 meters 0.3022350564585845 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.68 [[ 9.99783223e-01 -4.63046415e-03 2.02993857e-02 -1.29316463e-01] [ 4.63262130e-03 9.99989268e-01 -5.92428909e-05 -1.53984968e-01] [-2.02988935e-02 1.53269415e-04 9.99793944e-01 6.80942620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562557843999999 meters 0.3038953406219486 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.68 [[ 9.99778304e-01 -4.69326901e-03 2.05259749e-02 -1.29782787e-01] [ 4.69953064e-03 9.99988924e-01 -2.56833074e-04 -1.53149003e-01] [-2.05245422e-02 3.53238583e-04 9.99789287e-01 6.80680502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622557844 meters 0.3032969621893757 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.68 [[ 9.99777774e-01 -4.89258510e-03 2.05052720e-02 -1.29991999e-01] [ 4.91184396e-03 9.99987542e-01 -8.88955618e-04 -1.50039012e-01] [-2.05006673e-02 9.89476765e-04 9.99789350e-01 6.81381667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682557844 meters 0.30233626861544965 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.15, Z:0.68 [[ 0.99977606 -0.00506699 0.02054659 -0.13034728] [ 0.00509867 0.99998589 -0.00148932 -0.14728613] [-0.02053876 0.00159375 0.99978779 0.68215278] [ 0. 0. 0. 1. ]] SLAMing on 10.742557844 meters 0.30293128457374496 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.68 [[ 0.99977271 -0.00521926 0.0206708 -0.13077458] [ 0.00526239 0.99998409 -0.00203265 -0.14494239] [-0.02065986 0.00214097 0.99978427 0.68262426] [ 0. 0. 0. 1. ]] SLAMing on 10.802557843999999 meters 0.30146178941486723 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:0.68 [[ 0.99973431 0.00372683 0.02274704 -0.15685241] [-0.00366932 0.99998997 -0.00256951 -0.14247935] [-0.02275639 0.00248536 0.99973795 0.68419442] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844 meters 0.30331146205087506 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.69 [[ 0.99975552 0.00397834 0.02175032 -0.11820445] [-0.00389846 0.9999855 -0.00371378 -0.14052028] [-0.02176478 0.00362808 0.99975654 0.68735433] [ 0. 0. 0. 1. ]] SLAMing on 10.922557844 meters 0.30152820389073237 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.69 [[ 9.99710091e-01 -1.69848921e-03 2.40177016e-02 -1.42679137e-01] [ 1.71313639e-03 9.99998359e-01 -5.89287101e-04 -1.31654432e-01] [-2.40166613e-02 6.30261860e-04 9.99711360e-01 6.88560095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982557844 meters 0.30049104671350163 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.69 [[ 9.99756704e-01 -1.01933030e-04 2.20572468e-02 -1.37352839e-01] [ 9.79566317e-05 9.99999979e-01 1.81356641e-04 -1.24894081e-01] [-2.20572648e-02 -1.79151864e-04 9.99756693e-01 6.86549593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042557844 meters 0.3008136633875782 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.69 [[ 9.99752552e-01 -4.60636805e-04 2.22401309e-02 -1.37803183e-01] [ 4.84484736e-04 9.99999313e-01 -1.06691649e-03 -1.19521019e-01] [-2.22396242e-02 1.07742749e-03 9.99752088e-01 6.86556029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102557844 meters 0.3008066769524193 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.11, Z:0.69 [[ 0.99974455 0.00295951 0.0224069 -0.13789962] [-0.00298559 0.9999949 0.00113047 -0.10892735] [-0.02240344 -0.00119707 0.99974829 0.68621672] [ 0. 0. 0. 1. ]] SLAMing on 11.162557844 meters 0.2992374128631494 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.69 [[ 0.99976893 0.00980734 0.01912842 -0.15699356] [-0.00977642 0.99995075 -0.00170907 -0.10132792] [-0.01914423 0.00152167 0.99981557 0.68621152] [ 0. 0. 0. 1. ]] SLAMing on 11.222557843999999 meters 0.2991183824593533 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.09, Z:0.69 [[ 9.99825403e-01 1.77778463e-03 1.86011441e-02 -1.76578910e-01] [-1.76442471e-03 9.99998174e-01 -7.34617609e-04 -9.00614624e-02] [-1.86024161e-02 7.01669029e-04 9.99826714e-01 6.85888487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282557844 meters 0.29881720550811214 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 0.99981474 0.00137093 0.01919914 -0.17785817] [-0.00132991 0.99999681 -0.00214919 -0.08447663] [-0.01920203 0.00212325 0.99981337 0.68618484] [ 0. 0. 0. 1. ]] SLAMing on 11.342557844 meters 0.3058255203264301 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 0.99981693 0.00118901 0.01909674 -0.17764801] [-0.00113901 0.9999959 -0.00262894 -0.08245473] [-0.01909979 0.00260671 0.99981418 0.68635596] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters 0.29992885733300595 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 9.99816283e-01 9.99005889e-04 1.91416570e-02 -1.77757574e-01] [-9.37858657e-04 9.99994430e-01 -3.20316933e-03 -8.00342598e-02] [-1.91447504e-02 3.18462868e-03 9.99811651e-01 6.86427207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462557843999999 meters 0.3067653822965254 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 9.99815719e-01 7.92342634e-04 1.91807058e-02 -1.77745718e-01] [-7.17666142e-04 9.99992138e-01 -3.89988333e-03 -7.71532774e-02] [-1.91836450e-02 3.88539931e-03 9.99808427e-01 6.86155444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522557844 meters 0.30507882737553305 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 9.99815657e-01 6.78068836e-04 1.91883184e-02 -1.77890642e-01] [-5.94221329e-04 9.99990253e-01 -4.37508048e-03 -7.52218421e-02] [-1.91910980e-02 4.36287186e-03 9.99806315e-01 6.86685504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582557844 meters 0.30349718577531665 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.69 [[ 9.99814387e-01 5.69900595e-04 1.92578857e-02 -1.78065881e-01] [-4.77499736e-04 9.99988355e-01 -4.80233672e-03 -7.35044106e-02] [-1.92603983e-02 4.79224971e-03 9.99803016e-01 6.86792391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642557843999999 meters 0.30011461860461874 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.07, Z:0.69 [[ 0.99982163 -0.0053734 0.01810617 -0.20191136] [ 0.00540294 0.99998415 -0.00158315 -0.07213365] [-0.01809737 0.0016807 0.99983482 0.68901206] [ 0. 0. 0. 1. ]] SLAMing on 11.702557844 meters 0.30584288985632296 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.69 [[ 9.99846123e-01 -4.61703458e-03 1.69237566e-02 -1.62384208e-01] [ 4.63118593e-03 9.99988958e-01 -7.97086175e-04 -7.37734944e-02] [-1.69198895e-02 8.75340585e-04 9.99856465e-01 6.91688624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762557844 meters 0.3022780561693006 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 0.99988998 0.00323365 0.01447626 -0.1799775 ] [-0.00320204 0.99999244 -0.00220625 -0.0776277 ] [-0.01448329 0.00215965 0.99989278 0.69010854] [ 0. 0. 0. 1. ]] SLAMing on 11.822557844 meters 0.30082559812650245 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.08, Z:0.69 [[ 0.99988997 0.00332455 0.01445694 -0.18004651] [-0.00329697 0.9999927 -0.00193118 -0.07877008] [-0.01446326 0.0018833 0.99989363 0.69038778] [ 0. 0. 0. 1. ]] SLAMing on 11.882557843999999 meters 0.3019582029810104 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.08, Z:0.69 [[ 9.99852372e-01 -4.47744656e-03 1.65887481e-02 -1.61831209e-01] [ 4.48183611e-03 9.99989931e-01 -2.27442742e-04 -7.61733106e-02] [-1.65875627e-02 3.01757216e-04 9.99862371e-01 6.91670602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942557844 meters 0.3004147357984214 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.69 [[ 0.99990848 0.00196833 0.01338463 -0.18279401] [-0.00192688 0.99999331 -0.00310936 -0.07306433] [-0.01339066 0.00308328 0.99990559 0.69341484] [ 0. 0. 0. 1. ]] SLAMing on 12.002557844 meters 0.30024905573972216 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.69 [[ 0.99991002 0.00184991 0.01328646 -0.18253729] [-0.00180352 0.99999224 -0.00350275 -0.07146614] [-0.01329283 0.00347847 0.9999056 0.69338815] [ 0. 0. 0. 1. ]] SLAMing on 12.062557843999999 meters 0.2996096918910994 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.69 [[ 0.99991054 0.00165487 0.013273 -0.1823939 ] [-0.00159844 0.99998965 -0.00426033 -0.06843816] [-0.01327991 0.00423873 0.99990283 0.69308748] [ 0. 0. 0. 1. ]] SLAMing on 12.122557844 meters 0.29940369174688536 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.69 [[ 0.99991107 0.00137098 0.01326568 -0.1824032 ] [-0.00130267 0.99998586 -0.00515629 -0.06478542] [-0.01327256 0.00513855 0.99989871 0.69321805] [ 0. 0. 0. 1. ]] SLAMing on 12.182557844 meters 0.29920814985950106 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.69 [[ 0.99991199 0.00128866 0.01320436 -0.1822634 ] [-0.00121758 0.99998473 -0.00538991 -0.06382135] [-0.01321111 0.00537336 0.99989829 0.69326985] [ 0. 0. 0. 1. ]] SLAMing on 12.242557844 meters 0.29873554688923093 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.69 [[ 0.9999127 0.00115221 0.01316314 -0.18196878] [-0.00107595 0.9999826 -0.00579932 -0.06215078] [-0.0131696 0.00578465 0.99989654 0.69276819] [ 0. 0. 0. 1. ]] SLAMing on 12.302557843999999 meters 0.29657150309696606 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.69 [[ 0.99991649 -0.00470868 0.01203514 -0.20445406] [ 0.0047417 0.99998507 -0.0027162 -0.05632617] [-0.01202217 0.00277304 0.99992389 0.69378188] [ 0. 0. 0. 1. ]] SLAMing on 12.362557844 meters 0.2964655019786876 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.69 [[ 0.99991665 -0.00485858 0.011962 -0.20432688] [ 0.00489663 0.99998304 -0.00315371 -0.05453688] [-0.01194647 0.00321202 0.99992348 0.69394913] [ 0. 0. 0. 1. ]] SLAMing on 12.422557844 meters 0.29932454425602567 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.69 [[ 0.99991822 0.00429844 0.01204443 -0.18237558] [-0.0042532 0.99998381 -0.00377908 -0.05763081] [-0.01206048 0.00372754 0.99992032 0.69289964] [ 0. 0. 0. 1. ]] SLAMing on 12.482557844 meters 0.2965748174905526 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.69 [[ 0.9999508 -0.00207269 0.0097005 -0.20351618] [ 0.00208287 0.99999729 -0.00103926 -0.0542212 ] [-0.00969832 0.00105942 0.99995241 0.69403908] [ 0. 0. 0. 1. ]] SLAMing on 12.542557844 meters 0.2987513174112863 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 9.99967082e-01 -1.46666350e-03 7.98019990e-03 -1.62207398e-01] [ 1.47378773e-03 9.99998521e-01 -8.86931653e-04 -5.33306832e-02] [-7.97888726e-03 8.98663578e-04 9.99967764e-01 6.95884851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602557844 meters 0.2988454374608093 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 0.99996726 -0.00161544 0.00792941 -0.16190489] [ 0.0016259 0.99999782 -0.00131233 -0.05160694] [-0.00792727 0.00132518 0.9999677 0.69545373] [ 0. 0. 0. 1. ]] SLAMing on 12.662557844 meters 0.29981739803556473 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.69 [[ 0.99996746 -0.00159461 0.00790859 -0.16170136] [ 0.00160452 0.99999794 -0.00124692 -0.05186983] [-0.00790659 0.00125957 0.99996795 0.69499747] [ 0. 0. 0. 1. ]] SLAMing on 12.722557843999999 meters 0.2972371530170546 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.70 [[ 0.99997719 0.00375151 0.00561741 -0.1833051 ] [-0.00372157 0.99997886 -0.00533166 -0.05144589] [-0.00563729 0.00531063 0.99997001 0.69579476] [ 0. 0. 0. 1. ]] SLAMing on 12.782557844 meters 0.29649297931107405 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.70 [[ 0.99997831 0.00367817 0.00546305 -0.18303841] [-0.00364788 0.99997798 -0.00554413 -0.05057949] [-0.00548333 0.00552408 0.99996971 0.69612797] [ 0. 0. 0. 1. ]] SLAMing on 12.842557844 meters 0.29829045559138506 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 0.99996568 -0.00156757 0.00813533 -0.16297821] [ 0.00157975 0.99999764 -0.00149119 -0.05006218] [-0.00813297 0.00150399 0.9999658 0.69672868] [ 0. 0. 0. 1. ]] SLAMing on 12.902557844 meters 0.29466242301237267 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 0.9999645 -0.00154107 0.00828347 -0.16348084] [ 0.00155281 0.9999978 -0.0014109 -0.05041323] [-0.00828128 0.00142371 0.9999647 0.69706197] [ 0. 0. 0. 1. ]] SLAMing on 12.962557843999999 meters 0.2971580290248715 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 0.99996596 -0.00141618 0.00812858 -0.16297536] [ 0.00142446 0.99999847 -0.00101247 -0.05200341] [-0.00812713 0.00102402 0.99996645 0.69669784] [ 0. 0. 0. 1. ]] SLAMing on 13.022557844 meters 0.29672810140734496 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 9.99968422e-01 -1.26077254e-03 7.84637462e-03 -1.62171455e-01] [ 1.26497678e-03 9.99999059e-01 -5.30879041e-04 -5.39406179e-02] [-7.84569792e-03 5.40787758e-04 9.99969076e-01 6.96317148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082557844 meters 0.297552728894801 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.70 [[ 9.99968076e-01 -1.09005135e-03 7.91572736e-03 -1.62509994e-01] [ 1.09033554e-03 9.99999405e-01 -3.15874284e-05 -5.59807426e-02] [-7.91568822e-03 4.02172189e-05 9.99968670e-01 6.96653611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142557843999999 meters 0.29502856475437306 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.70 [[ 9.99966968e-01 -1.08207636e-03 8.05557911e-03 -1.63108551e-01] [ 1.08219337e-03 9.99999414e-01 -1.01668115e-05 -5.61003804e-02] [-8.05556339e-03 1.88841700e-05 9.99967553e-01 6.97270690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202557844 meters 0.29465077254568145 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.70 [[ 9.99976487e-01 -9.20704341e-04 6.79548718e-03 -1.59839167e-01] [ 9.20041398e-04 9.99999572e-01 1.00681780e-04 -5.60601972e-02] [-6.79557696e-03 -9.44272828e-05 9.99976905e-01 6.96468569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262557844 meters 0.294910420212072 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 9.99977243e-01 -1.05760166e-03 6.66296695e-03 -1.59604461e-01] [ 1.05984697e-03 9.99999383e-01 -3.33462100e-04 -5.43708042e-02] [-6.66261017e-03 3.40516237e-04 9.99977747e-01 6.96738186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322557844 meters 0.2927083386978409 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 0.99996848 0.00114853 0.0078563 -0.16606135] [-0.00116167 0.99999793 0.00166843 -0.05415047] [-0.00785436 -0.00167751 0.99996775 0.70165562] [ 0. 0. 0. 1. ]] SLAMing on 13.382557843999999 meters 0.2933375594388126 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 0.99996875 0.0011145 0.00782687 -0.1660826 ] [-0.00112688 0.99999812 0.00157763 -0.05378542] [-0.00782509 -0.0015864 0.99996813 0.70188429] [ 0. 0. 0. 1. ]] SLAMing on 13.442557844 meters 0.29407572077896393 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 0.99996701 0.00110681 0.00804679 -0.16694789] [-0.00111939 0.99999816 0.00155811 -0.05368503] [-0.00804505 -0.00156707 0.99996641 0.70286061] [ 0. 0. 0. 1. ]] SLAMing on 13.502557844 meters 0.2932043009593055 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 0.99996601 0.00108121 0.00817365 -0.16765082] [-0.00109336 0.9999983 0.0014823 -0.0533615 ] [-0.00817203 -0.00149119 0.9999655 0.70394507] [ 0. 0. 0. 1. ]] SLAMing on 13.562557843999999 meters 0.29450173611945407 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.05, Z:0.71 [[ 9.99980275e-01 4.76603932e-04 6.26278708e-03 -1.26612479e-01] [-4.81140986e-04 9.99999623e-01 7.22959922e-04 -5.41800055e-02] [-6.26244016e-03 -7.25958946e-04 9.99980127e-01 7.06426560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622557844 meters 0.2931156001900742 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 9.99978719e-01 3.66902581e-04 6.51361727e-03 -1.66706691e-01] [-3.68867490e-04 9.99999887e-01 3.00463005e-04 -5.05237274e-02] [-6.51350630e-03 -3.02859273e-04 9.99978741e-01 7.04539417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844 meters 0.2938469636765901 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.70 [[ 0.99995747 -0.00539362 0.00748147 -0.14277615] [ 0.00536644 0.99997894 0.00364893 -0.04843551] [-0.00750099 -0.00360863 0.99996536 0.70309922] [ 0. 0. 0. 1. ]] SLAMing on 13.742557844 meters 0.2939441795228672 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.70 [[ 0.99995738 -0.00546391 0.00744137 -0.142765 ] [ 0.00543832 0.99997925 0.00345452 -0.04764478] [-0.00746009 -0.00341391 0.99996635 0.70331679] [ 0. 0. 0. 1. ]] SLAMing on 13.802557843999999 meters 0.2933784623735503 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.70 [[ 0.9999588 0.00338896 0.00842061 -0.16573966] [-0.00341029 0.99999101 0.0025199 -0.04887491] [-0.008412 -0.00254851 0.99996137 0.70321314] [ 0. 0. 0. 1. ]] SLAMing on 13.862557844 meters 0.29469652385248446 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.70 [[ 0.99996112 0.00326839 0.00818982 -0.16496936] [-0.00328605 0.9999923 0.00214337 -0.04735778] [-0.00818275 -0.0021702 0.99996417 0.70270314] [ 0. 0. 0. 1. ]] SLAMing on 13.922557844 meters 0.29339382850094686 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.04, Z:0.70 [[ 0.99997286 -0.00478473 0.00560225 -0.18375166] [ 0.00476771 0.99998399 0.003047 -0.04033647] [-0.00561674 -0.00302021 0.99997967 0.70285904] [ 0. 0. 0. 1. ]] SLAMing on 13.982557843999999 meters 0.293960302137526 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.70 [[ 0.99995719 0.00396017 0.00836275 -0.1660097 ] [-0.00397349 0.99999086 0.00157729 -0.03790872] [-0.00835643 -0.00161045 0.99996379 0.70462297] [ 0. 0. 0. 1. ]] SLAMing on 14.042557844 meters 0.2917196496546522 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.71 [[ 0.99995153 -0.00373529 0.00910939 -0.19058716] [ 0.00371023 0.99998929 0.00276668 -0.03091075] [-0.00911963 -0.00273275 0.99995468 0.70624208] [ 0. 0. 0. 1. ]] SLAMing on 14.102557844 meters 0.2930249438705219 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.71 [[ 0.99995391 -0.00384392 0.0087979 -0.18970589] [ 0.00382336 0.99998993 0.00235161 -0.02930394] [-0.00880685 -0.00231787 0.99995853 0.70585768] [ 0. 0. 0. 1. ]] SLAMing on 14.162557844 meters 0.29384149625891676 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.71 [[ 0.99995594 -0.00394474 0.00851862 -0.18900631] [ 0.00392743 0.99999019 0.00204819 -0.02807557] [-0.00852661 -0.00201464 0.99996162 0.70583452] [ 0. 0. 0. 1. ]] SLAMing on 14.222557843999999 meters 0.2931070482121322 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.03, Z:0.71 [[ 0.99995461 -0.0039032 0.00869119 -0.18967178] [ 0.00388449 0.99999011 0.00216802 -0.02855708] [-0.00869956 -0.00213416 0.99995988 0.70646378] [ 0. 0. 0. 1. ]] SLAMing on 14.282557844 meters 0.29530646658325127 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.70 [[ 9.99955514e-01 2.53460012e-03 9.08551317e-03 -1.64186514e-01] [-2.52846066e-03 9.99996567e-01 -6.87163937e-04 -2.95176513e-02] [-9.08722366e-03 6.64161005e-04 9.99958490e-01 7.03664868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342557844 meters 0.2919052954257422 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.71 [[ 9.99978568e-01 2.82973943e-03 5.90383527e-03 -2.09079883e-01] [-2.82802272e-03 9.99995956e-01 -2.99106970e-04 -2.95333234e-02] [-5.90465779e-03 2.82404380e-04 9.99982527e-01 7.06587226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402557843999999 meters 0.2919921291245728 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.71 [[ 9.99977829e-01 2.88944652e-03 5.99935761e-03 -2.09811779e-01] [-2.88874057e-03 9.99995820e-01 -1.26332523e-04 -3.02799912e-02] [-5.99969757e-03 1.08999134e-04 9.99981996e-01 7.07961029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462557843999999 meters 0.29226431656067375 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.71 [[ 9.99977414e-01 2.98530444e-03 6.02159881e-03 -2.09923539e-01] [-2.98616827e-03 9.99995532e-01 1.34469160e-04 -3.13422927e-02] [-6.02117047e-03 -1.52447630e-04 9.99981861e-01 7.08094210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522557844 meters 0.2914301476053383 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.03, Z:0.71 [[ 9.99976191e-01 3.20301155e-03 6.11220901e-03 -2.10201610e-01] [-3.20769076e-03 9.99994570e-01 7.55901038e-04 -3.38559064e-02] [-6.10975466e-03 -7.75489117e-04 9.99981035e-01 7.08212744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582557844 meters 0.2933410038409474 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.71 [[ 9.99986060e-01 2.46578774e-03 4.66893695e-03 -1.69967683e-01] [-2.46691324e-03 9.99996929e-01 2.35317147e-04 -3.52918438e-02] [-4.66834237e-03 -2.46831729e-04 9.99989073e-01 7.10903787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642557843999999 meters 0.2922365401243234 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.04, Z:0.71 [[ 0.99998364 -0.00563102 0.0010021 -0.18858729] [ 0.00562957 0.99998311 0.00144249 -0.03651325] [-0.00101021 -0.00143683 0.99999846 0.71042548] [ 0. 0. 0. 1. ]] SLAMing on 14.702557844 meters 0.29230902190511227 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.04, Z:0.71 [[ 9.99985225e-01 -5.36121133e-03 8.98786161e-04 -1.88333941e-01] [ 5.35932377e-03 9.99983456e-01 2.08954715e-03 -3.91425806e-02] [-9.09973795e-04 -2.08469939e-03 9.99997413e-01 7.10503480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762557844 meters 0.29331331036835095 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.04, Z:0.71 [[ 0.99999131 0.00290007 0.00299575 -0.16903216] [-0.00290388 0.99999498 0.00126677 -0.0439616 ] [-0.00299206 -0.00127545 0.99999471 0.71212589] [ 0. 0. 0. 1. ]] SLAMing on 14.822557844 meters 0.29190493471673096 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.05, Z:0.71 [[ 9.99992723e-01 1.51757849e-03 3.50015644e-03 -2.07566404e-01] [-1.51809648e-03 9.99998837e-01 1.45338675e-04 -4.55256188e-02] [-3.49993181e-03 -1.50651192e-04 9.99993864e-01 7.08899088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882557843999999 meters 0.29394581216601934 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.71 [[ 9.99997988e-01 1.20911317e-03 1.60078305e-03 -1.65513796e-01] [-1.20869245e-03 9.99999235e-01 -2.63766644e-04 -4.72335489e-02] [-1.60110075e-03 2.61831259e-04 9.99998684e-01 7.10402782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942557844 meters 0.2946701760521586 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.71 [[ 9.99997833e-01 1.28418014e-03 1.63861167e-03 -1.65854484e-01] [-1.28407780e-03 9.99999174e-01 -6.35076233e-05 -4.80299900e-02] [-1.63869187e-03 6.14033808e-05 9.99998655e-01 7.10980670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002557844 meters 0.29466420383406816 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.71 [[ 9.99997550e-01 1.55924400e-03 1.57099822e-03 -1.66083125e-01] [-1.56057920e-03 9.99998422e-01 8.49041336e-04 -5.16181539e-02] [-1.56967188e-03 -8.51490923e-04 9.99998406e-01 7.12012058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557843999999 meters 0.29362797655144324 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.05, Z:0.71 [[ 0.99999678 0.00178379 0.00180743 -0.16682216] [-0.00178663 0.99999718 0.00156722 -0.05448758] [-0.00180462 -0.00157044 0.99999714 0.71243915] [ 0. 0. 0. 1. ]] SLAMing on 15.122557844 meters 0.2948357853331581 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99998675e-01 1.03740140e-04 1.62482613e-03 -1.29835818e-01] [-1.03708673e-04 9.99999994e-01 -1.94508006e-05 -5.72535914e-02] [-1.62482814e-03 1.92822662e-05 9.99998680e-01 7.17045222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182557844 meters 0.29510303553949596 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99998720e-01 4.09727765e-04 1.54656104e-03 -1.29338323e-01] [-4.10976603e-04 9.99999590e-01 8.07261918e-04 -6.06764334e-02] [-1.54622965e-03 -8.07896485e-04 9.99998478e-01 7.16349512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242557844 meters 0.29469401078240154 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99997628e-01 6.87806222e-04 2.06652410e-03 -1.30967047e-01] [-6.92428910e-04 9.99997258e-01 2.23705695e-03 -6.64656340e-02] [-2.06497977e-03 -2.23848256e-03 9.99995363e-01 7.17287087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302557843999999 meters 0.29438679510304794 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 0.99999705 0.00101419 0.00220751 -0.13155577] [-0.00102196 0.99999328 0.00351978 -0.07133323] [-0.00220392 -0.00352203 0.99999137 0.71788586] [ 0. 0. 0. 1. ]] SLAMing on 15.362557844 meters 0.29294224668240665 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.72 [[ 0.99999091 0.00404318 -0.00135227 -0.15594171] [-0.00404457 0.99999129 -0.00102823 -0.0747706 ] [ 0.0013481 0.00103369 0.99999856 0.72255856] [ 0. 0. 0. 1. ]] SLAMing on 15.422557844 meters 0.29489285337389964 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.72 [[ 9.99989805e-01 4.42342743e-03 9.06955796e-04 -1.12188097e-01] [-4.42232671e-03 9.99989487e-01 -1.21207092e-03 -7.61024805e-02] [-9.12307769e-04 1.20804771e-03 9.99998854e-01 7.21344059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482557843999999 meters 0.29468316535248934 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.72 [[ 9.99990047e-01 4.39505931e-03 7.68296147e-04 -1.11708128e-01] [-4.39405579e-03 9.99989497e-01 -1.30301080e-03 -7.57443710e-02] [-7.74014887e-04 1.29962190e-03 9.99998856e-01 7.20975794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542557844 meters 0.29424834019651236 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 0.99998589 -0.004957 -0.00191059 -0.13216219] [ 0.0049539 0.99998641 -0.00162387 -0.07192343] [ 0.00191861 0.00161438 0.99999686 0.72171829] [ 0. 0. 0. 1. ]] SLAMing on 15.602557844 meters 0.29351887318853115 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 0.999986 -0.00494922 -0.00187043 -0.13210232] [ 0.00494622 0.99998648 -0.00160593 -0.07201169] [ 0.00187835 0.00159666 0.99999696 0.7213326 ] [ 0. 0. 0. 1. ]] SLAMing on 15.662557844 meters 0.29457079996392094 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.72 [[ 0.99998933 0.00432583 0.00162326 -0.11211052] [-0.00432362 0.99998972 -0.00136393 -0.07404055] [-0.00162914 0.0013569 0.99999775 0.72040806] [ 0. 0. 0. 1. ]] SLAMing on 15.722557843999999 meters 0.293002378201804 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.72 [[ 9.99993846e-01 -2.62338462e-03 -2.32925827e-03 -1.34593952e-01] [ 2.62452100e-03 9.99996438e-01 4.84948575e-04 -7.60996285e-02] [ 2.32797777e-03 -4.91058778e-04 9.99997170e-01 7.23912060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782557844 meters 0.2944198784836717 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:0.72 [[ 9.99977948e-01 6.59797140e-03 -7.55756724e-04 -1.13313667e-01] [-6.59814942e-03 9.99978205e-01 -2.33305397e-04 -7.54724922e-02] [ 7.54200909e-04 2.38286848e-04 9.99999687e-01 7.23726232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842557844 meters 0.294472631133276 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.72 [[ 9.99979705e-01 6.31985239e-03 -8.05428896e-04 -1.12928102e-01] [-6.32066817e-03 9.99979510e-01 -1.01435424e-03 -7.22662086e-02] [ 7.99001824e-04 1.01942451e-03 9.99999161e-01 7.23186973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902557843999999 meters 0.294426274107621 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.72 [[ 0.99997994 0.00624884 -0.00103554 -0.1124326 ] [-0.00625007 0.99997975 -0.00119508 -0.0715215 ] [ 0.00102805 0.00120153 0.99999875 0.72340301] [ 0. 0. 0. 1. ]] SLAMing on 15.962557843999999 meters 0.29457677885317524 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.07, Z:0.72 [[ 0.9999806 0.00612899 -0.00110763 -0.11198289] [-0.00613067 0.99998006 -0.00151697 -0.07020184] [ 0.00109831 0.00152373 0.99999824 0.72278853] [ 0. 0. 0. 1. ]] SLAMing on 16.022557843999998 meters 0.29410197081669254 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99994025e-01 -2.64182473e-03 -2.22931097e-03 -1.30970865e-01] [ 2.64041717e-03 9.99996313e-01 -6.34093387e-04 -6.55515112e-02] [ 2.23097792e-03 6.28203287e-04 9.99997314e-01 7.21326654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082557843999997 meters 0.2947668529862558 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.72 [[ 9.99969812e-01 7.75392487e-03 5.02281180e-04 -1.11164645e-01] [-7.75380669e-03 9.99969911e-01 -2.36809422e-04 -6.26521665e-02] [-5.04102269e-04 2.32907682e-04 9.99999846e-01 7.21681756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142557844 meters 0.29388654791507546 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99997895e-01 -1.95941485e-03 6.08158522e-04 -1.32005172e-01] [ 1.95954257e-03 9.99998058e-01 -2.09493834e-04 -5.75220767e-02] [-6.07746855e-04 2.10685106e-04 9.99999793e-01 7.21596074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202557843999998 meters 0.29447906535026697 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99996959e-01 -1.96732104e-03 1.48691543e-03 -1.34153343e-01] [ 1.96781334e-03 9.99998010e-01 -3.29697542e-04 -5.68965988e-02] [-1.48626385e-03 3.32622512e-04 9.99998840e-01 7.22121377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262557843999996 meters 0.2935665299989068 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99997226e-01 -2.00782645e-03 1.23130744e-03 -1.33467198e-01] [ 2.00838536e-03 9.99997881e-01 -4.52847295e-04 -5.64109958e-02] [-1.23039560e-03 4.55318979e-04 9.99999139e-01 7.21956058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322557844 meters 0.29420913861310855 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99996915e-01 -1.93623938e-03 1.55592290e-03 -1.34346107e-01] [ 1.93660666e-03 9.99998097e-01 -2.34582889e-04 -5.72617978e-02] [-1.55546573e-03 2.37595376e-04 9.99998762e-01 7.22215045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382557843999997 meters 0.295267579580592 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99997028e-01 -1.73382292e-03 1.71404956e-03 -1.34938090e-01] [ 1.73337750e-03 9.99998464e-01 2.61315750e-04 -5.93414356e-02] [-1.71450000e-03 -2.58343878e-04 9.99998497e-01 7.22643129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442557843999996 meters 0.2940391673849732 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.72 [[ 0.99999144 0.00400321 -0.00104194 -0.15665864] [-0.00400576 0.99998896 -0.00245773 -0.0631733 ] [ 0.00103209 0.00246188 0.99999644 0.72372652] [ 0. 0. 0. 1. ]] SLAMing on 16.502557844 meters 0.2953923872200927 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.72 [[ 9.99993162e-01 -1.38673331e-03 3.42819206e-03 -1.36091548e-01] [ 1.38477753e-03 9.99998877e-01 5.72808104e-04 -6.64034785e-02] [-3.42898254e-03 -5.68056904e-04 9.99993960e-01 7.22167854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562557843999997 meters 0.29611997598547474 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.72 [[ 9.99993963e-01 -1.28819629e-03 3.22719115e-03 -1.35065052e-01] [ 1.28545070e-03 9.99998810e-01 8.52698612e-04 -6.76835279e-02] [-3.22828576e-03 -8.48545069e-04 9.99994429e-01 7.20813609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622557844 meters 0.2944152219913184 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.72 [[ 9.99991262e-01 4.15888264e-03 -4.23441996e-04 -1.54585506e-01] [-4.16002608e-03 9.99987603e-01 -2.73626300e-03 -6.61988637e-02] [ 4.12056950e-04 2.73800062e-03 9.99996167e-01 7.20505792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682557843999998 meters 0.2968536013604265 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99995446e-01 -6.04264523e-04 2.95687453e-03 -1.31756225e-01] [ 6.01748714e-04 9.99999456e-01 8.51649264e-04 -6.81943571e-02] [-2.95738754e-03 -8.49866090e-04 9.99995266e-01 7.18610168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742557843999997 meters 0.2953021935136416 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99995103e-01 -5.47672046e-04 3.08137694e-03 -1.32104942e-01] [ 5.44610937e-04 9.99999358e-01 9.94173742e-04 -6.87740935e-02] [-3.08191944e-03 -9.92490722e-04 9.99994758e-01 7.18686423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802557844 meters 0.29615374526086274 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99995865e-01 -4.88244082e-04 2.83396127e-03 -1.31237279e-01] [ 4.84855603e-04 9.99999167e-01 1.19623272e-03 -6.96787408e-02] [-2.83454296e-03 -1.19485371e-03 9.99995269e-01 7.18053583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862557843999998 meters 0.2944277942800976 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.07, Z:0.72 [[ 9.99991287e-01 4.12733718e-03 -6.24818358e-04 -1.53309249e-01] [-4.12865457e-03 9.99989226e-01 -2.12203364e-03 -7.12195527e-02] [ 6.16053277e-04 2.12459481e-03 9.99997553e-01 7.19826393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922557843999996 meters 0.29662047793631774 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.72 [[ 9.99994188e-01 -2.15137690e-03 2.64498742e-03 -1.30082616e-01] [ 2.14958009e-03 9.99997457e-01 6.81980806e-04 -7.83701896e-02] [-2.64644789e-03 -6.76291230e-04 9.99996269e-01 7.17121742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982557844 meters 0.2962125598055554 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.08, Z:0.72 [[ 0.99999428 -0.00188761 0.00280756 -0.13050863] [ 0.0018835 0.99999716 0.00146291 -0.08153043] [-0.00281031 -0.00145762 0.99999499 0.71718288] [ 0. 0. 0. 1. ]] SLAMing on 17.042557843999997 meters 0.2954428316886708 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.72 [[ 0.99999497 -0.00148342 0.00280502 -0.13087991] [ 0.00147665 0.999996 0.00241288 -0.08542349] [-0.00280859 -0.00240872 0.99999315 0.71791305] [ 0. 0. 0. 1. ]] SLAMing on 17.102557843999996 meters 0.2963848492825985 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.72 [[ 0.99999467 -0.0013349 0.00298009 -0.13118659] [ 0.00132647 0.99999511 0.00283045 -0.08711873] [-0.00298386 -0.00282648 0.99999155 0.71763948] [ 0. 0. 0. 1. ]] SLAMing on 17.162557844 meters 0.2942365315369843 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.72 [[ 0.99999661 -0.0021674 0.00144145 -0.17285675] [ 0.00216361 0.99999421 0.00262559 -0.09278593] [-0.00144714 -0.00262246 0.99999551 0.71795602] [ 0. 0. 0. 1. ]] SLAMing on 17.222557843999997 meters 0.2973581145225385 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.72 [[ 9.99999903e-01 2.08308411e-04 3.88508825e-04 -1.31397015e-01] [-2.09961220e-04 9.99990908e-01 4.25905902e-03 -9.29954972e-02] [-3.87618095e-04 -4.25914018e-03 9.99990855e-01 7.19770369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282557844 meters 0.2972917223108091 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.09, Z:0.72 [[ 9.99999902e-01 2.82544910e-04 3.41389123e-04 -1.30849742e-01] [-2.84070163e-04 9.99989942e-01 4.47602751e-03 -9.40293052e-02] [-3.40121011e-04 -4.47612405e-03 9.99989924e-01 7.18670136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342557843999998 meters 0.29820918087899967 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.72 [[ 9.99999922e-01 3.93173706e-04 4.26807536e-05 -1.29870077e-01] [-3.93375438e-04 9.99988238e-01 4.83417326e-03 -9.55701809e-02] [-4.07795817e-05 -4.83418968e-03 9.99988314e-01 7.18193258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402557843999997 meters 0.29693981259139623 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.72 [[ 9.99999792e-01 6.34654849e-04 -1.14228452e-04 -1.29583435e-01] [-6.33989100e-04 9.99983343e-01 5.73683124e-03 -9.89999633e-02] [ 1.17867457e-04 -5.73675763e-03 9.99983538e-01 7.18517619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462557844 meters 0.2940793729398438 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.72 [[ 0.99999662 -0.00237025 0.00106635 -0.17082127] [ 0.00236536 0.99998675 0.00457168 -0.10569178] [-0.00107717 -0.00456915 0.99998898 0.71728644] [ 0. 0. 0. 1. ]] SLAMing on 17.522557843999998 meters 0.29828935130410483 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.72 [[ 0.99998509 -0.00135728 0.00528986 -0.12804745] [ 0.00133201 0.99998769 0.00477916 -0.10509065] [-0.00529628 -0.00477204 0.99997459 0.71604129] [ 0. 0. 0. 1. ]] SLAMing on 17.582557843999997 meters 0.29795739685724776 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.72 [[ 0.9999852 -0.00137409 0.00526501 -0.12775185] [ 0.00134916 0.99998788 0.0047354 -0.10495772] [-0.00527145 -0.00472823 0.99997493 0.71547621] [ 0. 0. 0. 1. ]] SLAMing on 17.642557844 meters 0.29790385448415657 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.71 [[ 0.99998564 -0.0013728 0.00518042 -0.12726197] [ 0.0013482 0.99998781 0.00474979 -0.10502859] [-0.00518688 -0.00474274 0.9999753 0.71475533] [ 0. 0. 0. 1. ]] SLAMing on 17.702557843999998 meters 0.29651786975287836 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.11, Z:0.72 [[ 0.99998739 0.00368802 0.00340991 -0.15054096] [-0.00369286 0.99999218 0.00141471 -0.10793274] [-0.00340467 -0.00142728 0.99999319 0.71696675] [ 0. 0. 0. 1. ]] SLAMing on 17.762557843999996 meters 0.2978894387961185 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.72 [[ 0.99998522 0.00391469 0.00377256 -0.11517628] [-0.00392139 0.99999074 0.00177099 -0.11268429] [-0.00376559 -0.00178576 0.99999132 0.72244804] [ 0. 0. 0. 1. ]] SLAMing on 17.822557844 meters 0.2961407353325808 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.73 [[ 9.99985687e-01 1.15439985e-03 5.22435714e-03 -1.20540092e-01] [-1.15298246e-03 9.99999298e-01 -2.74308032e-04 -1.18238254e-01] [-5.22467013e-03 2.68280513e-04 9.99986315e-01 7.25581175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882557843999997 meters 0.2965604911084034 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.73 [[ 9.99985339e-01 1.32794633e-03 5.24969750e-03 -1.20709143e-01] [-1.32899801e-03 9.99999098e-01 1.96849784e-04 -1.20148724e-01] [-5.24943136e-03 -2.03823735e-04 9.99986201e-01 7.25879898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942557843999996 meters 0.2974442430251145 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.73 [[ 9.99985874e-01 1.43943319e-03 5.11666881e-03 -1.20218131e-01] [-1.44236272e-03 9.99998798e-01 5.68902329e-04 -1.21628613e-01] [-5.11584376e-03 -5.76274385e-04 9.99986748e-01 7.25436901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002557844 meters 0.29601853962894986 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.73 [[ 0.99996836 0.00743267 0.00283464 -0.14053219] [-0.0074253 0.99996906 -0.00259853 -0.12491485] [-0.00285386 0.0025774 0.99999261 0.72588029] [ 0. 0. 0. 1. ]] SLAMing on 18.062557843999997 meters 0.297858905781398 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.73 [[ 9.99990353e-01 -2.87118961e-04 4.38307466e-03 -1.22062458e-01] [ 2.92107266e-04 9.99999310e-01 -1.13748579e-03 -1.21333928e-01] [-4.38274505e-03 1.13875514e-03 9.99989747e-01 7.27157187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122557844 meters 0.2960487895368263 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.12, Z:0.73 [[ 0.99998005 -0.00434692 0.00458283 -0.12261673] [ 0.00436881 0.99997905 -0.00477695 -0.12415465] [-0.00456197 0.00479687 0.99997809 0.72755375] [ 0. 0. 0. 1. ]] SLAMing on 18.182557843999998 meters 0.29837617505981456 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.73 [[ 0.99998173 -0.00417118 0.00437452 -0.12183332] [ 0.00418976 0.99998221 -0.00424674 -0.12639358] [-0.00435673 0.00426499 0.99998141 0.72692077] [ 0. 0. 0. 1. ]] SLAMing on 18.242557843999997 meters 0.29583714032239844 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.73 [[ 0.99998938 0.00419252 0.00191581 -0.14173025] [-0.00418528 0.99998415 -0.00376683 -0.13446652] [-0.00193157 0.00375878 0.99999107 0.72717904] [ 0. 0. 0. 1. ]] SLAMing on 18.302557844 meters 0.29679244387730985 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.73 [[ 0.99998892 0.00436955 0.00175267 -0.14149733] [-0.00436368 0.9999849 -0.00333941 -0.13621264] [-0.00176724 0.00333172 0.99999289 0.72762209] [ 0. 0. 0. 1. ]] SLAMing on 18.362557843999998 meters 0.2972992848932583 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.73 [[ 0.99998883 0.0044306 0.00164562 -0.14073585] [-0.00442542 0.99998528 -0.00313991 -0.13707454] [-0.00165951 0.00313259 0.99999372 0.72625039] [ 0. 0. 0. 1. ]] SLAMing on 18.422557843999996 meters 0.29719057975962543 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.73 [[ 0.99998913 0.00441497 0.0015023 -0.14002522] [-0.00441018 0.99998522 -0.00317955 -0.13695873] [-0.00151631 0.00317289 0.99999382 0.72525187] [ 0. 0. 0. 1. ]] SLAMing on 18.482557844 meters 0.29952844732852735 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99988937e-01 -8.26823235e-04 4.63058258e-03 -1.16644405e-01] [ 8.27575337e-04 9.99999645e-01 -1.60506838e-04 -1.38659941e-01] [-4.63044822e-03 1.64337218e-04 9.99989266e-01 7.22389844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542557843999997 meters 0.29809005360215507 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99989387e-01 -7.61107727e-04 4.54379669e-03 -1.16552622e-01] [ 7.60921390e-04 9.99999710e-01 4.27376657e-05 -1.39450301e-01] [-4.54382790e-03 -3.92797401e-05 9.99989676e-01 7.22726755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602557843999996 meters 0.2977117271736268 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99989838e-01 -5.59296046e-04 4.47337846e-03 -1.16405383e-01] [ 5.56118400e-04 9.99999592e-01 7.11558268e-04 -1.42030741e-01] [-4.47377461e-03 -7.09063309e-04 9.99989741e-01 7.22863226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662557844 meters 0.29714814040085563 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99989428e-01 -4.20550043e-04 4.57907300e-03 -1.17026597e-01] [ 4.15242599e-04 9.99999241e-01 1.15995408e-03 -1.43735864e-01] [-4.57955734e-03 -1.15804039e-03 9.99988843e-01 7.23891197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722557843999997 meters 0.29693678737201534 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99990208e-01 -3.41186749e-04 4.41221666e-03 -1.16577187e-01] [ 3.35104412e-04 9.99998993e-01 1.37918749e-03 -1.44644100e-01] [-4.41268278e-03 -1.37769543e-03 9.99989315e-01 7.23850762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782557843999996 meters 0.29711008493412755 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99987833e-01 -3.58969745e-04 4.91975639e-03 -1.18074491e-01] [ 3.52752770e-04 9.99999138e-01 1.26448481e-03 -1.44038363e-01] [-4.92020606e-03 -1.26273397e-03 9.99987098e-01 7.24650925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842557843999998 meters 0.29593776153069135 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99985158e-01 -3.91610972e-04 5.43417181e-03 -1.19420120e-01] [ 3.85487539e-04 9.99999290e-01 1.12783999e-03 -1.43441398e-01] [-5.43460962e-03 -1.12572845e-03 9.99984599e-01 7.24914004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902557843999997 meters 0.2963442220543023 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.14, Z:0.72 [[ 9.99986051e-01 -3.14825597e-04 5.27237081e-03 -1.18791395e-01] [ 3.07661220e-04 9.99999028e-01 1.35960906e-03 -1.44472582e-01] [-5.27279373e-03 -1.35796799e-03 9.99985177e-01 7.24385937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962557844 meters 0.29589655150693595 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99986640e-01 -1.76539297e-04 5.16604795e-03 -1.18735094e-01] [ 1.67311346e-04 9.99998390e-01 1.78664657e-03 -1.46142095e-01] [-5.16635504e-03 -1.78575836e-03 9.99985060e-01 7.24937162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022557843999998 meters 0.29705557789897635 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99987222e-01 -5.29251843e-05 5.05499216e-03 -1.18407441e-01] [ 4.19416802e-05 9.99997638e-01 2.17288469e-03 -1.47701609e-01] [-5.05509522e-03 -2.17264491e-03 9.99984863e-01 7.24846777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082557843999997 meters 0.297828857084472 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99989111e-01 7.21165097e-05 4.66606329e-03 -1.16994293e-01] [-8.43580628e-05 9.99996555e-01 2.62338555e-03 -1.49745851e-01] [-4.66585802e-03 -2.62375061e-03 9.99985673e-01 7.23650917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters 0.2971555082028417 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99988533e-01 1.63872328e-04 4.78610231e-03 -1.17521266e-01] [-1.77598975e-04 9.99995872e-01 2.86773779e-03 -1.50701948e-01] [-4.78561261e-03 -2.86855491e-03 9.99984435e-01 7.24190290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557843999998 meters 0.29694556745364337 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99989639e-01 2.37165339e-04 4.54601946e-03 -1.16707175e-01] [-2.51219153e-04 9.99995191e-01 3.09113302e-03 -1.51715448e-01] [-4.54526449e-03 -3.09224304e-03 9.99984889e-01 7.23732128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262557843999996 meters 0.29615524563828627 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99989981e-01 1.99489887e-04 4.47181746e-03 -1.16270674e-01] [-2.12883591e-04 9.99995493e-01 2.99486068e-03 -1.51361942e-01] [-4.47119986e-03 -2.99578265e-03 9.99985517e-01 7.23157778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322557844 meters 0.2955150399225074 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.15, Z:0.72 [[ 9.99989075e-01 1.90518832e-04 4.67049749e-03 -1.16950494e-01] [-2.04344698e-04 9.99995598e-01 2.95995702e-03 -1.51162245e-01] [-4.66991300e-03 -2.96087907e-03 9.99984712e-01 7.23648507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382557843999997 meters 0.2970152582881598 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.15, Z:0.73 [[ 0.9999926 0.00109343 0.00368737 -0.07713805] [-0.00110217 0.99999659 0.00236823 -0.14799461] [-0.00368477 -0.00237228 0.9999904 0.72611846] [ 0. 0. 0. 1. ]] SLAMing on 19.442557843999996 meters 0.2947483324046636 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.73 [[ 9.99974375e-01 6.28690156e-03 3.42415395e-03 -1.01703830e-01] [-6.28561400e-03 9.99980171e-01 -3.86656693e-04 -1.54648468e-01] [-3.42651692e-03 3.65123875e-04 9.99994063e-01 7.28397067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502557844 meters 0.29445277849782114 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.73 [[ 9.99972342e-01 6.49467675e-03 3.62415439e-03 -1.02559520e-01] [-6.49559896e-03 9.99978874e-01 2.42748774e-04 -1.57224301e-01] [-3.62250125e-03 -2.66283114e-04 9.99993403e-01 7.29339165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562557843999997 meters 0.2948707524075503 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.73 [[ 9.99971665e-01 6.61989281e-03 3.58416177e-03 -1.02232371e-01] [-6.62200856e-03 9.99977907e-01 5.78760048e-04 -1.58659657e-01] [-3.58025125e-03 -6.02477999e-04 9.99993409e-01 7.28815808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622557844 meters 0.29662389099891767 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.16, Z:0.73 [[ 9.99983998e-01 -2.31470494e-03 5.16204872e-03 -8.08248966e-02] [ 2.31173058e-03 9.99997159e-01 5.82089485e-04 -1.56139894e-01] [-5.16338142e-03 -5.70146904e-04 9.99986507e-01 7.27854150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682557843999998 meters 0.29510070753774476 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.73 [[ 0.99999033 0.0033667 0.00282771 -0.10214024] [-0.00336014 0.99999166 -0.00232115 -0.158689 ] [-0.0028355 0.00231163 0.99999331 0.72893751] [ 0. 0. 0. 1. ]] SLAMing on 19.742557843999997 meters 0.2954647739811433 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.16, Z:0.72 [[ 0.9999977 0.00154158 0.00148907 -0.09543053] [-0.00153554 0.99999062 -0.00404958 -0.15992093] [-0.0014953 0.00404728 0.99999069 0.72388352] [ 0. 0. 0. 1. ]] SLAMing on 19.802557844 meters 0.29615810309656065 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.72 [[ 0.99999778 0.00165625 0.00130009 -0.09480426] [-0.00165141 0.99999173 -0.00371696 -0.1613404 ] [-0.00130623 0.0037148 0.99999225 0.72355069] [ 0. 0. 0. 1. ]] SLAMing on 19.862557843999998 meters 0.2969393483809652 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.72 [[ 0.99996724 -0.00710161 0.00388488 -0.07496232] [ 0.00711319 0.99997027 -0.00297542 -0.1658752 ] [-0.00386363 0.00300296 0.99998803 0.72398749] [ 0. 0. 0. 1. ]] SLAMing on 19.922557843999996 meters 0.2947421344307243 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.72 [[ 9.99995955e-01 8.10762768e-04 2.72634139e-03 -9.41723396e-02] [-8.01590292e-04 9.99994021e-01 -3.36380115e-03 -1.74556298e-01] [-2.72905233e-03 3.36160213e-03 9.99990626e-01 7.23934791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters 0.29477514342230593 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 0.99999612 0.00101402 0.00259444 -0.09399607] [-0.00100674 0.99999556 -0.00280411 -0.17683196] [-0.00259727 0.00280149 0.9999927 0.72431399] [ 0. 0. 0. 1. ]] SLAMing on 20.042557843999997 meters 0.29610978360003243 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.72 [[ 0.99997727 -0.00321814 0.00592486 -0.07156543] [ 0.00321158 0.99999422 0.00111656 -0.17983082] [-0.00592842 -0.00109751 0.99998182 0.72269721] [ 0. 0. 0. 1. ]] SLAMing on 20.102557843999996 meters 0.2948926339567844 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 0.99998915 0.00211095 0.0041514 -0.0946752 ] [-0.00210311 0.999996 -0.00189152 -0.18188883] [-0.00415538 0.00188276 0.99998959 0.7245483 ] [ 0. 0. 0. 1. ]] SLAMing on 20.162557844 meters 0.295182013703717 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 0.99998899 0.00214207 0.00417593 -0.09491606] [-0.00213453 0.99999608 -0.00181013 -0.18218016] [-0.00417979 0.0018012 0.99998964 0.72496931] [ 0. 0. 0. 1. ]] SLAMing on 20.222557843999997 meters 0.29408417733676 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.72 [[ 0.99998768 0.00222004 0.0044408 -0.09556286] [-0.00221307 0.99999631 -0.00157305 -0.18308915] [-0.00444427 0.0015632 0.9999889 0.7249906 ] [ 0. 0. 0. 1. ]] SLAMing on 20.282557843999996 meters 0.2939224571012301 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.18, Z:0.72 [[ 0.9999884 0.00223095 0.00426834 -0.09509113] [-0.00222443 0.99999635 -0.00153205 -0.18326975] [-0.00427174 0.00152254 0.99998972 0.72486644] [ 0. 0. 0. 1. ]] SLAMing on 20.342557843999998 meters 0.29547728339628 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.72 [[ 0.99997931 -0.00394304 0.00508295 -0.07203589] [ 0.0039376 0.99999167 0.0010788 -0.18027504] [-0.00508716 -0.00105876 0.9999865 0.72386643] [ 0. 0. 0. 1. ]] SLAMing on 20.402557843999997 meters 0.29371594370440307 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 9.99982874e-01 4.22162530e-03 4.05322201e-03 -9.22745937e-02] [-4.22250733e-03 9.99991063e-01 2.09079611e-04 -1.84247872e-01] [-4.05230313e-03 -2.26190790e-04 9.99991764e-01 7.24231714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462557844 meters 0.2946279319300985 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 9.99984447e-01 4.15985016e-03 3.71514920e-03 -9.11808966e-02] [-4.16003021e-03 9.99991346e-01 4.07399920e-05 -1.83669082e-01] [-3.71494758e-03 -5.61944913e-05 9.99993098e-01 7.23487219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557843999998 meters 0.2954478361635287 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 9.99986646e-01 3.97288079e-03 3.30522785e-03 -8.99164739e-02] [-3.97119972e-03 9.99991982e-01 -5.15018965e-04 -1.81642623e-01] [-3.30724745e-03 5.01886368e-04 9.99994405e-01 7.22770814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557843999997 meters 0.2952994476430708 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.18, Z:0.72 [[ 9.99987138e-01 3.88328863e-03 3.26257077e-03 -8.97176874e-02] [-3.88088011e-03 9.99992192e-01 -7.44235803e-04 -1.80723357e-01] [-3.26543538e-03 7.31564584e-04 9.99994401e-01 7.22580703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642557844 meters 0.29641153242803553 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.72 [[ 9.99980435e-01 -4.44861085e-03 4.39759591e-03 -6.78033329e-02] [ 4.45120598e-03 9.99989925e-01 -5.80513976e-04 -1.77613828e-01] [-4.39496913e-03 6.00077223e-04 9.99990162e-01 7.22972982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702557843999998 meters 0.295047277135831 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.18, Z:0.72 [[ 9.99978999e-01 -4.54069384e-03 4.62426880e-03 -6.83982715e-02] [ 4.54456714e-03 9.99989331e-01 -8.27441685e-04 -1.76604713e-01] [-4.62046230e-03 8.48439608e-04 9.99988966e-01 7.23022460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762557843999996 meters 0.29540193868179754 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.72 [[ 0.99997897 -0.00470445 0.00446471 -0.06786186] [ 0.00471022 0.99998808 -0.00128315 -0.17476223] [-0.00445862 0.00130415 0.99998921 0.72271779] [ 0. 0. 0. 1. ]] SLAMing on 20.822557844 meters 0.2937215120937016 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.72 [[ 0.99999023 0.00388856 0.002101 -0.08986668] [-0.00388487 0.99999091 -0.00175975 -0.1708592 ] [-0.00210782 0.00175157 0.99999624 0.72380965] [ 0. 0. 0. 1. ]] SLAMing on 20.882557843999997 meters 0.29452022314392484 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.72 [[ 0.999991 0.0037173 0.00204246 -0.08967093] [-0.00371277 0.99999065 -0.00221538 -0.16900816] [-0.00205068 0.00220778 0.99999546 0.72371582] [ 0. 0. 0. 1. ]] SLAMing on 20.942557843999996 meters 0.29583989001797223 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.72 [[ 9.99983042e-01 -2.19259404e-03 5.39523106e-03 -6.94407753e-02] [ 2.19112773e-03 9.99997561e-01 2.77674973e-04 -1.66996641e-01] [-5.39582672e-03 -2.65848624e-04 9.99985407e-01 7.23079210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002557844 meters 0.29477264437432604 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.72 [[ 9.99979583e-01 -2.18922064e-03 6.00337224e-03 -7.13512388e-02] [ 2.18777488e-03 9.99997576e-01 2.47381474e-04 -1.66662672e-01] [-6.00389926e-03 -2.34242396e-04 9.99981949e-01 7.24063319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062557843999997 meters 0.2960008217134583 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.72 [[ 9.99981198e-01 -2.21908628e-03 5.71657372e-03 -7.02556144e-02] [ 2.21819858e-03 9.99997527e-01 1.61620783e-04 -1.66462224e-01] [-5.71691823e-03 -1.48937249e-04 9.99983647e-01 7.22918774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122557843999996 meters 0.2953687950564344 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.17, Z:0.72 [[ 9.99983633e-01 5.24758483e-03 2.27981351e-03 -8.82996344e-02] [-5.24555417e-03 9.99985841e-01 -8.95780814e-04 -1.68405887e-01] [-2.28448191e-03 8.83807267e-04 9.99997000e-01 7.21636175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182557843999998 meters 0.2935971160572469 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:0.72 [[ 9.99991550e-01 -3.90702905e-03 1.27902139e-03 -1.07843330e-01] [ 3.90703482e-03 9.99992368e-01 -2.01121341e-06 -1.62260081e-01] [-1.27900377e-03 7.00837751e-06 9.99999182e-01 7.21933906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242557843999997 meters 0.2946126224904569 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:0.72 [[ 9.99991030e-01 -4.04339454e-03 1.26093568e-03 -1.07726332e-01] [ 4.04392197e-03 9.99991737e-01 -4.16017930e-04 -1.60621401e-01] [-1.25924313e-03 4.21113324e-04 9.99999118e-01 7.21764594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters 0.29530097303924974 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:0.72 [[ 9.99990074e-01 -4.21427527e-03 1.44610581e-03 -1.08059620e-01] [ 4.21558498e-03 9.99990706e-01 -9.03831243e-04 -1.58667280e-01] [-1.44228337e-03 9.09918454e-04 9.99998546e-01 7.21443506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362557843999998 meters 0.2962198136020081 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.16, Z:0.72 [[ 0.99998235 0.00513039 0.00299608 -0.08870713] [-0.00512381 0.99998445 -0.00219979 -0.15973783] [-0.00300731 0.0021844 0.99999309 0.72169897] [ 0. 0. 0. 1. ]] SLAMing on 21.422557843999996 meters 0.29525748764247023 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:0.72 [[ 0.99998437 -0.00543323 0.00131543 -0.10945937] [ 0.00543688 0.99998135 -0.00278283 -0.15642895] [-0.00130028 0.00278994 0.99999526 0.72179195] [ 0. 0. 0. 1. ]] SLAMing on 21.482557844 meters 0.2952262304583648 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.16, Z:0.72 [[ 0.99999818 -0.00127217 0.00141962 -0.10958415] [ 0.00127064 0.99999861 0.00108386 -0.15500014] [-0.001421 -0.00108206 0.9999984 0.72156844] [ 0. 0. 0. 1. ]] SLAMing on 21.542557843999997 meters 0.29616828188606575 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.72 [[ 9.99998071e-01 -1.44040810e-03 1.33547333e-03 -1.09321660e-01] [ 1.43955537e-03 9.99998760e-01 6.39266655e-04 -1.53195669e-01] [-1.33639247e-03 -6.37342934e-04 9.99998904e-01 7.21497806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557843999996 meters 0.2957050110781811 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.15, Z:0.72 [[ 9.99997426e-01 -1.67936697e-03 1.52577177e-03 -1.09784893e-01] [ 1.67949116e-03 9.99998586e-01 -8.01187103e-05 -1.50330840e-01] [-1.52563507e-03 8.26810243e-05 9.99998833e-01 7.21444233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662557844 meters 0.29412247202123043 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.73 [[ 0.99998954 0.00403527 -0.00215552 -0.13315048] [-0.0040415 0.99998765 -0.00289177 -0.1435457 ] [ 0.00214383 0.00290045 0.9999935 0.72501819] [ 0. 0. 0. 1. ]] SLAMing on 21.722557843999997 meters 0.2941276747890671 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.72 [[ 0.99998972 0.00393945 -0.00224566 -0.13279143] [-0.00394651 0.99998726 -0.00314857 -0.14251092] [ 0.00223322 0.0031574 0.99999252 0.72474145] [ 0. 0. 0. 1. ]] SLAMing on 21.782557843999996 meters 0.29499053060260405 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.72 [[ 0.99999002 0.00354992 -0.00271389 -0.13095766] [-0.00356181 0.99998402 -0.00439121 -0.13748227] [ 0.00269826 0.00440084 0.99998668 0.72320863] [ 0. 0. 0. 1. ]] SLAMing on 21.842557843999998 meters 0.2950864539532509 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.13, Z:0.72 [[ 0.99999145 0.00324599 -0.00256282 -0.13137658] [-0.00325981 0.99998007 -0.00540587 -0.13356823] [ 0.00254522 0.00541418 0.9999821 0.72335786] [ 0. 0. 0. 1. ]] SLAMing on 21.902557843999997 meters 0.2964726596747529 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.72 [[ 0.99999763 -0.00163298 -0.00143743 -0.10831065] [ 0.0016299 0.99999638 -0.00213931 -0.12757261] [ 0.00144092 0.00213696 0.99999668 0.72273952] [ 0. 0. 0. 1. ]] SLAMing on 21.962557844 meters 0.2954901790740288 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.72 [[ 0.99999702 -0.00190365 -0.00152561 -0.10779582] [ 0.00189937 0.99999427 -0.00280258 -0.12491696] [ 0.00153093 0.00279967 0.99999491 0.7221025 ] [ 0. 0. 0. 1. ]] SLAMing on 22.022557843999998 meters 0.29387536889203525 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.12, Z:0.72 [[ 0.99994548 -0.00996469 -0.00312093 -0.13177032] [ 0.00996041 0.99994944 -0.00138422 -0.12310572] [ 0.00313456 0.00135306 0.99999417 0.72459033] [ 0. 0. 0. 1. ]] SLAMing on 22.082557843999997 meters 0.2953324833875292 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.72 [[ 9.99998294e-01 -1.78336952e-04 -1.83839239e-03 -1.10053080e-01] [ 1.75200142e-04 9.99998529e-01 -1.70629848e-03 -1.24752748e-01] [ 1.83869398e-03 1.70597349e-03 9.99996854e-01 7.23036181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142557844 meters 0.29658055068219136 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.12, Z:0.72 [[ 9.99997932e-01 -3.66079860e-04 -2.00070043e-03 -1.09413778e-01] [ 3.61689037e-04 9.99997527e-01 -2.19456426e-03 -1.22762971e-01] [ 2.00149887e-03 2.19383609e-03 9.99995591e-01 7.22580083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202557843999998 meters 0.2943631510596344 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.72 [[ 9.99951478e-01 -9.85010454e-03 -1.29811871e-04 -1.33027350e-01] [ 9.84973567e-03 9.99948141e-01 -2.58820148e-03 -1.14160617e-01] [ 1.55299194e-04 2.58679728e-03 9.99996642e-01 7.23352645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262557843999996 meters 0.29317490205980135 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.72 [[ 9.99998051e-01 -6.84504300e-04 1.85172027e-03 -1.57285683e-01] [ 6.89875080e-04 9.99995553e-01 -2.90134502e-03 -1.16051192e-01] [-1.84972605e-03 2.90261682e-03 9.99994077e-01 7.24021058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322557844 meters 0.29442815334506905 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.72 [[ 9.99998368e-01 -8.55140821e-04 1.59168489e-03 -1.56233044e-01] [ 8.60495608e-04 9.99993963e-01 -3.36658663e-03 -1.14229430e-01] [-1.58879638e-03 3.36795077e-03 9.99993066e-01 7.23016620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382557843999997 meters 0.2942900312705228 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.72 [[ 9.99998297e-01 -9.92623128e-04 1.55590057e-03 -1.56001203e-01] [ 9.98382073e-04 9.99992638e-01 -3.70496211e-03 -1.12873385e-01] [-1.55221148e-03 3.70650918e-03 9.99991926e-01 7.22761978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442557843999996 meters 0.2943084034928704 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.72 [[ 0.99999805 -0.00112769 0.00161876 -0.15641435] [ 0.00113425 0.99999113 -0.00405611 -0.11143331] [-0.00161417 0.00405794 0.99999046 0.72338719] [ 0. 0. 0. 1. ]] SLAMing on 22.502557844 meters 0.29343221002920966 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.11, Z:0.72 [[ 0.99999833 -0.00118228 0.00139602 -0.15558895] [ 0.00118816 0.99999039 -0.00422091 -0.11081206] [-0.00139102 0.00422256 0.99999012 0.72262325] [ 0. 0. 0. 1. ]] SLAMing on 22.562557843999997 meters 0.2955996903913313 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.11, Z:0.72 [[ 9.99999556e-01 2.09682163e-04 -9.18677209e-04 -1.12447992e-01] [-2.12883487e-04 9.99993901e-01 -3.48599980e-03 -1.12388941e-01] [ 9.17940654e-04 3.48619382e-03 9.99993502e-01 7.23695090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622557843999996 meters 0.2945549436504923 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:0.73 [[ 9.99980200e-01 -5.13989442e-03 -3.63062414e-03 -1.33678247e-01] [ 5.13914378e-03 9.99986771e-01 -2.16051007e-04 -1.05619653e-01] [ 3.63168659e-03 1.97388429e-04 9.99993386e-01 7.25542884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682557843999998 meters 0.2950116606039497 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.72 [[ 9.99978103e-01 -5.26269356e-03 -4.01208340e-03 -1.32448320e-01] [ 5.25998657e-03 9.99985932e-01 -6.84961604e-04 -1.03766543e-01] [ 4.01563170e-03 6.63843101e-04 9.99991717e-01 7.24660540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742557843999997 meters 0.2935206273054103 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.10, Z:0.72 [[ 0.99998438 0.0038755 -0.0040271 -0.15602728] [-0.00388058 0.99999169 -0.0012527 -0.10206392] [ 0.00402222 0.00126831 0.99999111 0.72494903] [ 0. 0. 0. 1. ]] SLAMing on 22.802557844 meters 0.29491015998732856 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.10, Z:0.73 [[ 9.99998361e-01 -1.78476106e-03 3.03929807e-04 -1.36832833e-01] [ 1.78437861e-03 9.99997622e-01 1.25400908e-03 -1.00212992e-01] [-3.06167191e-04 -1.25346470e-03 9.99999168e-01 7.25208637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862557843999998 meters 0.29573367242085546 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.10, Z:0.73 [[ 9.99998110e-01 -1.91708535e-03 3.24423042e-04 -1.36803749e-01] [ 1.91677872e-03 9.99997718e-01 9.42856698e-04 -9.89607318e-02] [-3.26229838e-04 -9.42233068e-04 9.99999503e-01 7.25058083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922557843999996 meters 0.29629249208636743 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.10, Z:0.73 [[ 9.99997660e-01 -2.10869717e-03 4.82609724e-04 -1.37263760e-01] [ 2.10849433e-03 9.99997689e-01 4.20418204e-04 -9.68816696e-02] [-4.83495143e-04 -4.19399640e-04 9.99999795e-01 7.25276250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982557844 meters 0.29640177178315186 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:0.72 [[ 9.99997320e-01 -2.30339763e-03 2.32707137e-04 -1.36302680e-01] [ 2.30341471e-03 9.99997344e-01 -7.31578223e-05 -9.48389312e-02] [-2.32538007e-04 7.36936473e-05 9.99999970e-01 7.24603860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042557843999997 meters 0.29648186639082486 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:0.72 [[ 9.99996735e-01 -2.54637082e-03 2.13423630e-04 -1.36275626e-01] [ 2.54651913e-03 9.99996514e-01 -6.97535326e-04 -9.23176417e-02] [-2.11646703e-04 6.98076536e-04 9.99999734e-01 7.24701573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102557843999996 meters 0.2957025734088575 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.09, Z:0.73 [[ 9.99999110e-01 1.24783513e-03 4.72336057e-04 -1.36943623e-01] [-1.24887858e-03 9.99996766e-01 2.21530819e-03 -8.66871219e-02] [-4.69570190e-04 -2.21589611e-03 9.99997435e-01 7.25133626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters 0.2960993724562715 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.72 [[ 9.99999584e-01 8.62771295e-04 2.97311933e-04 -1.36217597e-01] [-8.63081042e-04 9.99999083e-01 1.04327638e-03 -8.21030367e-02] [-2.96411552e-04 -1.04353255e-03 9.99999412e-01 7.24522164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222557843999997 meters 0.2961755324226918 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.08, Z:0.72 [[ 9.99999885e-01 3.56656935e-04 3.20238996e-04 -1.36336991e-01] [-3.56491579e-04 9.99999803e-01 -5.16261011e-04 -7.60107536e-02] [-3.20423061e-04 5.16146789e-04 9.99999815e-01 7.24786576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282557843999996 meters 0.29516000568299855 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.07, Z:0.72 [[ 9.99990224e-01 4.40904269e-03 3.36187481e-04 -1.36314952e-01] [-4.41002344e-03 9.99985852e-01 2.97459638e-03 -7.26882347e-02] [-3.23067602e-04 -2.97604989e-03 9.99995519e-01 7.24767109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342557843999998 meters 0.2956791904244756 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.07, Z:0.72 [[ 9.99995927e-01 2.71676906e-03 -8.74877625e-04 -1.31279416e-01] [-2.71652453e-03 9.99996271e-01 2.80568474e-04 -6.53589647e-02] [ 8.75636602e-04 -2.78190704e-04 9.99999578e-01 7.21496656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402557843999997 meters 0.29473988519906874 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99996861e-01 2.35981729e-03 -8.41893737e-04 -1.31736047e-01] [-2.36032072e-03 9.99997036e-01 -5.97487809e-04 -6.17108248e-02] [ 8.40481279e-04 5.99473073e-04 9.99999467e-01 7.22257392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462557844 meters 0.29530881560949135 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.06, Z:0.72 [[ 9.99997551e-01 1.97749076e-03 -9.93454821e-04 -1.31108084e-01] [-1.97907962e-03 9.99996760e-01 -1.60090826e-03 -5.76700493e-02] [ 9.90285821e-04 1.60287047e-03 9.99998225e-01 7.21822159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522557843999998 meters 0.29663484880988883 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:0.72 [[ 9.99978884e-01 -6.47540360e-03 -5.48934734e-04 -1.11133928e-01] [ 6.47498680e-03 9.99978750e-01 -7.57687252e-04 -5.24952336e-02] [ 5.53829400e-04 7.54116907e-04 9.99999562e-01 7.23542641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582557843999997 meters 0.296544169261329 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:0.72 [[ 9.99997205e-01 -2.29797178e-03 -5.55648341e-04 -1.11117164e-01] [ 2.29969847e-03 9.99992466e-01 3.12711664e-03 -5.06781833e-02] [ 5.48458130e-04 -3.12838572e-03 9.99994956e-01 7.23473025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642557844 meters 0.2948417775033766 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.72 [[ 9.99983086e-01 3.82075258e-03 -4.38524618e-03 -1.32065709e-01] [-3.82163546e-03 9.99992679e-01 -1.92967114e-04 -4.30073224e-02] [ 4.38447679e-03 2.09722663e-04 9.99990366e-01 7.24758191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702557843999998 meters 0.29461714428076236 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.73 [[ 0.99998455 0.00356056 -0.00426912 -0.1326155 ] [-0.00356491 0.99999313 -0.00101153 -0.03975313] [ 0.00426549 0.00102673 0.99999038 0.72541959] [ 0. 0. 0. 1. ]] SLAMing on 23.762557843999996 meters 0.2948350542428757 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:0.73 [[ 0.99998606 0.00327771 -0.00413847 -0.13331421] [-0.00328534 0.99999292 -0.00183722 -0.03647286] [ 0.00413242 0.00185079 0.99998975 0.7263659 ] [ 0. 0. 0. 1. ]] SLAMing on 23.822557844 meters 0.29626581616628755 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:0.73 [[ 0.99997371 -0.00652673 -0.0031597 -0.11131299] [ 0.0065196 0.99997619 -0.00226123 -0.03272161] [ 0.00317438 0.00224058 0.99999245 0.72615784] [ 0. 0. 0. 1. ]] SLAMing on 23.882557843999997 meters 0.2961285117105341 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:0.73 [[ 0.99999172 -0.00248106 -0.00322597 -0.11061765] [ 0.00248524 0.99999608 0.00129334 -0.03045176] [ 0.00322275 -0.00130134 0.99999396 0.72512914] [ 0. 0. 0. 1. ]] SLAMing on 23.942557843999996 meters 0.29392821075710523 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:0.72 [[ 9.99992184e-01 -3.22303710e-03 -2.29012804e-03 -1.50855003e-01] [ 3.22388967e-03 9.99994735e-01 3.68683875e-04 -2.91566165e-02] [ 2.28892770e-03 -3.76064113e-04 9.99997310e-01 7.22560302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002557844 meters 0.2929945277787365 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.03, Z:0.72 [[ 9.99992724e-01 -3.13293028e-03 -2.17624888e-03 -1.51177737e-01] [ 3.13432223e-03 9.99994885e-01 6.36497373e-04 -3.02305989e-02] [ 2.17424365e-03 -6.43313807e-04 9.99997429e-01 7.22626485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062557843999997 meters 0.2944195473432098 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.72 [[ 9.99995171e-01 3.08802631e-03 -3.50645693e-04 -1.29675738e-01] [-3.08885419e-03 9.99992384e-01 -2.38554624e-03 -3.21309031e-02] [ 3.43276393e-04 2.38661782e-03 9.99997093e-01 7.21563709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122557843999996 meters 0.2948059178450488 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.72 [[ 9.99995217e-01 3.04430004e-03 -5.45768471e-04 -1.29031500e-01] [-3.04567370e-03 9.99992151e-01 -2.53400575e-03 -3.15206053e-02] [ 5.38049913e-04 2.53565587e-03 9.99996640e-01 7.21156830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182557843999998 meters 0.29508488695681906 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.72 [[ 9.99995477e-01 2.95798668e-03 -5.44601652e-04 -1.28977485e-01] [-2.95949069e-03 9.99991751e-01 -2.78189552e-03 -3.05433763e-02] [ 5.36368349e-04 2.78349468e-03 9.99995982e-01 7.21056280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242557843999997 meters 0.29564617999553744 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.03, Z:0.72 [[ 9.99981693e-01 -5.96745271e-03 1.00169657e-03 -1.08165106e-01] [ 5.96945048e-03 9.99980176e-01 -2.00338970e-03 -2.94422850e-02] [-9.89721579e-04 2.00933260e-03 9.99997492e-01 7.21552950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302557844 meters 0.29415044420326397 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.03, Z:0.72 [[ 0.99999175 0.00382323 0.00137571 -0.13071882] [-0.00382039 0.99999058 -0.00205998 -0.03190869] [-0.00138357 0.0020547 0.99999693 0.72164704] [ 0. 0. 0. 1. ]] SLAMing on 24.362557843999998 meters 0.2947288297957729 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.72 [[ 0.99997659 -0.00563564 0.00388098 -0.11159102] [ 0.00564064 0.99998328 -0.00127748 -0.03503957] [-0.00387371 0.00129934 0.99999165 0.72283775] [ 0. 0. 0. 1. ]] SLAMing on 24.422557843999996 meters 0.2947254560586331 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.72 [[ 9.99978084e-01 -5.45970450e-03 3.74465977e-03 -1.11063564e-01] [ 5.46255784e-03 9.99984797e-01 -7.52172411e-04 -3.70980334e-02] [-3.74049620e-03 7.72611347e-04 9.99992706e-01 7.22292787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482557844 meters 0.2933317348454993 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.04, Z:0.72 [[ 9.99978667e-01 -5.33775486e-03 3.76469893e-03 -1.10961802e-01] [ 5.33938615e-03 9.99985656e-01 -4.23395452e-04 -3.84203909e-02] [-3.76238494e-03 4.43487601e-04 9.99992824e-01 7.21901062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542557843999997 meters 0.2948240377093937 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.72 [[ 9.99978084e-01 3.79830156e-03 5.42249731e-03 -9.04735675e-02] [-3.79420960e-03 9.99992510e-01 -7.64714251e-04 -4.00978429e-02] [-5.42536131e-03 7.44123400e-04 9.99985006e-01 7.22498526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602557843999996 meters 0.2937640063782753 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.04, Z:0.72 [[ 0.99998099 0.00366717 0.00495636 -0.08918031] [-0.00366114 0.99999255 -0.00122461 -0.03826669] [-0.00496081 0.00120644 0.99998697 0.72207998] [ 0. 0. 0. 1. ]] SLAMing on 24.662557844 meters 0.29389529401379744 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:0.72 [[ 0.99998283 0.00339031 0.00478028 -0.08846227] [-0.00337905 0.99999151 -0.00235992 -0.03411356] [-0.00478824 0.00234372 0.99998579 0.72139185] [ 0. 0. 0. 1. ]] SLAMing on 24.722557843999997 meters 0.2951145547759841 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:0.72 [[ 0.99998566 0.00318864 0.00430179 -0.08727034] [-0.0031747 0.9999897 -0.00324323 -0.03083646] [-0.00431209 0.00322952 0.99998549 0.72136585] [ 0. 0. 0. 1. ]] SLAMing on 24.782557843999996 meters 0.2935237293530102 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.02, Z:0.72 [[ 0.99998206 0.00287136 0.00525684 -0.09036953] [-0.00284552 0.99998387 -0.00491541 -0.02458809] [-0.00527087 0.00490037 0.9999741 0.72339951] [ 0. 0. 0. 1. ]] SLAMing on 24.842557843999998 meters 0.293756810075084 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.02, Z:0.72 [[ 0.99997618 0.00256082 0.00640987 -0.09335217] [-0.00251951 0.99997606 -0.0064439 -0.01862064] [-0.00642621 0.00642759 0.99995869 0.72480284] [ 0. 0. 0. 1. ]] SLAMing on 24.902557843999997 meters 0.2927699535412835 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:0.73 [[ 0.99997419 0.00223315 0.0068282 -0.09453737] [-0.00218129 0.99996879 -0.00759319 -0.01420874] [-0.00684494 0.0075781 0.99994786 0.72522115] [ 0. 0. 0. 1. ]] SLAMing on 24.962557844 meters 0.29265206120869025 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:0.72 [[ 0.99997564 -0.00226653 0.00660192 -0.11617216] [ 0.00229128 0.99999037 -0.00374371 -0.00491048] [-0.00659337 0.00375874 0.9999712 0.72451413] [ 0. 0. 0. 1. ]] SLAMing on 25.022557843999998 meters 0.29256838517045103 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:0.72 [[ 0.9999763 -0.0025727 0.00638522 -0.11527401] [ 0.00260224 0.99998593 -0.00462178 -0.00126634] [-0.00637324 0.00463828 0.99996893 0.72358336] [ 0. 0. 0. 1. ]] SLAMing on 25.082557843999997 meters 0.293161822063763 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:0.72 [[ 9.99976339e-01 -2.72232207e-03 6.31739289e-03 -1.15199983e-01] [ 2.75424403e-03 9.99983456e-01 -5.04984000e-03 4.21343744e-04] [-6.30354109e-03 5.06712016e-03 9.99967294e-01 7.23823207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142557844 meters 0.29322470205203993 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:0.72 [[ 0.99997627 -0.00284183 0.00627488 -0.11524095] [ 0.00287591 0.99998113 -0.00542927 0.00189628] [-0.00625934 0.00544719 0.99996557 0.7242096 ] [ 0. 0. 0. 1. ]] SLAMing on 25.202557843999998 meters 0.29331098494460467 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.00, Z:0.72 [[ 0.99997812 -0.00298777 0.00590132 -0.11400796] [ 0.00302344 0.99997716 -0.00604525 0.00425331] [-0.00588313 0.00606296 0.99996431 0.72325467] [ 0. 0. 0. 1. ]] SLAMing on 25.262557843999996 meters 0.29407235907299123 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.01, Z:0.72 [[ 0.99997842 -0.00310418 0.00579025 -0.11375479] [ 0.00314175 0.99997399 -0.00649168 0.00593503] [-0.00576995 0.00650973 0.99996216 0.72332114] [ 0. 0. 0. 1. ]] SLAMing on 25.322557844 meters 0.2918497685750046 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.01, Z:0.73 [[ 0.99998328 -0.00535926 0.00217321 -0.13856414] [ 0.00536229 0.99998466 -0.00138995 0.00682858] [-0.00216573 0.00140158 0.99999667 0.72716645] [ 0. 0. 0. 1. ]] SLAMing on 25.382557843999997 meters 0.29386312211137217 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.73 [[ 9.99991478e-01 -3.99798656e-03 1.02916949e-03 -9.74682190e-02] [ 3.99817311e-03 9.99991991e-01 -1.79269249e-04 9.33626673e-03] [-1.02844453e-03 1.83382519e-04 9.99999454e-01 7.29128202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442557843999996 meters 0.2936191853876094 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.73 [[ 9.99990828e-01 -4.10382526e-03 1.22592708e-03 -9.80033567e-02] [ 4.10441418e-03 9.99991462e-01 -4.78259895e-04 1.05254737e-02] [-1.22395392e-03 4.83287221e-04 9.99999134e-01 7.29217827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502557844 meters 0.29219619924070706 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.01, Z:0.73 [[ 9.99983483e-01 5.49148212e-03 1.69635136e-03 -1.20530469e-01] [-5.49018819e-03 9.99984635e-01 -7.66488232e-04 8.14603456e-03] [-1.70053445e-03 7.57162283e-04 9.99998267e-01 7.29305968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562557843999997 meters 0.2929748464428813 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.73 [[ 9.99989095e-01 -4.11034883e-03 2.21688450e-03 -9.91235844e-02] [ 4.11129831e-03 9.99991459e-01 -4.23908975e-04 1.04879269e-02] [-2.21512315e-03 4.33018626e-04 9.99997453e-01 7.29394480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622557843999996 meters 0.29336069132110815 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.73 [[ 9.99989097e-01 -3.91365362e-03 2.54757070e-03 -1.00208721e-01] [ 3.91314637e-03 9.99992323e-01 2.04066748e-04 7.87165963e-03] [-2.54834979e-03 -1.94095506e-04 9.99996734e-01 7.29952864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682557843999998 meters 0.2926787571691323 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.01, Z:0.73 [[ 9.99989325e-01 -3.76353189e-03 2.68059453e-03 -1.00778082e-01] [ 3.76183720e-03 9.99992721e-01 6.36970294e-04 6.08190960e-03] [-2.68297228e-03 -6.26879534e-04 9.99996204e-01 7.30597266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742557843999997 meters 0.29068605773241246 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.00, Z:0.73 [[ 9.99995332e-01 2.59132382e-03 1.61915068e-03 -1.22443721e-01] [-2.58752175e-03 9.99993901e-01 -2.34588408e-03 8.65697879e-04] [-1.62521975e-03 2.34168354e-03 9.99995938e-01 7.31109769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802557844 meters 0.2919886953199914 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:0.73 [[ 9.99995083e-01 2.74459287e-03 1.51713430e-03 -1.22002991e-01] [-2.74165482e-03 9.99994369e-01 -1.93527393e-03 -8.02064786e-04] [-1.52243730e-03 1.93110496e-03 9.99996977e-01 7.30691625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862557843999998 meters 0.2924389557477008 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.00, Z:0.73 [[ 0.99999487 0.00289692 0.00136736 -0.1211914 ] [-0.00289484 0.99999466 -0.00151926 -0.00252235] [-0.00137175 0.00151529 0.99999791 0.72960332] [ 0. 0. 0. 1. ]] SLAMing on 25.922557843999996 meters 0.2905209200747098 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.01, Z:0.73 [[ 9.99991397e-01 3.99370101e-03 1.12101418e-03 -1.57835013e-01] [-3.99309898e-03 9.99991882e-01 -5.38772077e-04 -6.27492909e-03] [-1.12315677e-03 5.34291121e-04 9.99999227e-01 7.25256661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982557844 meters 0.29153189494261766 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.73 [[ 9.99994175e-01 3.27827920e-03 9.50635361e-04 -1.20449552e-01] [-3.27746334e-03 9.99994261e-01 -8.58513071e-04 -7.98045650e-03] [-9.53444351e-04 8.55392397e-04 9.99999180e-01 7.29003731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042557843999997 meters 0.29300460455801597 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.00, Z:0.73 [[ 9.99982655e-01 -5.51669176e-03 2.06307091e-03 -1.00619315e-01] [ 5.51610650e-03 9.99984744e-01 2.89267511e-04 -4.53597593e-03] [-2.06463524e-03 -2.77882375e-04 9.99997830e-01 7.28722864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102557843999996 meters 0.2932085831219877 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.01, Z:0.73 [[ 9.99983597e-01 -5.37438533e-03 1.98008532e-03 -1.00132083e-01] [ 5.37310003e-03 9.99985351e-01 6.53862520e-04 -6.04802218e-03] [-1.98357042e-03 -6.43212599e-04 9.99997826e-01 7.28138501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162557844 meters 0.29087935244619134 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.73 [[ 9.99998559e-01 1.68678892e-03 1.90144289e-04 -1.22140091e-01] [-1.68649795e-03 9.99997422e-01 -1.52018419e-03 -1.00166256e-02] [-1.92708028e-04 1.51986132e-03 9.99998826e-01 7.29688933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222557843999997 meters 0.2909800368700339 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.01, Z:0.73 [[ 9.99998167e-01 1.87353865e-03 3.94807275e-04 -1.22877708e-01] [-1.87315506e-03 9.99997775e-01 -9.69710896e-04 -1.22764855e-02] [-3.96623188e-04 9.68969584e-04 9.99999452e-01 7.30294258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282557843999996 meters 0.29111370125351743 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.02, Z:0.73 [[ 9.99997566e-01 2.11811380e-03 6.17879023e-04 -1.23456867e-01] [-2.11802858e-03 9.99997747e-01 -1.38537466e-04 -1.55015713e-02] [-6.18171069e-04 1.37228444e-04 9.99999800e-01 7.30356258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342557843999998 meters 0.28998579793418 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.02, Z:0.73 [[ 9.99999185e-01 5.90523309e-04 1.13157924e-03 -1.61079038e-01] [-5.89550067e-04 9.99999456e-01 -8.60214757e-04 -2.20386198e-02] [-1.13208660e-03 8.59546933e-04 9.99998990e-01 7.26263706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557843999997 meters 0.2904056147721282 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.73 [[ 9.99999074e-01 1.10934653e-03 7.88456773e-04 -1.60280261e-01] [-1.11017864e-03 9.99998826e-01 1.05572216e-03 -2.93060548e-02] [-7.87284686e-04 -1.05659651e-03 9.99999132e-01 7.26416027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462557843999996 meters 0.2906823953657284 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.03, Z:0.73 [[ 0.99999835 0.00150237 0.00101938 -0.16118536] [-0.00150462 0.99999643 0.00220661 -0.03393132] [-0.00101606 -0.00220814 0.99999705 0.72711936] [ 0. 0. 0. 1. ]] SLAMing on 26.522557843999998 meters 0.2890311961651455 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.73 [[ 0.99999732 0.00196354 0.00122961 -0.16200711] [-0.00196757 0.99999269 0.0032793 -0.03835973] [-0.00122316 -0.00328171 0.99999387 0.72767635] [ 0. 0. 0. 1. ]] SLAMing on 26.582557843999997 meters 0.2897799415840507 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.73 [[ 0.99999715 0.00209678 0.001141 -0.16144549] [-0.00210089 0.99999126 0.00361509 -0.0397431 ] [-0.00113341 -0.00361748 0.99999281 0.72694108] [ 0. 0. 0. 1. ]] SLAMing on 26.642557844 meters 0.290257547530543 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.73 [[ 9.99997112e-01 2.22025859e-03 9.19946984e-04 -1.60501060e-01] [-2.22387863e-03 9.99989714e-01 3.95289750e-03 -4.11718390e-02] [-9.11161067e-04 -3.95493194e-03 9.99991764e-01 7.25900836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702557843999998 meters 0.2892617777408871 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.04, Z:0.73 [[ 0.9999964 0.00245964 0.00107231 -0.16107946] [-0.00246454 0.99998641 0.00459348 -0.04378191] [-0.001061 -0.00459611 0.99998887 0.72642601] [ 0. 0. 0. 1. ]] SLAMing on 26.762557843999996 meters 0.2902084059595952 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.73 [[ 0.99999586 0.00261833 0.00119507 -0.16137113] [-0.00262441 0.99998346 0.00511737 -0.04581844] [-0.00118165 -0.00512048 0.99998619 0.72640857] [ 0. 0. 0. 1. ]] SLAMing on 26.822557844 meters 0.2898235283808477 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.73 [[ 0.99996938 -0.00731645 0.00277809 -0.13935016] [ 0.00730132 0.99995867 0.00541679 -0.04850156] [-0.00281761 -0.00539634 0.99998147 0.72520664] [ 0. 0. 0. 1. ]] SLAMing on 26.882557843999997 meters 0.2912349441131194 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.05, Z:0.73 [[ 0.99997088 -0.00715582 0.00265159 -0.13908693] [ 0.00713979 0.99995647 0.00600641 -0.05076358] [-0.00269445 -0.0059873 0.99997845 0.72538841] [ 0. 0. 0. 1. ]] SLAMing on 26.942557843999996 meters 0.290399594426806 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 0.9999982 -0.00160999 -0.00100866 -0.15924758] [ 0.00161359 0.99999229 0.00358136 -0.05725448] [ 0.00100288 -0.00358298 0.99999308 0.72633078] [ 0. 0. 0. 1. ]] SLAMing on 27.002557844 meters 0.29181115550201037 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.72 [[ 9.99991091e-01 4.21410638e-03 -2.44228416e-04 -1.36400731e-01] [-4.21405013e-03 9.99991094e-01 2.30369241e-04 -6.13708100e-02] [ 2.45197042e-04 -2.29337998e-04 9.99999944e-01 7.24909353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062557843999997 meters 0.2900579762883533 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 9.99987658e-01 -4.88985449e-03 8.79310373e-04 -1.59357485e-01] [ 4.88880461e-03 9.99987339e-01 1.19219815e-03 -5.94744360e-02] [-8.85128916e-04 -1.18788466e-03 9.99998903e-01 7.25060003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122557843999996 meters 0.29016027631278674 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.73 [[ 9.99990800e-01 3.47088653e-03 2.52039507e-03 -1.39779916e-01] [-3.47060375e-03 9.99993971e-01 -1.16561742e-04 -6.16850745e-02] [-2.52078444e-03 1.07813377e-04 9.99996817e-01 7.26694543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182557843999998 meters 0.29109684048520496 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.73 [[ 9.99991810e-01 3.41137597e-03 2.17763183e-03 -1.38694336e-01] [-3.41070636e-03 9.99994135e-01 -3.11137059e-04 -6.08977552e-02] [-2.17868047e-03 3.03707249e-04 9.99997581e-01 7.26008841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242557843999997 meters 0.29245838317774103 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.73 [[ 9.99992172e-01 3.33629125e-03 2.12738405e-03 -1.38293604e-01] [-3.33520105e-03 9.99994305e-01 -5.15800486e-04 -6.00497237e-02] [-2.12909280e-03 5.08701195e-04 9.99997604e-01 7.25391845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302557844 meters 0.29098628422384254 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 9.99984421e-01 -5.56599792e-03 4.21571902e-04 -1.59050325e-01] [ 5.56594838e-03 9.99984503e-01 1.18595190e-04 -5.78265335e-02] [-4.22225469e-04 -1.16246895e-04 9.99999904e-01 7.25633519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362557843999998 meters 0.29158571489739543 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 9.99985307e-01 -5.41764309e-03 -1.86243835e-04 -1.57420658e-01] [ 5.41776001e-03 9.99985123e-01 6.33128737e-04 -5.99988282e-02] [ 1.82810998e-04 -6.34128459e-04 9.99999782e-01 7.25221995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422557843999996 meters 0.2918649911236796 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 9.99985826e-01 -5.32166949e-03 -1.68339482e-04 -1.57518987e-01] [ 5.32181722e-03 9.99985443e-01 8.89670442e-04 -6.10436111e-02] [ 1.63602499e-04 -8.90553704e-04 9.99999590e-01 7.25346735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482557844 meters 0.2901664882693371 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.07, Z:0.72 [[ 9.99995283e-01 2.81082955e-03 1.23847697e-03 -1.79110507e-01] [-2.81101336e-03 9.99996038e-01 1.46695748e-04 -6.85495262e-02] [-1.23805973e-03 -1.50176431e-04 9.99999222e-01 7.24920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542557843999997 meters 0.2917601659306707 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.73 [[ 9.99983216e-01 -5.76112309e-03 6.14930496e-04 -1.58935141e-01] [ 5.76027605e-03 9.99982470e-01 1.37045941e-03 -6.56717395e-02] [-6.22815102e-04 -1.36689423e-03 9.99998872e-01 7.26160564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602557843999996 meters 0.291779930004332 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.73 [[ 9.99983592e-01 -5.70894518e-03 4.73959883e-04 -1.58520873e-01] [ 5.70820947e-03 9.99982523e-01 1.53935655e-03 -6.63332636e-02] [-4.82739702e-04 -1.53662583e-03 9.99998703e-01 7.25996214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662557844 meters 0.29160403798875745 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.06, Z:0.73 [[ 9.99982569e-01 -5.85283936e-03 7.79027534e-04 -1.59732713e-01] [ 5.85201690e-03 9.99982321e-01 1.05387393e-03 -6.44843032e-02] [-7.85181917e-04 -1.04929668e-03 9.99999141e-01 7.27191998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722557843999997 meters 0.29134133181628763 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.73 [[ 0.99999109 0.00398904 -0.00138355 -0.17955504] [-0.00398741 0.99999135 0.00118071 -0.06367861] [ 0.00138825 -0.00117518 0.99999835 0.72666576] [ 0. 0. 0. 1. ]] SLAMing on 27.782557843999996 meters 0.2902225646496188 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.73 [[ 9.99992825e-01 3.72922256e-03 -6.64881069e-04 -1.81344189e-01] [-3.72908250e-03 9.99993025e-01 2.11764689e-04 -5.99543921e-02] [ 6.65666149e-04 -2.09283773e-04 9.99999757e-01 7.26975643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842557843999998 meters 0.2913195826309294 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.73 [[ 9.99992750e-01 -3.80119392e-03 -2.24350292e-04 -1.62500324e-01] [ 3.80154773e-03 9.99991497e-01 1.59830491e-03 -5.08765571e-02] [ 2.18272918e-04 -1.59914620e-03 9.99998698e-01 7.28738670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902557843999997 meters 0.2907086672471169 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.72 [[ 9.99992084e-01 -3.94000377e-03 -5.55414815e-04 -1.96866178e-01] [ 3.94066938e-03 9.99991513e-01 1.20244993e-03 -5.01337909e-02] [ 5.50672444e-04 -1.20462912e-03 9.99999123e-01 7.22617941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962557843999996 meters 0.291761799323323 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.05, Z:0.72 [[ 9.99986012e-01 5.20820288e-03 9.21938514e-04 -1.75776131e-01] [-5.20876756e-03 9.99986248e-01 6.11156265e-04 -5.13199598e-02] [-9.18742809e-04 -6.15949880e-04 9.99999388e-01 7.22539777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022557843999998 meters 0.2914186087218117 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.05, Z:0.72 [[ 9.99992571e-01 -3.85291711e-03 1.12362594e-04 -1.97579571e-01] [ 3.85274120e-03 9.99991414e-01 1.52582350e-03 -5.12377823e-02] [-1.18240500e-04 -1.52537927e-03 9.99998830e-01 7.22886351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082557843999997 meters 0.29246776989483453 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.05, Z:0.72 [[ 9.99985335e-01 -5.31128417e-03 -1.05800208e-03 -1.56089450e-01] [ 5.31136113e-03 9.99985892e-01 6.99382835e-05 -5.32107348e-02] [ 1.05761569e-03 -7.55566890e-05 9.99999438e-01 7.24571625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142557844 meters 0.2921792422256487 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:0.72 [[ 9.99994918e-01 2.72617939e-03 -1.65271854e-03 -1.75192677e-01] [-2.72781657e-03 9.99995790e-01 -9.89155090e-04 -5.96028383e-02] [ 1.65001497e-03 9.93658376e-04 9.99998145e-01 7.22480557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202557843999998 meters 0.2918062478797936 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.06, Z:0.72 [[ 9.99994205e-01 2.88437267e-03 -1.80842258e-03 -1.74466658e-01] [-2.88535605e-03 9.99995691e-01 -5.41406046e-04 -6.14397496e-02] [ 1.80685317e-03 5.46620852e-04 9.99998218e-01 7.21587271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262557843999996 meters 0.2911219277149481 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.06, Z:0.72 [[ 9.99976392e-01 -6.54036668e-03 -2.10695731e-03 -1.97118643e-01] [ 6.54107002e-03 9.99978553e-01 3.27100471e-04 -6.26391012e-02] [ 2.10477276e-03 -3.40874505e-04 9.99997727e-01 7.22514632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322557844 meters 0.29283323159463337 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.07, Z:0.72 [[ 9.99999490e-01 2.49875716e-04 -9.78162504e-04 -1.72535676e-01] [-2.51723708e-04 9.99998183e-01 -1.88958130e-03 -6.60298589e-02] [ 9.77688566e-04 1.88982657e-03 9.99997736e-01 7.20403372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382557843999997 meters 0.29147524112705836 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.07, Z:0.72 [[ 0.99996961 -0.00606148 -0.00490319 -0.19349245] [ 0.00606742 0.99998088 0.00119736 -0.071896 ] [ 0.00489584 -0.00122707 0.99998726 0.72216037] [ 0. 0. 0. 1. ]] SLAMing on 28.442557843999996 meters 0.29004804678266294 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.08, Z:0.72 [[ 0.99997297 -0.00577662 -0.00454969 -0.19474037] [ 0.00578624 0.99998105 0.00210394 -0.07557627] [ 0.00453745 -0.0021302 0.99998744 0.72330212] [ 0. 0. 0. 1. ]] SLAMing on 28.502557844 meters 0.2914837157120679 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.08, Z:0.72 [[ 9.99989419e-01 1.05022966e-03 -4.47860926e-03 -1.70863427e-01] [-1.05135034e-03 9.99999417e-01 -2.47882113e-04 -8.06111250e-02] [ 4.47834631e-03 2.52588078e-04 9.99989940e-01 7.22181988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562557843999997 meters 0.29238430355544176 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.72 [[ 0.99998655 0.00154835 -0.00495053 -0.16974922] [-0.00154127 0.99999778 0.00143353 -0.0870274 ] [ 0.00495274 -0.00142588 0.99998672 0.72245331] [ 0. 0. 0. 1. ]] SLAMing on 28.622557843999996 meters 0.2932806053963345 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.09, Z:0.72 [[ 0.99998588 0.00189331 -0.00496499 -0.16962374] [-0.00188196 0.9999956 0.00229093 -0.09050127] [ 0.00496931 -0.00228155 0.99998505 0.72228867] [ 0. 0. 0. 1. ]] SLAMing on 28.682557843999998 meters 0.29122539660361046 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.10, Z:0.72 [[ 9.99992152e-01 5.08107596e-04 -3.92909744e-03 -2.10331260e-01] [-4.99263406e-04 9.99997341e-01 2.25160019e-03 -9.60234897e-02] [ 3.93023105e-03 -2.24962086e-03 9.99989746e-01 7.20217795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742557843999997 meters 0.2927084832098081 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.10, Z:0.72 [[ 9.99970757e-01 7.31205876e-03 -2.24024531e-03 -1.88683450e-01] [-7.31212875e-03 9.99973266e-01 -2.30516272e-05 -1.04024793e-01] [ 2.24001686e-03 3.94319153e-05 9.99997490e-01 7.19519198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802557843999995 meters 0.29385843865290945 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.11, Z:0.72 [[ 9.99968289e-01 7.61761571e-03 -2.32236606e-03 -1.88085403e-01] [-7.61598220e-03 9.99970745e-01 7.11416984e-04 -1.07097346e-01] [ 2.32771742e-03 -6.93707326e-04 9.99997050e-01 7.18746296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862557843999998 meters 0.2944628082874553 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.11, Z:0.72 [[ 0.99999796 -0.0013534 -0.00149679 -0.16605547] [ 0.00135612 0.99999742 0.0018202 -0.11130774] [ 0.00149432 -0.00182222 0.99999722 0.71901228] [ 0. 0. 0. 1. ]] SLAMing on 28.922557843999996 meters 0.29329218999983453 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.12, Z:0.72 [[ 9.99998556e-01 -9.43236671e-04 -1.41373133e-03 -1.66390225e-01] [ 9.47395121e-04 9.99995219e-01 2.94369374e-03 -1.15787632e-01] [ 1.41094797e-03 -2.94502885e-03 9.99994668e-01 7.19325547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982557844 meters 0.2933314932237425 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.12, Z:0.72 [[ 9.99997375e-01 -9.30686823e-04 -2.09398220e-03 -1.64482793e-01] [ 9.38860338e-04 9.99991932e-01 3.90574405e-03 -1.20730813e-01] [ 2.09033028e-03 -3.90769976e-03 9.99990180e-01 7.19057558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042557843999997 meters 0.29487115232580535 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.71 [[ 9.99993192e-01 3.43394082e-03 1.35091380e-03 -1.40027438e-01] [-3.43329829e-03 9.99993992e-01 -4.77652899e-04 -1.20561108e-01] [-1.35254591e-03 4.73011557e-04 9.99998973e-01 7.14347949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102557843999996 meters 0.29502921095999834 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:0.71 [[ 9.99992303e-01 3.74233601e-03 1.17845144e-03 -1.39529637e-01] [-3.74269214e-03 9.99992951e-01 3.00138577e-04 -1.23726933e-01] [-1.17731991e-03 -3.04546848e-04 9.99999261e-01 7.14340648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162557844 meters 0.294952041257937 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.71 [[ 0.99999104 0.00406406 0.00118417 -0.13960079] [-0.00406541 0.99999109 0.00113707 -0.12716984] [-0.00117954 -0.00114187 0.99999865 0.71447827] [ 0. 0. 0. 1. ]] SLAMing on 29.222557843999997 meters 0.2948242491874313 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.71 [[ 0.99999014 0.00430212 0.00109648 -0.13949739] [-0.0043041 0.9999891 0.00180698 -0.12985395] [-0.0010887 -0.00181168 0.99999777 0.71481886] [ 0. 0. 0. 1. ]] SLAMing on 29.282557843999996 meters 0.2939099921336798 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:0.72 [[ 9.99979491e-01 -6.39357245e-03 3.73580668e-04 -1.62830918e-01] [ 6.39285885e-03 9.99977796e-01 1.88111592e-03 -1.33312156e-01] [-3.85599424e-04 -1.87868909e-03 9.99998161e-01 7.17185257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342557843999998 meters 0.2941917435223876 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:0.72 [[ 0.99999064 0.00333093 0.00276154 -0.14229418] [-0.00333596 0.99999278 0.00182006 -0.13434652] [-0.00275546 -0.00182925 0.99999453 0.7169884 ] [ 0. 0. 0. 1. ]] SLAMing on 29.402557843999997 meters 0.2952880330624451 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.72 [[ 9.99996078e-01 -6.12278503e-04 2.73303202e-03 -1.41911128e-01] [ 6.16615242e-04 9.99998552e-01 -1.58622628e-03 -1.37144791e-01] [-2.73205685e-03 1.58790529e-03 9.99995007e-01 7.16432107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462557843999996 meters 0.2954647321460517 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.72 [[ 9.99996749e-01 -6.27643676e-04 2.47160592e-03 -1.41047582e-01] [ 6.31675801e-04 9.99998471e-01 -1.63093586e-03 -1.37006767e-01] [-2.47057849e-03 1.63249181e-03 9.99995616e-01 7.15843273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522557843999998 meters 0.2950275251114346 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.14, Z:0.72 [[ 9.99996418e-01 -6.66433035e-04 2.59224409e-03 -1.41327922e-01] [ 6.71000015e-04 9.99998224e-01 -1.76131580e-03 -1.36495901e-01] [-2.59106568e-03 1.76304889e-03 9.99995089e-01 7.15778456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582557843999997 meters 0.29785786583760865 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.13, Z:0.72 [[ 9.99998689e-01 4.79257988e-04 1.54659202e-03 -1.02694987e-01] [-4.74962389e-04 9.99996032e-01 -2.77663404e-03 -1.31263837e-01] [-1.54791661e-03 2.77589582e-03 9.99994949e-01 7.19380159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642557844 meters 0.29601086490542744 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.72 [[ 9.99978002e-01 -6.48912563e-03 -1.37388698e-03 -1.23363645e-01] [ 6.48922152e-03 9.99978943e-01 6.53495699e-05 -1.32069765e-01] [ 1.37343399e-03 -7.42635893e-05 9.99999054e-01 7.20355814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702557843999998 meters 0.29507867356683454 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.13, Z:0.72 [[ 9.99979997e-01 -6.25827950e-03 -9.15799641e-04 -1.24901588e-01] [ 6.25898623e-03 9.99980115e-01 7.70893584e-04 -1.34509728e-01] [ 9.10956963e-04 -7.76610142e-04 9.99999284e-01 7.21453885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762557843999996 meters 0.295382639958021 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.14, Z:0.72 [[ 9.99981092e-01 -6.11987073e-03 -6.03093151e-04 -1.26102510e-01] [ 6.12063249e-03 9.99980463e-01 1.26945919e-03 -1.36309259e-01] [ 5.95312442e-04 -1.27312650e-03 9.99999012e-01 7.22672782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822557844 meters 0.2960255852183483 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.15, Z:0.72 [[ 0.99999208 0.00320573 -0.00235683 -0.10349922] [-0.00320314 0.99999426 0.00110459 -0.14527193] [ 0.00236036 -0.00109703 0.99999661 0.72266984] [ 0. 0. 0. 1. ]] SLAMing on 29.882557843999997 meters 0.2938101553960289 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:0.72 [[ 9.99998463e-01 7.27476304e-04 -1.59532575e-03 -1.40768484e-01] [-7.24362488e-04 9.99997833e-01 1.95154674e-03 -1.56329965e-01] [ 1.59674200e-03 -1.95038814e-03 9.99996823e-01 7.19085659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942557843999996 meters 0.2959160338968487 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:0.72 [[ 0.99999349 -0.00325831 -0.00155085 -0.14109253] [ 0.00325628 0.99999384 -0.00131096 -0.160493 ] [ 0.00155511 0.00130591 0.99999794 0.71968477] [ 0. 0. 0. 1. ]] SLAMing on 30.002557844 meters 0.2946397937679308 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.16, Z:0.72 [[ 9.99994426e-01 -2.94149169e-03 -1.57990461e-03 -1.41571304e-01] [ 2.94059394e-03 9.99995514e-01 -5.70253857e-04 -1.63369734e-01] [ 1.58157492e-03 5.65604821e-04 9.99998589e-01 7.20886958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062557843999997 meters 0.2948931652829319 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:0.72 [[ 9.99995186e-01 -2.72847985e-03 -1.47764133e-03 -1.41811373e-01] [ 2.72852637e-03 9.99996277e-01 2.94661684e-05 -1.65729742e-01] [ 1.47755544e-03 -3.34978099e-05 9.99998908e-01 7.20884949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122557843999996 meters 0.29543196747174855 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:0.72 [[ 9.99995038e-01 -2.57500132e-03 -1.81460769e-03 -1.40860611e-01] [ 2.57578362e-03 9.99996591e-01 4.28909659e-04 -1.67345068e-01] [ 1.81349706e-03 -4.33581568e-04 9.99998262e-01 7.20665426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182557843999998 meters 0.2965191711253837 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.17, Z:0.72 [[ 9.99994833e-01 -2.48328849e-03 -2.04153246e-03 -1.40145922e-01] [ 2.48471185e-03 9.99996672e-01 6.94962256e-04 -1.68451190e-01] [ 2.03979988e-03 -7.00031285e-04 9.99997675e-01 7.20306287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242557843999997 meters 0.2954427493109201 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.72 [[ 0.99998997 0.00282634 -0.00347314 -0.16258657] [-0.0028344 0.9999933 -0.00231679 -0.17344919] [ 0.00346657 0.00232662 0.99999128 0.72111042] [ 0. 0. 0. 1. ]] SLAMing on 30.302557843999995 meters 0.29486285552531427 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.17, Z:0.72 [[ 0.99998947 0.00294686 -0.00351823 -0.16238438] [-0.00295381 0.99999369 -0.0019718 -0.17486956] [ 0.0035124 0.00198217 0.99999187 0.72091465] [ 0. 0. 0. 1. ]] SLAMing on 30.362557843999998 meters 0.2964690630554186 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.72 [[ 9.99997414e-01 -2.27139759e-03 -1.08889177e-04 -1.41104832e-01] [ 2.27155381e-03 9.99996359e-01 1.45669783e-03 -1.77759147e-01] [ 1.05580041e-04 -1.45694141e-03 9.99998933e-01 7.20006672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422557843999996 meters 0.29528286771966356 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.72 [[ 9.99997845e-01 -2.03163031e-03 4.26740124e-04 -1.42925224e-01] [ 2.03063442e-03 9.99995244e-01 2.32133250e-03 -1.80924769e-01] [-4.31454183e-04 -2.32046095e-03 9.99997215e-01 7.21557136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482557844 meters 0.2950447969864595 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.18, Z:0.72 [[ 9.99998295e-01 -1.84671340e-03 8.26559053e-06 -1.42035259e-01] [ 1.84668009e-03 9.99993749e-01 3.01526920e-03 -1.83562809e-01] [-1.38338769e-05 -3.01524880e-03 9.99995454e-01 7.21953614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542557843999997 meters 0.29495900461948155 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.72 [[ 9.99998813e-01 -1.52490231e-03 2.21821927e-04 -1.42712252e-01] [ 1.52398210e-03 9.99990470e-01 4.09105522e-03 -1.87707371e-01] [-2.28058272e-04 -4.09071231e-03 9.99991607e-01 7.22233113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602557843999996 meters 0.29395253448945013 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.72 [[ 9.99999012e-01 -1.38175403e-03 2.57198354e-04 -1.42705532e-01] [ 1.38059078e-03 9.99989060e-01 4.46929196e-03 -1.89274919e-01] [-2.63371002e-04 -4.46893246e-03 9.99989980e-01 7.22025052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662557844 meters 0.295059503919202 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.19, Z:0.72 [[ 9.99999046e-01 -1.38115232e-03 3.00907453e-06 -1.41855445e-01] [ 1.38112494e-03 9.99988995e-01 4.48354678e-03 -1.89360462e-01] [-9.20150245e-06 -4.48353835e-03 9.99989949e-01 7.21330515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722557843999997 meters 0.2966236778918039 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:0.72 [[ 9.99983760e-01 5.64733766e-03 7.66244108e-04 -1.19705622e-01] [-5.64817437e-03 9.99983450e-01 1.09422354e-03 -1.90829161e-01] [-7.60051977e-04 -1.09853365e-03 9.99999108e-01 7.21402496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782557843999996 meters 0.2964187156121759 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:0.72 [[ 9.99983180e-01 5.72677638e-03 9.18651208e-04 -1.20176671e-01] [-5.72796300e-03 9.99982757e-01 1.29430693e-03 -1.91621571e-01] [-9.11223161e-04 -1.29954716e-03 9.99998740e-01 7.21585643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842557843999998 meters 0.295709880028857 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.19, Z:0.72 [[ 9.99981985e-01 5.94013148e-03 8.62866419e-04 -1.20177866e-01] [-5.94185808e-03 9.99980322e-01 2.01241770e-03 -1.94378296e-01] [-8.50895414e-04 -2.01750848e-03 9.99997603e-01 7.21957939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902557843999997 meters 0.29602594866150006 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.72 [[ 9.99998018e-01 1.80545538e-03 8.38670197e-04 -1.20180398e-01] [-1.80390707e-03 9.99996674e-01 -1.84324154e-03 -1.96401889e-01] [-8.41995298e-04 1.84172501e-03 9.99997950e-01 7.21996937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962557843999996 meters 0.29672875450500474 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.72 [[ 9.99997893e-01 1.90062088e-03 7.75265390e-04 -1.19805072e-01] [-1.89938896e-03 9.99996937e-01 -1.58668468e-03 -1.97497589e-01] [-7.78278701e-04 1.58520881e-03 9.99998441e-01 7.21510441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022557843999998 meters 0.29552540272343913 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.20, Z:0.72 [[ 0.99998631 -0.00488492 -0.00187479 -0.14076467] [ 0.00488838 0.99998635 0.00184717 -0.19883884] [ 0.00186574 -0.00185631 0.99999654 0.72278967] [ 0. 0. 0. 1. ]] SLAMing on 31.082557843999997 meters 0.2966826574336953 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.72 [[ 9.99992616e-01 3.81650429e-03 -4.48899119e-04 -1.22066885e-01] [-3.81650497e-03 9.99992717e-01 -6.44322738e-07 -2.01224547e-01] [ 4.48893390e-04 2.35754370e-06 9.99999899e-01 7.24841440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142557844 meters 0.2959870663934718 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.72 [[ 9.99992707e-01 3.79696144e-03 -4.10752164e-04 -1.22045914e-01] [-3.79698459e-03 9.99992790e-01 -5.56105373e-05 -2.01027609e-01] [ 4.10538051e-04 5.71697514e-05 9.99999914e-01 7.24559092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202557843999998 meters 0.2959854462094051 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.73 [[ 9.99991962e-01 4.00673148e-03 -1.46260939e-04 -1.22972143e-01] [-4.00665366e-03 9.99991834e-01 5.28537728e-04 -2.03332818e-01] [ 1.48377453e-04 -5.27947463e-04 9.99999850e-01 7.25210108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262557843999996 meters 0.29765531273228957 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.20, Z:0.73 [[ 9.99991558e-01 4.10855385e-03 -6.30231136e-05 -1.23419686e-01] [-4.10850165e-03 9.99991234e-01 8.07143982e-04 -2.04423752e-01] [ 6.63387556e-05 -8.06878237e-04 9.99999672e-01 7.25760385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322557844 meters 0.29539849039667493 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.21, Z:0.72 [[ 0.99999693 0.0021942 0.00114955 -0.16248988] [-0.00219623 0.99999602 0.00176876 -0.20965377] [-0.00114567 -0.00177128 0.99999778 0.72290992] [ 0. 0. 0. 1. ]] SLAMing on 31.382557843999997 meters 0.2960603296761044 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.72 [[ 0.99998412 -0.00545388 0.00141614 -0.14193492] [ 0.00544975 0.99998094 0.00290203 -0.20587223] [-0.00143194 -0.00289427 0.99999479 0.72303986] [ 0. 0. 0. 1. ]] SLAMing on 31.442557843999996 meters 0.29611428628101344 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.21, Z:0.72 [[ 9.99998433e-01 1.75556889e-03 2.28425534e-04 -1.60972009e-01] [-1.75590077e-03 9.99997391e-01 1.46090540e-03 -2.10990042e-01] [-2.25860218e-04 -1.46130421e-03 9.99998907e-01 7.21354342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502557844 meters 0.2973713595370667 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.21, Z:0.72 [[ 0.99999316 -0.00318474 0.00187845 -0.13658638] [ 0.00317588 0.99998392 0.00469764 -0.2102333 ] [-0.00189338 -0.00469165 0.9999872 0.71883555] [ 0. 0. 0. 1. ]] SLAMing on 31.562557843999997 meters 0.29547717480895724 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.21, Z:0.72 [[ 0.9999977 0.00174436 0.00125185 -0.1606841 ] [-0.00174602 0.9999976 0.00132556 -0.21232392] [-0.00124953 -0.00132775 0.99999834 0.72052819] [ 0. 0. 0. 1. ]] SLAMing on 31.622557843999996 meters 0.2950157485382792 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.21, Z:0.72 [[ 0.99999791 0.00177296 0.00102072 -0.16010783] [-0.00177443 0.99999739 0.00143775 -0.21277116] [-0.00101817 -0.00143956 0.99999845 0.7205228 ] [ 0. 0. 0. 1. ]] SLAMing on 31.682557843999998 meters 0.2955786683034925 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.21, Z:0.72 [[ 9.99997875e-01 1.89155136e-03 8.19277016e-04 -1.59697081e-01] [-1.89306610e-03 9.99996493e-01 1.85205701e-03 -2.14377626e-01] [-8.15770882e-04 -1.85360402e-03 9.99997949e-01 7.20764720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742557843999997 meters 0.29608179219790587 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.22, Z:0.72 [[ 9.99997682e-01 2.03269861e-03 7.09653110e-04 -1.59402497e-01] [-2.03429446e-03 9.99995388e-01 2.25534705e-03 -2.16035413e-01] [-7.05065396e-04 -2.25678547e-03 9.99997205e-01 7.20729802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802557843999995 meters 0.2963716789769849 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.22, Z:0.72 [[ 9.99997298e-01 2.18417579e-03 7.96202639e-04 -1.59809089e-01] [-2.18628471e-03 9.99994079e-01 2.65754748e-03 -2.17658328e-01] [-7.90393373e-04 -2.65928103e-03 9.99996152e-01 7.21165631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862557843999998 meters 0.29603438851685276 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.22, Z:0.72 [[ 9.99997866e-01 -1.93642397e-03 7.19629251e-04 -1.59420352e-01] [ 1.93716723e-03 9.99997590e-01 -1.03356831e-03 -2.20231639e-01] [-7.17626090e-04 1.03496014e-03 9.99999207e-01 7.20674891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922557843999996 meters 0.2954140338637617 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.22, Z:0.72 [[ 9.99998064e-01 -1.89169766e-03 5.42483005e-04 -1.58588394e-01] [ 1.89218156e-03 9.99997811e-01 -8.92886923e-04 -2.20883706e-01] [-5.40792745e-04 8.93911670e-04 9.99999454e-01 7.19667858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982557844 meters 0.2950196462353527 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.22, Z:0.72 [[ 9.99975726e-01 6.86027571e-03 1.21832039e-03 -1.82861548e-01] [-6.85946503e-03 9.99976250e-01 -6.68347219e-04 -2.23347094e-01] [-1.22287650e-03 6.59973969e-04 9.99999035e-01 7.20603448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042557844 meters 0.29504198737967563 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.22, Z:0.72 [[ 9.99975332e-01 6.90091452e-03 1.30881963e-03 -1.83176121e-01] [-6.90018163e-03 9.99976035e-01 -5.63648591e-04 -2.23751935e-01] [-1.31267795e-03 5.54603594e-04 9.99998985e-01 7.20799901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102557844 meters 0.29460649661216176 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.23, Z:0.72 [[ 9.99974287e-01 7.04243368e-03 1.35263278e-03 -1.83304363e-01] [-7.04220109e-03 9.99975188e-01 -1.76641184e-04 -2.25325135e-01] [-1.35384320e-03 1.67111130e-04 9.99999070e-01 7.20833974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162557844 meters 0.2939564133010331 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.72 [[ 9.99994536e-01 -1.98336261e-03 2.64450120e-03 -1.60469955e-01] [ 1.98416184e-03 9.99997987e-01 -2.99634610e-04 -2.27489763e-01] [-2.64390159e-03 3.04880091e-04 9.99996458e-01 7.19568403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222557844 meters 0.2949102433158912 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.72 [[ 9.99994717e-01 -1.81178890e-03 2.69879084e-03 -1.60908754e-01] [ 1.81121938e-03 9.99998337e-01 2.13457499e-04 -2.29492977e-01] [-2.69917309e-03 -2.08568269e-04 9.99996335e-01 7.20313408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters 0.2963394965156955 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.72 [[ 9.99995350e-01 -1.67784836e-03 2.54636537e-03 -1.60254267e-01] [ 1.67641284e-03 9.99998435e-01 5.65782640e-04 -2.31042913e-01] [-2.54731069e-03 -5.61511250e-04 9.99996598e-01 7.19754148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844 meters 0.29450343057433853 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.72 [[ 9.99995585e-01 -1.64343445e-03 2.47561811e-03 -1.59809735e-01] [ 1.64179898e-03 9.99998433e-01 6.62519415e-04 -2.31510368e-01] [-2.47670303e-03 -6.58452023e-04 9.99996716e-01 7.19139610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402557844 meters 0.2952537741938957 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:0.72 [[ 9.99999261e-01 3.62843255e-05 1.21487735e-03 -1.20004562e-01] [-3.63220515e-05 9.99999999e-01 3.10313041e-05 -2.29088537e-01] [-1.21487622e-03 -3.10754080e-05 9.99999262e-01 7.21672367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462557844 meters 0.293131677162271 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.23, Z:0.72 [[ 9.99992466e-01 -2.80479349e-03 2.68357435e-03 -1.61008063e-01] [ 2.80476945e-03 9.99996067e-01 1.27211511e-05 -2.34703326e-01] [-2.68359947e-03 -5.19424787e-06 9.99996399e-01 7.20206622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522557844 meters 0.29426253662534657 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:0.72 [[ 9.99997867e-01 -9.65718051e-04 1.82552159e-03 -1.22410240e-01] [ 9.66395506e-04 9.99999464e-01 -3.70256593e-04 -2.34002654e-01] [-1.82516305e-03 3.72019979e-04 9.99998265e-01 7.23421220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582557844 meters 0.2944155159601988 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:0.72 [[ 9.99997856e-01 -8.77800693e-04 1.87557384e-03 -1.22616573e-01] [ 8.77992998e-04 9.99999609e-01 -1.01710399e-04 -2.35055233e-01] [-1.87548383e-03 1.03356921e-04 9.99998236e-01 7.23628528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642557844 meters 0.29547646742701533 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:0.72 [[ 9.99997712e-01 -8.71818560e-04 1.95331289e-03 -1.22717688e-01] [ 8.71985984e-04 9.99999616e-01 -8.48625390e-05 -2.35135878e-01] [-1.95323815e-03 8.65656063e-05 9.99998089e-01 7.23390476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702557844 meters 0.2937168640072604 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.23, Z:0.72 [[ 9.99997035e-01 -8.75680677e-04 2.27227284e-03 -1.23644299e-01] [ 8.75955090e-04 9.99999609e-01 -1.19773479e-04 -2.34931279e-01] [-2.27216707e-03 1.21763533e-04 9.99997411e-01 7.23758373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762557844 meters 0.2952647352118503 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:0.72 [[ 9.99996959e-01 -8.05704435e-04 2.33100511e-03 -1.24004227e-01] [ 8.05568193e-04 9.99999674e-01 5.93858756e-05 -2.35639768e-01] [-2.33105220e-03 -5.75079114e-05 9.99997281e-01 7.24244114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822557844 meters 0.2953663707463541 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.24, Z:0.72 [[ 9.99997022e-01 -7.19529002e-04 2.33207008e-03 -1.23920533e-01] [ 7.18801790e-04 9.99999693e-01 3.12653962e-04 -2.36691255e-01] [-2.33229433e-03 -3.10976735e-04 9.99997232e-01 7.24033566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882557844 meters 0.2950924178422247 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.24, Z:0.73 [[ 9.99996351e-01 -5.73104014e-04 2.63995202e-03 -1.25058068e-01] [ 5.71135525e-04 9.99999558e-01 7.46346805e-04 -2.38229491e-01] [-2.64037859e-03 -7.44836311e-04 9.99996237e-01 7.25091623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942557844 meters 0.2958944185316261 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.24, Z:0.73 [[ 9.99955338e-01 8.98478763e-03 2.93181068e-03 -1.05603117e-01] [-8.98382325e-03 9.99959586e-01 -3.41943982e-04 -2.42979748e-01] [-2.93476449e-03 3.15589841e-04 9.99995644e-01 7.26158421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002557844 meters 0.2964974722196354 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99993414e-01 1.21407110e-03 3.42034687e-03 -8.45542002e-02] [-1.21544327e-03 9.99999182e-01 3.99129198e-04 -2.40070767e-01] [-3.41985950e-03 -4.03283807e-04 9.99994071e-01 7.26677649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062557844000004 meters 0.29538485096923245 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99993072e-01 1.24762132e-03 3.50696872e-03 -8.49337040e-02] [-1.24933613e-03 9.99999101e-01 4.86824064e-04 -2.40392585e-01] [-3.50635819e-03 -4.91202075e-04 9.99993732e-01 7.27055682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122557844 meters 0.29372644659724595 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99993309e-01 1.23717833e-03 3.44271599e-03 -8.46274314e-02] [-1.23877688e-03 9.99999126e-01 4.62234108e-04 -2.40328025e-01] [-3.44214111e-03 -4.66495772e-04 9.99993967e-01 7.26727065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182557844 meters 0.29474825507425767 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99994012e-01 1.14402890e-03 3.26599520e-03 -8.40379792e-02] [-1.14476073e-03 9.99999320e-01 2.22215149e-04 -2.39375109e-01] [-3.26573876e-03 -2.25952601e-04 9.99994642e-01 7.26407081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242557844000004 meters 0.2941410416553834 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99994437e-01 9.80838581e-04 3.18823061e-03 -8.38231362e-02] [-9.80178608e-04 9.99999498e-01 -2.08559031e-04 -2.37600852e-01] [-3.18843357e-03 2.05432835e-04 9.99994896e-01 7.26360515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302557844 meters 0.2942368560010019 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99994391e-01 7.54586595e-04 3.26322720e-03 -8.42713443e-02] [-7.52092350e-04 9.99999424e-01 -7.65508772e-04 -2.35138563e-01] [-3.26380297e-03 7.63050230e-04 9.99994383e-01 7.26843726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362557844 meters 0.29363989439361615 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99994522e-01 7.68175266e-04 3.21960282e-03 -8.43011846e-02] [-7.65845724e-04 9.99999444e-01 -7.24720098e-04 -2.35272786e-01] [-3.22015774e-03 7.22250409e-04 9.99994554e-01 7.27217047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422557844 meters 0.2944231939778519 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99995120e-01 7.81627258e-04 3.02471470e-03 -8.36458945e-02] [-7.79585009e-04 9.99999467e-01 -6.76307336e-04 -2.35525534e-01] [-3.02524171e-03 6.73946013e-04 9.99995197e-01 7.26800566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482557844 meters 0.29444478583403133 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99995070e-01 7.33139712e-04 3.05328933e-03 -8.35088117e-02] [-7.30704752e-04 9.99999414e-01 -7.98526648e-04 -2.35036595e-01] [-3.05387297e-03 7.96291659e-04 9.99995020e-01 7.26325982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542557844 meters 0.2946930575304974 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.73 [[ 9.99995811e-01 6.72319575e-04 2.81514618e-03 -8.26796292e-02] [-6.69572187e-04 9.99999299e-01 -9.76759713e-04 -2.34374904e-01] [-2.81580090e-03 9.74870678e-04 9.99995560e-01 7.25669656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602557844 meters 0.2944773500046683 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.73 [[ 9.99996293e-01 5.49585863e-04 2.66683191e-03 -8.21365648e-02] [-5.45964373e-04 9.99998928e-01 -1.35851278e-03 -2.32904144e-01] [-2.66757567e-03 1.35705175e-03 9.99995521e-01 7.25187503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662557844 meters 0.29432814390250117 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.73 [[ 9.99995188e-01 4.48453454e-04 3.06953737e-03 -8.31799582e-02] [-4.43149606e-04 9.99998408e-01 -1.72836024e-03 -2.31367829e-01] [-3.07030757e-03 1.72699166e-03 9.99993795e-01 7.25311507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722557844 meters 0.29494368674499166 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.99997891 -0.0036707 0.00535789 -0.06028447] [ 0.00366193 0.99999194 0.00164567 -0.22735429] [-0.00536389 -0.00162602 0.99998429 0.72366969] [ 0. 0. 0. 1. ]] SLAMing on 33.782557844 meters 0.2939361203363186 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.73 [[ 0.99999807 0.0014637 0.00130825 -0.08064182] [-0.00146182 0.9999979 -0.00143399 -0.22481196] [-0.00131034 0.00143207 0.99999812 0.7253896 ] [ 0. 0. 0. 1. ]] SLAMing on 33.842557844 meters 0.295484983499032 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.99998456 -0.00350016 0.00431519 -0.0581992 ] [ 0.00349238 0.99999227 0.00180853 -0.22611582] [-0.00432149 -0.00179343 0.99998905 0.72342981] [ 0. 0. 0. 1. ]] SLAMing on 33.902557844 meters 0.29262944694791376 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.22, Z:0.73 [[ 9.99999050e-01 7.69681291e-04 1.14334254e-03 -8.16677558e-02] [-7.67928120e-04 9.99998530e-01 -1.53302108e-03 -2.24704899e-01] [-1.14452080e-03 1.53214162e-03 9.99998171e-01 7.26076450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962557844 meters 0.29434591297330237 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.99997766 -0.00415657 0.00523425 -0.0608563 ] [ 0.00414892 0.99999031 0.00147058 -0.22597716] [-0.00524032 -0.00144883 0.99998522 0.72438257] [ 0. 0. 0. 1. ]] SLAMing on 34.022557844 meters 0.29464070122804986 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.99997757 -0.00415809 0.00525139 -0.06104508] [ 0.00415045 0.99999031 0.00146534 -0.22592673] [-0.00525744 -0.00144351 0.99998514 0.72471376] [ 0. 0. 0. 1. ]] SLAMing on 34.082557844 meters 0.29543774149926005 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.9999784 -0.00413788 0.00510759 -0.06041877] [ 0.00413011 0.9999903 0.00153166 -0.22629076] [-0.00511388 -0.00151053 0.99998578 0.72403792] [ 0. 0. 0. 1. ]] SLAMing on 34.142557844 meters 0.2941180163929113 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.23, Z:0.72 [[ 0.99997921 -0.00392574 0.00511641 -0.06041163] [ 0.00391508 0.99999015 0.00209131 -0.22849217] [-0.00512457 -0.00207124 0.99998472 0.72400407] [ 0. 0. 0. 1. ]] SLAMing on 34.202557844 meters 0.2928371951056962 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.73 [[ 9.99987571e-01 1.26904764e-03 4.82145134e-03 -8.40883160e-02] [-1.26464343e-03 9.99998780e-01 -9.16401050e-04 -2.33338167e-01] [-4.82260842e-03 9.10292244e-04 9.99987957e-01 7.26423571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262557844 meters 0.29483079635701304 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.24, Z:0.72 [[ 0.99995866 -0.00491636 0.00764846 -0.0618234 ] [ 0.00490381 0.9999866 0.00165886 -0.23663397] [-0.00765651 -0.00162129 0.99996937 0.72487059] [ 0. 0. 0. 1. ]] SLAMing on 34.322557844 meters 0.2952167813622579 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.24, Z:0.73 [[ 0.99995789 -0.00474234 0.00785735 -0.0625411 ] [ 0.0047247 0.99998628 0.00226095 -0.23887359] [-0.00786797 -0.00222373 0.99996657 0.72540322] [ 0. 0. 0. 1. ]] SLAMing on 34.382557844 meters 0.29488350454393264 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.24, Z:0.73 [[ 0.99995787 -0.00470712 0.00788027 -0.06280657] [ 0.00468868 0.99998623 0.00235671 -0.23921996] [-0.00789126 -0.00231967 0.99996617 0.72589431] [ 0. 0. 0. 1. ]] SLAMing on 34.442557844 meters 0.29249654464373054 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.24, Z:0.73 [[ 9.99992859e-01 1.93889846e-04 3.77406217e-03 -8.42687016e-02] [-1.91417871e-04 9.99999767e-01 -6.55340758e-04 -2.36724001e-01] [-3.77418835e-03 6.54613656e-04 9.99992663e-01 7.28303151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502557844 meters 0.2922080298978085 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.23, Z:0.73 [[ 9.99993105e-01 -6.45624212e-06 3.71353458e-03 -8.38417508e-02] [ 1.09952865e-05 9.99999253e-01 -1.22227848e-03 -2.34496525e-01] [-3.71352391e-03 1.22231088e-03 9.99992358e-01 7.27682495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562557844000004 meters 0.2942167858336254 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.23, Z:0.73 [[ 0.99998844 0.00160655 0.00453287 -0.04889419] [-0.00159937 0.99999746 -0.001587 -0.23126616] [-0.0045354 0.00157973 0.99998847 0.73182843] [ 0. 0. 0. 1. ]] SLAMing on 34.622557844 meters 0.29284881523939593 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.23, Z:0.73 [[ 0.99998907 0.001537 0.00441489 -0.0487621 ] [-0.00152899 0.99999718 -0.00181698 -0.23034412] [-0.00441767 0.00181021 0.9999886 0.73228253] [ 0. 0. 0. 1. ]] SLAMing on 34.682557844 meters 0.29353450605122994 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.23, Z:0.73 [[ 0.99998989 0.0015542 0.00422067 -0.04789914] [-0.00154713 0.9999974 -0.0016778 -0.2309774 ] [-0.00422326 0.00167126 0.99998969 0.7312574 ] [ 0. 0. 0. 1. ]] SLAMing on 34.742557844000004 meters 0.2929818089062966 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.23, Z:0.73 [[ 0.99998692 0.00149198 0.00489244 -0.04984237] [-0.00148243 0.99999699 -0.00195416 -0.22997299] [-0.00489534 0.00194688 0.99998612 0.73239814] [ 0. 0. 0. 1. ]] SLAMing on 34.802557844 meters 0.2953406042433471 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:0.73 [[ 9.99988162e-01 3.40494562e-03 3.47598862e-03 -4.37995054e-02] [-3.40556156e-03 9.99994186e-01 1.71295054e-04 -2.32213617e-01] [-3.47538516e-03 -1.83130719e-04 9.99993944e-01 7.28914477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862557844 meters 0.2938810934788553 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:0.73 [[ 9.99989093e-01 3.26966734e-03 3.33499968e-03 -4.33424892e-02] [-3.26905301e-03 9.99994639e-01 -1.89641543e-04 -2.30760218e-01] [-3.33560186e-03 1.78737184e-04 9.99994421e-01 7.28716817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922557844 meters 0.29388110232681747 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:0.73 [[ 9.99989383e-01 3.04737657e-03 3.45637086e-03 -4.38499679e-02] [-3.04448308e-03 9.99995011e-01 -8.42099927e-04 -2.28067690e-01] [-3.45891981e-03 8.31568124e-04 9.99993672e-01 7.29273136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982557844 meters 0.2935972709983457 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.23, Z:0.73 [[ 0.99999007 0.00285892 0.00341784 -0.04346984] [-0.0028543 0.99999501 -0.0013538 -0.22602262] [-0.0034217 0.00134403 0.99999324 0.72866226] [ 0. 0. 0. 1. ]] SLAMing on 35.042557844 meters 0.2943964847490164 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.73 [[ 0.99999123 0.00267859 0.00321822 -0.04286339] [-0.00267271 0.99999475 -0.00183006 -0.22409749] [-0.00322311 0.00182144 0.99999315 0.72842323] [ 0. 0. 0. 1. ]] SLAMing on 35.102557844 meters 0.29388477640572475 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.22, Z:0.73 [[ 0.99999139 0.00243526 0.00336091 -0.04322616] [-0.00242674 0.99999384 -0.00253449 -0.22126931] [-0.00336706 0.00252632 0.99999114 0.72845551] [ 0. 0. 0. 1. ]] SLAMing on 35.162557844 meters 0.29428248799441675 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:0.73 [[ 0.99997615 -0.00483972 0.00492804 -0.0252347 ] [ 0.00484725 0.9999871 -0.00151779 -0.21218048] [-0.00492063 0.00154165 0.99998671 0.72994404] [ 0. 0. 0. 1. ]] SLAMing on 35.222557844 meters 0.29595196141852936 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.21, Z:0.73 [[ 9.99990102e-01 -2.91083542e-03 3.36482357e-03 -1.93195930e-02] [ 2.91053480e-03 9.99995760e-01 9.42329352e-05 -2.10908986e-01] [-3.36508360e-03 -8.44385664e-05 9.99994335e-01 7.26900361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282557844 meters 0.29458258279714133 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.73 [[ 9.99998999e-01 1.41055338e-03 1.12973891e-04 -4.29967783e-02] [-1.41018030e-03 9.99993767e-01 -3.23700007e-03 -2.08363744e-01] [-1.17539148e-04 3.23683751e-03 9.99994755e-01 7.29347490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342557844 meters 0.294265152764956 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.73 [[ 9.99998905e-01 1.39694959e-03 4.88075113e-04 -4.39992746e-02] [-1.39533860e-03 9.99993629e-01 -3.28559227e-03 -2.08166514e-01] [-4.92661810e-04 3.28490764e-03 9.99994483e-01 7.29619054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402557844 meters 0.29420729409136265 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.21, Z:0.73 [[ 9.99998883e-01 1.35277719e-03 6.34986492e-04 -4.45535235e-02] [-1.35061134e-03 9.99993311e-01 -3.39897308e-03 -2.07680168e-01] [-6.39580298e-04 3.39811166e-03 9.99994022e-01 7.30022503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462557844 meters 0.29446460592104845 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.73 [[ 9.99999248e-01 1.10682156e-03 5.27282348e-04 -4.42009228e-02] [-1.10463121e-03 9.99990835e-01 -4.13635938e-03 -2.04773139e-01] [-5.31855727e-04 4.13577382e-03 9.99991306e-01 7.29891580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522557844 meters 0.2943538049294583 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.73 [[ 9.99999402e-01 8.44633301e-04 6.94530969e-04 -4.45700554e-02] [-8.41131144e-04 9.99987009e-01 -5.02740235e-03 -2.01325729e-01] [-6.98768257e-04 5.02681515e-03 9.99987121e-01 7.29825577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582557844 meters 0.29555961466515224 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.20, Z:0.73 [[ 9.99999661e-01 3.99215255e-04 7.20841475e-04 -4.45558428e-02] [-3.94652313e-04 9.99979956e-01 -6.31910666e-03 -1.96258283e-01] [-7.23349710e-04 6.31882003e-03 9.99979774e-01 7.29856134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642557844 meters 0.2946948784801277 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.19, Z:0.73 [[ 0.99997639 -0.0067538 -0.0012657 -0.06593084] [ 0.00674891 0.99996992 -0.0038236 -0.19237742] [ 0.00129149 0.00381497 0.99999189 0.73068358] [ 0. 0. 0. 1. ]] SLAMing on 35.702557844 meters 0.29575551710212206 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.19, Z:0.73 [[ 9.99995038e-01 3.11979246e-03 -4.35850422e-04 -4.58220538e-02] [-3.12190758e-03 9.99982927e-01 -4.93954518e-03 -1.93104797e-01] [ 4.20432625e-04 4.94088136e-03 9.99987705e-01 7.30188591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762557844 meters 0.2950817028075408 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.19, Z:0.73 [[ 9.99995794e-01 2.87581439e-03 -3.76516558e-04 -4.61500927e-02] [-2.87784265e-03 9.99980723e-01 -5.50200995e-03 -1.90781585e-01] [ 3.60686541e-04 5.50307037e-03 9.99984793e-01 7.30583183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822557844 meters 0.2959257273569524 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.19, Z:0.73 [[ 9.99996474e-01 2.63062625e-03 -3.63299301e-04 -4.60600907e-02] [-2.63280009e-03 9.99977815e-01 -6.11870867e-03 -1.88265967e-01] [ 3.47195205e-04 6.11964358e-03 9.99981215e-01 7.30382250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882557844 meters 0.29560585538576234 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.73 [[ 0.99997874 -0.00617314 -0.00209895 -0.06437637] [ 0.00616157 0.99996603 -0.00547449 -0.17924652] [ 0.00213268 0.00546144 0.99998281 0.72800888] [ 0. 0. 0. 1. ]] SLAMing on 35.942557844 meters 0.29698324456821046 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.18, Z:0.73 [[ 0.99999482 -0.00205153 -0.00248068 -0.06321697] [ 0.00204695 0.9999962 -0.00184918 -0.17659292] [ 0.00248446 0.00184409 0.99999521 0.72730602] [ 0. 0. 0. 1. ]] SLAMing on 36.002557844 meters 0.29654605674606455 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.17, Z:0.73 [[ 9.99998717e-01 -1.03572168e-04 -1.59842301e-03 -6.83779263e-02] [ 1.01826671e-04 9.99999399e-01 -1.09205455e-03 -1.68310868e-01] [ 1.59853516e-03 1.09189039e-03 9.99998126e-01 7.31501457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062557844 meters 0.29644186217945767 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.73 [[ 9.99998975e-01 -5.52481769e-04 -1.32125643e-03 -6.93338484e-02] [ 5.49434675e-04 9.99997191e-01 -2.30546135e-03 -1.63211780e-01] [ 1.32252645e-03 2.30473304e-03 9.99996470e-01 7.31984328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122557844 meters 0.29596169545924095 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.73 [[ 9.99976427e-01 -6.75591806e-03 -1.22564880e-03 -9.22665387e-02] [ 6.75627719e-03 9.99977134e-01 2.89113265e-04 -1.52651670e-01] [ 1.22366755e-03 -2.97387273e-04 9.99999207e-01 7.32672397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182557844 meters 0.2962779917200931 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.73 [[ 9.99974423e-01 -7.01319934e-03 -1.40270542e-03 -9.15496767e-02] [ 7.01270511e-03 9.99975347e-01 -3.56949936e-04 -1.50039473e-01] [ 1.40517420e-03 3.47104047e-04 9.99998953e-01 7.32133473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242557844000004 meters 0.2976906288172137 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.15, Z:0.73 [[ 9.99996257e-01 2.73165386e-03 1.52124112e-04 -7.10641641e-02] [-2.73154056e-03 9.99995995e-01 -7.40072302e-04 -1.51932589e-01] [-1.54145125e-04 7.39653999e-04 9.99999715e-01 7.32110030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302557844 meters 0.2951243206738557 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.15, Z:0.73 [[ 0.99999067 -0.00403192 -0.00155034 -0.09341395] [ 0.00403483 0.9999901 0.00187708 -0.14757122] [ 0.00154276 -0.00188332 0.99999704 0.73364693] [ 0. 0. 0. 1. ]] SLAMing on 36.362557844 meters 0.29637900011000406 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.73 [[ 0.99998977 -0.00427862 -0.00147006 -0.09348701] [ 0.00428042 0.99999009 0.00122422 -0.14495463] [ 0.00146481 -0.0012305 0.99999817 0.73337256] [ 0. 0. 0. 1. ]] SLAMing on 36.422557844 meters 0.2955861403866593 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.73 [[ 9.99987655e-01 -4.66094413e-03 -1.72222958e-03 -9.27670394e-02] [ 4.66081954e-03 9.99989135e-01 -7.63473671e-05 -1.39977177e-01] [ 1.72256672e-03 6.83194233e-05 9.99998514e-01 7.33224860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482557844 meters 0.2964194669409866 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.14, Z:0.73 [[ 9.99985599e-01 -4.92036199e-03 -2.14303090e-03 -9.13707803e-02] [ 4.91837840e-03 9.99987472e-01 -9.29892491e-04 -1.36565425e-01] [ 2.14757946e-03 9.19338862e-04 9.99997271e-01 7.32414718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542557844 meters 0.2968929001557817 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.73 [[ 9.99992254e-01 -2.69178830e-03 -2.87159809e-03 -8.74650992e-02] [ 2.69384850e-03 9.99996117e-01 7.13812536e-04 -1.31629797e-01] [ 2.86966550e-03 -7.21542657e-04 9.99995622e-01 7.29847829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602557844 meters 0.2958134356648862 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.73 [[ 9.99992111e-01 -2.94714725e-03 -2.66312650e-03 -8.83066245e-02] [ 2.94729992e-03 9.99995655e-01 5.34034096e-05 -1.28806414e-01] [ 2.66295754e-03 -6.12520208e-05 9.99996452e-01 7.30613560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662557844 meters 0.2962237006068897 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.73 [[ 9.99991831e-01 -3.13801363e-03 -2.54773707e-03 -8.85656252e-02] [ 3.13687975e-03 9.99994979e-01 -4.48928228e-04 -1.26763116e-01] [ 2.54913302e-03 4.40932616e-04 9.99996654e-01 7.30580186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722557844 meters 0.29609011570934585 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.13, Z:0.73 [[ 9.99990822e-01 -3.25381664e-03 -2.78711643e-03 -8.80294631e-02] [ 3.25180481e-03 9.99994449e-01 -7.26057281e-04 -1.25623388e-01] [ 2.78946342e-03 7.16987459e-04 9.99995852e-01 7.30805054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782557844 meters 0.2951824253150324 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.73 [[ 0.99997538 0.00562095 -0.00420082 -0.10894518] [-0.00562638 0.99998335 -0.001281 -0.12674345] [ 0.00419355 0.00130461 0.99999036 0.73094629] [ 0. 0. 0. 1. ]] SLAMing on 36.842557844 meters 0.295217845058283 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.13, Z:0.73 [[ 0.9999767 0.00554133 -0.00398663 -0.1095395 ] [-0.00554734 0.99998349 -0.00149666 -0.12587239] [ 0.00397827 0.00151874 0.99999093 0.73112545] [ 0. 0. 0. 1. ]] SLAMing on 36.902557844 meters 0.2956334201753468 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.73 [[ 9.99999841e-01 3.81555256e-04 -4.14276638e-04 -8.91041779e-02] [-3.80838920e-04 9.99998435e-01 1.72782854e-03 -1.24322745e-01] [ 4.14935252e-04 -1.72767049e-03 9.99998421e-01 7.30967328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962557844 meters 0.2960790705527472 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.73 [[ 9.99999842e-01 2.91322010e-04 -4.80585243e-04 -8.89233410e-02] [-2.90608132e-04 9.99998855e-01 1.48483699e-03 -1.23333780e-01] [ 4.81017258e-04 -1.48469709e-03 9.99998782e-01 7.30967048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022557844 meters 0.29583486735426123 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.73 [[ 9.99999686e-01 7.37199717e-05 -7.89246366e-04 -8.77401119e-02] [-7.31186379e-05 9.99999707e-01 7.61910648e-04 -1.20392745e-01] [ 7.89302303e-04 -7.61852700e-04 9.99999398e-01 7.29896306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082557844 meters 0.2963559857635826 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.12, Z:0.73 [[ 9.99999621e-01 -5.01321114e-05 -8.69242762e-04 -8.74135806e-02] [ 5.05196066e-05 9.99999899e-01 4.45768639e-04 -1.19096420e-01] [ 8.69220328e-04 -4.45812384e-04 9.99999523e-01 7.29667621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142557844 meters 0.29490013103568646 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.73 [[ 9.99999652e-01 -5.80857209e-04 -5.98005985e-04 -1.24805274e-01] [ 5.80878632e-04 9.99999831e-01 3.56512516e-05 -1.14916196e-01] [ 5.97985175e-04 -3.59986081e-05 9.99999821e-01 7.25740672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202557844 meters 0.29602979073509467 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.73 [[ 9.99998882e-01 -9.65340899e-04 -1.14176376e-03 -1.23058907e-01] [ 9.64125399e-04 9.99998968e-01 -1.06465275e-03 -1.10364667e-01] [ 1.14279033e-03 1.06355076e-03 9.99998781e-01 7.25023881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262557844 meters 0.29530687387048343 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.72 [[ 0.99999836 -0.00121684 -0.00133804 -0.12250875] [ 0.00121448 0.99999771 -0.00176269 -0.10754782] [ 0.00134018 0.00176106 0.99999755 0.72499852] [ 0. 0. 0. 1. ]] SLAMing on 37.322557844 meters 0.29425306798101736 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:0.73 [[ 0.99999833 -0.00138388 -0.00119438 -0.12296965] [ 0.00138124 0.99999661 -0.00220737 -0.10573897] [ 0.00119743 0.00220572 0.99999685 0.72528414] [ 0. 0. 0. 1. ]] SLAMing on 37.382557844 meters 0.29527130068140606 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.73 [[ 9.99998229e-01 -1.63277927e-03 -9.36253717e-04 -1.23870794e-01] [ 1.63008978e-03 9.99994564e-01 -2.86621214e-03 -1.03001964e-01] [ 9.40928519e-04 2.86468088e-03 9.99995454e-01 7.26092328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442557844 meters 0.2965287869363459 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.73 [[ 0.99999781 -0.00172821 -0.00118345 -0.1229403 ] [ 0.00172448 0.99999357 -0.00314434 -0.10189096] [ 0.00118888 0.00314229 0.99999436 0.72519286] [ 0. 0. 0. 1. ]] SLAMing on 37.502557844 meters 0.2957814511402715 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.72 [[ 0.9999976 -0.00174012 -0.00133216 -0.12240545] [ 0.00173589 0.99999347 -0.00317013 -0.10176397] [ 0.00133767 0.00316781 0.99999409 0.72488413] [ 0. 0. 0. 1. ]] SLAMing on 37.562557844 meters 0.2952638262267626 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.73 [[ 9.99998224e-01 -1.69739393e-03 -8.18798732e-04 -1.24458663e-01] [ 1.69499789e-03 9.99994306e-01 -2.91816149e-03 -1.03575192e-01] [ 8.23747339e-04 2.91676845e-03 9.99995407e-01 7.26849106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622557844 meters 0.29469471013261167 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.73 [[ 9.99998360e-01 -1.71490513e-03 -5.82450909e-04 -1.25105402e-01] [ 1.71317329e-03 9.99994149e-01 -2.96095013e-03 -1.03384634e-01] [ 5.87525250e-04 2.95994744e-03 9.99995447e-01 7.26989405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682557844 meters 0.2946023676924467 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.73 [[ 9.99998410e-01 -1.75331555e-03 -3.26729844e-04 -1.25733760e-01] [ 1.75230971e-03 9.99993802e-01 -3.05377419e-03 -1.03003292e-01] [ 3.32082048e-04 3.05319680e-03 9.99995284e-01 7.26936254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742557844000004 meters 0.29547308199996514 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.73 [[ 9.99998062e-01 -1.88640399e-03 -5.64274728e-04 -1.25207605e-01] [ 1.88444738e-03 9.99992280e-01 -3.44814613e-03 -1.01429385e-01] [ 5.70774968e-04 3.44707610e-03 9.99993896e-01 7.27122854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844 meters 0.2949280811325965 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.73 [[ 9.99997115e-01 2.34103586e-03 -5.37772446e-04 -1.25074852e-01] [-2.34071491e-03 9.99997083e-01 5.96680379e-04 -1.00227980e-01] [ 5.39167728e-04 -5.95419886e-04 9.99999677e-01 7.26702101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters 0.2952969945070213 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.10, Z:0.73 [[ 9.99997757e-01 2.04562085e-03 -5.49366028e-04 -1.25199162e-01] [-2.04570812e-03 9.99997895e-01 -1.58344300e-04 -9.71273802e-02] [ 5.49040959e-04 1.59467787e-04 9.99999837e-01 7.27128758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922557844 meters 0.2952178937944512 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.73 [[ 9.99997866e-01 1.95877538e-03 -6.57120446e-04 -1.24485118e-01] [-1.95900934e-03 9.99998018e-01 -3.55574475e-04 -9.62323448e-02] [ 6.56422653e-04 3.56861021e-04 9.99999721e-01 7.26219359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982557844 meters 0.29559266095783476 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:0.72 [[ 9.99997808e-01 1.91950896e-03 -8.36075515e-04 -1.23527327e-01] [-1.91991213e-03 9.99998041e-01 -4.81691691e-04 -9.57723872e-02] [ 8.35149265e-04 4.83295827e-04 9.99999534e-01 7.24805244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042557844 meters 0.29642166107276463 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 9.99975660e-01 -6.30197507e-03 -2.99412864e-03 -1.00848963e-01] [ 6.30299541e-03 9.99980081e-01 3.31466966e-04 -9.08031781e-02] [ 2.99198010e-03 -3.50330877e-04 9.99995463e-01 7.26726620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters 0.29613930315341597 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 9.99974495e-01 -6.41281234e-03 -3.14403407e-03 -1.00594158e-01] [ 6.41290421e-03 9.99979437e-01 1.91415515e-05 -8.95392354e-02] [ 3.14384667e-03 -3.93034526e-05 9.99995057e-01 7.27063315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844 meters 0.2946790694944551 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999191 0.0022846 -0.00330942 -0.12266346] [-0.00228834 0.99999675 -0.00112626 -0.08968472] [ 0.00330684 0.00113383 0.99999389 0.72597502] [ 0. 0. 0. 1. ]] SLAMing on 38.222557844 meters 0.29485654426071484 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999217 0.0021556 -0.00331848 -0.12283307] [-0.00216084 0.99999642 -0.00157664 -0.0879415 ] [ 0.00331507 0.00158379 0.99999325 0.72653568] [ 0. 0. 0. 1. ]] SLAMing on 38.282557844 meters 0.29367039960990565 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999239 0.00206815 -0.00330727 -0.12311628] [-0.00207418 0.99999619 -0.00182018 -0.08697778] [ 0.0033035 0.00182702 0.99999287 0.72717977] [ 0. 0. 0. 1. ]] SLAMing on 38.342557844 meters 0.2939446139168462 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.73 [[ 0.99999385 0.00192991 -0.00292793 -0.12425249] [-0.0019366 0.99999552 -0.00228254 -0.08499217] [ 0.00292351 0.0022882 0.99999311 0.72790432] [ 0. 0. 0. 1. ]] SLAMing on 38.402557844 meters 0.29422405378904 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.73 [[ 0.9999942 0.00181096 -0.0028842 -0.12445931] [-0.0018185 0.99999492 -0.00261642 -0.08364476] [ 0.00287945 0.00262165 0.99999242 0.72815879] [ 0. 0. 0. 1. ]] SLAMing on 38.462557844 meters 0.2948639044426089 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.08, Z:0.73 [[ 0.9999938 0.00178222 -0.00303868 -0.12395292] [-0.00179042 0.99999476 -0.00269763 -0.08330169] [ 0.00303386 0.00270305 0.99999174 0.72789354] [ 0. 0. 0. 1. ]] SLAMing on 38.522557844 meters 0.29644654292485306 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.73 [[ 0.99997145 -0.00707779 -0.00264605 -0.10117134] [ 0.00707289 0.99997327 -0.00185452 -0.08303262] [ 0.00265911 0.00183575 0.99999478 0.7280138 ] [ 0. 0. 0. 1. ]] SLAMing on 38.582557844 meters 0.2953978443255862 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999147 0.00209947 -0.00355738 -0.12133143] [-0.00210725 0.99999539 -0.00218692 -0.08699372] [ 0.00355278 0.00219439 0.99999128 0.72698103] [ 0. 0. 0. 1. ]] SLAMing on 38.642557844 meters 0.2941566982346222 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999138 0.00221492 -0.00351139 -0.12131875] [-0.00222148 0.99999579 -0.00186546 -0.08828764] [ 0.00350724 0.00187324 0.9999921 0.72662907] [ 0. 0. 0. 1. ]] SLAMing on 38.702557844 meters 0.29540153787722506 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 0.99999105 -0.00351054 -0.00236024 -0.09757003] [ 0.00351515 0.99999192 0.00195229 -0.09008148] [ 0.00235336 -0.00196057 0.99999531 0.7252197 ] [ 0. 0. 0. 1. ]] SLAMing on 38.762557844 meters 0.29568117908142033 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 0.99999124 -0.00354495 -0.00222361 -0.09816992] [ 0.00354909 0.99999197 0.00186281 -0.08973924] [ 0.00221699 -0.00187068 0.99999579 0.72582776] [ 0. 0. 0. 1. ]] SLAMing on 38.822557844 meters 0.29516510929146444 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 0.99999159 -0.0035978 -0.00196823 -0.0989074 ] [ 0.00360121 0.99999202 0.00172759 -0.08920357] [ 0.001962 -0.00173466 0.99999657 0.72606355] [ 0. 0. 0. 1. ]] SLAMing on 38.882557844 meters 0.2950486962668945 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 0.99999163 -0.00355962 -0.00201747 -0.09874116] [ 0.00356331 0.99999198 0.00182761 -0.08961436] [ 0.00201095 -0.00183479 0.99999629 0.72597018] [ 0. 0. 0. 1. ]] SLAMing on 38.942557844 meters 0.2970300362288616 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.73 [[ 0.99999113 -0.0035253 -0.00230276 -0.09776436] [ 0.00352972 0.99999193 0.00191801 -0.09003082] [ 0.00229598 -0.00192612 0.99999551 0.72521278] [ 0. 0. 0. 1. ]] SLAMing on 39.002557844 meters 0.29518697623918044 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.09, Z:0.72 [[ 0.99998984 -0.00368523 -0.00259644 -0.09686832] [ 0.00368905 0.99999212 0.0014682 -0.08811518] [ 0.00259101 -0.00147777 0.99999555 0.72496362] [ 0. 0. 0. 1. ]] SLAMing on 39.062557844 meters 0.2931627613007845 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:0.73 [[ 0.99999256 0.00295788 -0.00247724 -0.12227322] [-0.00296239 0.99999396 -0.001819 -0.0853884 ] [ 0.00247184 0.00182633 0.99999528 0.72746067] [ 0. 0. 0. 1. ]] SLAMing on 39.122557844 meters 0.2955257317731409 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.73 [[ 0.9999951 0.00280455 0.00139395 -0.08104146] [-0.00280169 0.99999397 -0.00205091 -0.08551524] [-0.0013997 0.00204699 0.99999693 0.72744201] [ 0. 0. 0. 1. ]] SLAMing on 39.182557844 meters 0.2947464849256126 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.73 [[ 0.99999419 -0.00300073 -0.00161576 -0.10146909] [ 0.00300263 0.99999481 0.0011702 -0.08332512] [ 0.00161224 -0.00117505 0.99999801 0.72780684] [ 0. 0. 0. 1. ]] SLAMing on 39.242557844000004 meters 0.29671500870647394 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.73 [[ 9.99982721e-01 5.83285549e-03 -7.32199558e-04 -8.06173385e-02] [-5.83250921e-03 9.99982878e-01 4.74168427e-04 -8.73085943e-02] [ 7.34952778e-04 -4.69889673e-04 9.99999620e-01 7.27672479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302557844 meters 0.29495655784359764 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:0.73 [[ 9.99983448e-01 5.70552183e-03 -7.42569318e-04 -8.08542122e-02] [-5.70542254e-03 9.99983715e-01 1.35770253e-04 -8.59127524e-02] [ 7.43331866e-04 -1.31531334e-04 9.99999715e-01 7.28289051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362557844 meters 0.2951443764838877 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.73 [[ 9.99984597e-01 5.50997661e-03 -6.67306733e-04 -8.11721231e-02] [-5.51023258e-03 9.99984745e-01 -3.82361950e-04 -8.37790859e-02] [ 6.65189748e-04 3.86033076e-04 9.99999704e-01 7.28617843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422557844 meters 0.2960773294236024 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.73 [[ 9.99985249e-01 5.38684444e-03 -6.95056488e-04 -8.05796851e-02] [-5.38733211e-03 9.99985242e-01 -7.01665499e-04 -8.22842705e-02] [ 6.91266467e-04 7.05399649e-04 9.99999512e-01 7.27452760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482557844 meters 0.2935531809805746 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:0.73 [[ 9.99992032e-01 -3.35870675e-03 -2.15756146e-03 -1.01169502e-01] [ 3.35817051e-03 9.99994330e-01 -2.52114865e-04 -7.69887662e-02] [ 2.15839601e-03 2.44867397e-04 9.99997641e-01 7.27869138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542557844 meters 0.29541702236573286 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:0.73 [[ 0.99998496 0.00516597 -0.00184152 -0.08025875] [-0.00516892 0.99998536 -0.00160263 -0.07767725] [ 0.00183321 0.00161213 0.99999702 0.72891479] [ 0. 0. 0. 1. ]] SLAMing on 39.602557844 meters 0.2952117177515945 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:0.73 [[ 0.99998594 0.00494974 -0.00190349 -0.07995009] [-0.00495419 0.99998499 -0.0023399 -0.07478695] [ 0.00189188 0.00234929 0.99999545 0.72856763] [ 0. 0. 0. 1. ]] SLAMing on 39.662557844 meters 0.295122745062894 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.07, Z:0.73 [[ 0.99998762 0.00467189 -0.00171471 -0.08069974] [-0.00467795 0.99998275 -0.00355127 -0.07032305] [ 0.00169809 0.00355924 0.99999222 0.72951588] [ 0. 0. 0. 1. ]] SLAMing on 39.722557844 meters 0.2931448682704426 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.73 [[ 9.99997234e-01 -2.13555794e-03 -9.85754753e-04 -1.03682119e-01] [ 2.13388230e-03 9.99996282e-01 -1.69779111e-03 -6.17087581e-02] [ 9.89376819e-04 1.69568293e-03 9.99998073e-01 7.29950060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782557844 meters 0.2941556736709708 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.73 [[ 9.99996769e-01 -2.37017256e-03 -9.18933410e-04 -1.03959118e-01] [ 2.36788637e-03 9.99994119e-01 -2.48102716e-03 -5.86554206e-02] [ 9.24808468e-04 2.47884321e-03 9.99996500e-01 7.30390222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842557844 meters 0.29353270266176756 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.73 [[ 9.99996443e-01 -2.49745599e-03 -9.35813862e-04 -1.04161067e-01] [ 2.49477543e-03 9.99992813e-01 -2.85472350e-03 -5.71528479e-02] [ 9.42936683e-04 2.85237870e-03 9.99995487e-01 7.31022973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902557844 meters 0.29512740178111063 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.06, Z:0.73 [[ 0.99999583 -0.00262461 -0.00120204 -0.1033437 ] [ 0.00262065 0.99999116 -0.00328861 -0.0553974 ] [ 0.00121066 0.00328545 0.99999387 0.73060714] [ 0. 0. 0. 1. ]] SLAMing on 39.962557844 meters 0.29480787344723847 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:0.73 [[ 9.99996192e-01 -2.75243732e-03 -1.99757626e-04 -1.05989392e-01] [ 2.75160635e-03 9.99988024e-01 -4.04734124e-03 -5.24273110e-02] [ 2.10895287e-04 4.04677617e-03 9.99991790e-01 7.31536283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022557844 meters 0.2935118568138495 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.05, Z:0.73 [[ 9.99999065e-01 1.36182520e-03 -1.25622936e-04 -1.06243017e-01] [-1.36186328e-03 9.99999027e-01 -3.03520875e-04 -4.99750335e-02] [ 1.25209471e-04 3.03691672e-04 9.99999946e-01 7.31747327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082557844 meters 0.2940183690756131 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99988028e-01 1.99989233e-03 -4.46590309e-03 -5.95976346e-02] [-2.00329329e-03 9.99997707e-01 -7.57195681e-04 -4.50686740e-02] [ 4.46437854e-03 7.66133130e-04 9.99989741e-01 7.31831230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142557844 meters 0.29423977032529874 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.04, Z:0.73 [[ 9.99965339e-01 -6.43486031e-03 -5.28324999e-03 -7.91875036e-02] [ 6.43522475e-03 9.99979292e-01 5.19848177e-05 -3.95342776e-02] [ 5.28280607e-03 -8.59819170e-05 9.99986042e-01 7.30685742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202557844 meters 0.29499307733028257 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.73 [[ 9.99992818e-01 2.12754241e-03 -3.13660762e-03 -5.86389200e-02] [-2.12921030e-03 9.99997594e-01 -5.28505837e-04 -4.11485695e-02] [ 3.13547565e-03 5.35180539e-04 9.99994941e-01 7.31183612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262557844 meters 0.29391888623398393 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.73 [[ 9.99992410e-01 2.21665178e-03 -3.20412888e-03 -5.84288101e-02] [-2.21764037e-03 9.99997495e-01 -3.05014051e-04 -4.20620918e-02] [ 3.20344474e-03 3.12117342e-04 9.99994820e-01 7.31110567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322557844 meters 0.2957705702380035 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.04, Z:0.73 [[ 0.99999174 -0.00386259 -0.00126326 -0.0349357 ] [ 0.00386633 0.9999881 0.00297615 -0.04285406] [ 0.00125175 -0.00298101 0.99999477 0.72876758] [ 0. 0. 0. 1. ]] SLAMing on 40.382557844 meters 0.29469364125293307 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.04, Z:0.73 [[ 0.99998509 0.00507527 -0.00201344 -0.0557788 ] [-0.00507109 0.99998499 0.00207351 -0.04426734] [ 0.00202393 -0.00206327 0.99999582 0.72734172] [ 0. 0. 0. 1. ]] SLAMing on 40.442557844 meters 0.2948050529608166 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99997178e-01 1.59674514e-03 -1.75888475e-03 -5.74826658e-02] [-1.59802718e-03 9.99998458e-01 -7.27731343e-04 -4.74056197e-02] [ 1.75772004e-03 7.30540035e-04 9.99998188e-01 7.28910415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502557844 meters 0.2945739836786959 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99997800e-01 1.54453968e-03 -1.41899718e-03 -5.85372187e-02] [-1.54582689e-03 9.99998394e-01 -9.06479692e-04 -4.66712928e-02] [ 1.41759481e-03 9.08671222e-04 9.99998582e-01 7.29571612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562557844 meters 0.2950657461902969 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.73 [[ 0.99999088 -0.00383915 0.00186947 -0.03533729] [ 0.0038349 0.99999007 0.00227022 -0.04755251] [-0.00187817 -0.00226303 0.99999568 0.72692949] [ 0. 0. 0. 1. ]] SLAMing on 40.622557844 meters 0.29455942146450986 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99995086e-01 3.05324489e-03 -7.10781567e-04 -5.65482079e-02] [-3.05353712e-03 9.99995254e-01 -4.10407073e-04 -4.62327326e-02] [ 7.09525120e-04 4.12575454e-04 9.99999663e-01 7.28240830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682557844 meters 0.294375895649789 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99995094e-01 3.07601977e-03 -5.91852991e-04 -5.69394423e-02] [-3.07622538e-03 9.99995208e-01 -3.46805942e-04 -4.64916900e-02] [ 5.90783373e-04 3.48624914e-04 9.99999765e-01 7.28450174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742557844000004 meters 0.29376545200490645 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99994718e-01 3.21184979e-03 -4.97501396e-04 -5.71603836e-02] [-3.21183055e-03 9.99994841e-01 3.94738714e-05 -4.80435007e-02] [ 4.97625613e-04 -3.78757727e-05 9.99999875e-01 7.28404166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802557844 meters 0.29420923523790354 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99994006e-01 3.42399739e-03 -5.13984294e-04 -5.71627008e-02] [-3.42363211e-03 9.99993887e-01 7.09892482e-04 -5.06953027e-02] [ 5.16411822e-04 -7.08128534e-04 9.99999616e-01 7.28504744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862557844 meters 0.2932844226182248 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.05, Z:0.73 [[ 9.99993072e-01 3.67697388e-03 -5.80172185e-04 -5.70565749e-02] [-3.67610713e-03 9.99992136e-01 1.48800279e-03 -5.37823660e-02] [ 5.85638970e-04 -1.48585971e-03 9.99998725e-01 7.28644661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922557844 meters 0.29516833184315144 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.73 [[ 9.99995762e-01 2.07710802e-03 -2.03981988e-03 -5.08607205e-02] [-2.07693300e-03 9.99997839e-01 8.79128659e-05 -5.53812602e-02] [ 2.03999807e-03 -8.36759242e-05 9.99997916e-01 7.25369849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982557844 meters 0.29423044486162475 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.05, Z:0.72 [[ 0.99997248 -0.00593238 -0.00445521 -0.06869171] [ 0.00594008 0.99998088 0.00171685 -0.05223099] [ 0.00444494 -0.00174326 0.9999886 0.72395848] [ 0. 0. 0. 1. ]] SLAMing on 41.042557844 meters 0.29647284252996725 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:0.72 [[ 0.99998886 0.00370112 -0.00292924 -0.04700909] [-0.00369666 0.999992 0.00152496 -0.05252854] [ 0.00293487 -0.00151411 0.99999455 0.72369995] [ 0. 0. 0. 1. ]] SLAMing on 41.102557844 meters 0.29630608718506823 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.72 [[ 0.9999862 0.00375797 -0.00367199 -0.0448244 ] [-0.00375245 0.99999182 0.00150814 -0.05222467] [ 0.00367763 -0.00149434 0.99999212 0.72262086] [ 0. 0. 0. 1. ]] SLAMing on 41.162557844 meters 0.2957515163185026 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:0.72 [[ 0.99998726 0.00371414 -0.00341933 -0.04559856] [-0.00370943 0.99999216 0.00138321 -0.05170332] [ 0.00342444 -0.0013705 0.9999932 0.72295876] [ 0. 0. 0. 1. ]] SLAMing on 41.222557844 meters 0.29602166475583747 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.05, Z:0.72 [[ 0.99998723 0.00387439 -0.00324588 -0.04635585] [-0.00386815 0.99999066 0.00192567 -0.05390447] [ 0.00325331 -0.00191309 0.99999288 0.72374415] [ 0. 0. 0. 1. ]] SLAMing on 41.282557844 meters 0.29551393301247664 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.72 [[ 0.99998607 0.00399907 -0.00344381 -0.04561831] [-0.00399119 0.99998941 0.00229354 -0.05541089] [ 0.00345295 -0.00227976 0.99999144 0.72313343] [ 0. 0. 0. 1. ]] SLAMing on 41.342557844 meters 0.29460536240172064 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.06, Z:0.72 [[ 0.99998566 0.00413916 -0.00339741 -0.04578493] [-0.00413012 0.99998793 0.00266194 -0.05691833] [ 0.00340839 -0.00264787 0.99999069 0.72323848] [ 0. 0. 0. 1. ]] SLAMing on 41.402557844 meters 0.29670677043977733 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.73 [[ 0.99997545 0.0060969 -0.00345343 -0.00939039] [-0.00608002 0.99996962 0.00487729 -0.0586371 ] [ 0.00348306 -0.00485617 0.99998214 0.72873947] [ 0. 0. 0. 1. ]] SLAMing on 41.462557844 meters 0.29665302643556835 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.73 [[ 0.99999222 0.00190513 -0.00345362 -0.00922406] [-0.00190166 0.99999768 0.00100824 -0.06049359] [ 0.00345553 -0.00100167 0.99999353 0.72821067] [ 0. 0. 0. 1. ]] SLAMing on 41.522557844 meters 0.29432037498071634 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.07, Z:0.73 [[ 9.99998426e-01 2.69325775e-04 -1.75379355e-03 -4.99710055e-02] [-2.68039437e-04 9.99999695e-01 7.33654216e-04 -6.89037417e-02] [ 1.75399060e-03 -7.33182976e-04 9.99998193e-01 7.25341780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582557844 meters 0.29413536199276813 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:0.73 [[ 9.99997981e-01 8.89854625e-04 -1.80152934e-03 -5.05096217e-02] [-8.85641981e-04 9.99996875e-01 2.33781998e-03 -7.56536392e-02] [ 1.80360403e-03 -2.33621975e-03 9.99995645e-01 7.26879113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642557844 meters 0.29635325952650166 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:0.72 [[ 0.99999291 -0.00103888 -0.00361961 -0.04337625] [ 0.00104348 0.99999865 0.00127162 -0.08301789] [ 0.00361828 -0.00127539 0.99999264 0.72310613] [ 0. 0. 0. 1. ]] SLAMing on 41.702557844 meters 0.2950504299641851 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.72 [[ 0.99997278 0.00513716 -0.00529689 -0.06429738] [-0.00514508 0.99998566 -0.00148332 -0.08835823] [ 0.00528919 0.00151054 0.99998487 0.72252393] [ 0. 0. 0. 1. ]] SLAMing on 41.762557844 meters 0.2957620407418421 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:0.72 [[ 9.99992155e-01 -2.89926894e-03 -2.69882685e-03 -4.53764717e-02] [ 2.89936879e-03 9.99995796e-01 3.30862489e-05 -8.82979434e-02] [ 2.69871958e-03 -4.09108836e-05 9.99996358e-01 7.23592610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822557844 meters 0.2959386737817809 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:0.72 [[ 9.99993557e-01 -2.56934344e-03 -2.50703238e-03 -4.60793055e-02] [ 2.57143010e-03 9.99996350e-01 8.29451445e-04 -9.15736676e-02] [ 2.50489208e-03 -8.35892759e-04 9.99996513e-01 7.24133174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882557844 meters 0.29649926340757055 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:0.72 [[ 0.99999438 -0.00226819 -0.00246813 -0.04608741] [ 0.00227217 0.99999612 0.00161058 -0.09475773] [ 0.00246447 -0.00161618 0.99999566 0.72396546] [ 0. 0. 0. 1. ]] SLAMing on 41.942557844 meters 0.29663880054761044 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.72 [[ 0.999994 -0.00196545 -0.00285421 -0.0449347 ] [ 0.00197274 0.99999479 0.00255404 -0.09858133] [ 0.00284917 -0.00255966 0.99999267 0.72361815] [ 0. 0. 0. 1. ]] SLAMing on 42.002557844 meters 0.29659689329095346 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.72 [[ 9.99977572e-01 -5.97866599e-03 -3.01841069e-03 -4.43187865e-02] [ 5.97615218e-03 9.99981789e-01 -8.41159074e-04 -1.02443802e-01] [ 3.02338473e-03 8.23101726e-04 9.99995091e-01 7.23177900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062557844 meters 0.29614927074392117 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.72 [[ 9.99980206e-01 -5.52841293e-03 -3.00405476e-03 -4.49089755e-02] [ 5.52933468e-03 9.99984669e-01 2.98617149e-04 -1.07224365e-01] [ 3.00235782e-03 -3.15221663e-04 9.99995443e-01 7.24538710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122557844 meters 0.29648255189315836 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.72 [[ 0.99998133 -0.00525082 -0.00312464 -0.04418224] [ 0.00525414 0.99998564 0.00105591 -0.11044056] [ 0.00311905 -0.0010723 0.99999456 0.72361646] [ 0. 0. 0. 1. ]] SLAMing on 42.182557844 meters 0.29715047771305003 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.11, Z:0.72 [[ 0.99998181 -0.00496598 -0.00342306 -0.04307254] [ 0.0049726 0.99998578 0.00192719 -0.11407995] [ 0.00341344 -0.00194418 0.99999228 0.72290521] [ 0. 0. 0. 1. ]] SLAMing on 42.242557844 meters 0.29718806979349466 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:0.73 [[ 0.99998965 0.00423492 -0.0016645 -0.02458955] [-0.0042311 0.99998842 0.0022909 -0.1241599 ] [ 0.00167419 -0.00228384 0.99999599 0.72520359] [ 0. 0. 0. 1. ]] SLAMing on 42.302557844 meters 0.2961002668030791 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.73 [[ 0.99998846 0.00458202 -0.00144572 -0.02534169] [-0.00457741 0.99998447 0.00317823 -0.12780644] [ 0.00146026 -0.00317158 0.9999939 0.72553409] [ 0. 0. 0. 1. ]] SLAMing on 42.362557844 meters 0.2961129709936997 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.73 [[ 0.99998734 0.00482929 -0.0014144 -0.02520178] [-0.00482392 0.99998123 0.00377769 -0.13026598] [ 0.00143262 -0.00377082 0.99999186 0.72509052] [ 0. 0. 0. 1. ]] SLAMing on 42.422557844 meters 0.2965140061167861 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.13, Z:0.72 [[ 0.99998653 0.00495217 -0.00155304 -0.02457079] [-0.00494572 0.99997923 0.00413232 -0.13175091] [ 0.00157347 -0.00412458 0.99999026 0.72433715] [ 0. 0. 0. 1. ]] SLAMing on 42.482557844 meters 0.2963786968431508 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.72 [[ 9.99998784e-01 9.08776359e-04 -1.26727901e-03 -2.54601322e-02] [-9.07927346e-04 9.99999363e-01 6.70363437e-04 -1.35113857e-01] [ 1.26788742e-03 -6.69212025e-04 9.99998972e-01 7.24876279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542557844 meters 0.29720030018903254 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.14, Z:0.72 [[ 0.99999838 0.00121527 -0.00132915 -0.02521852] [-0.00121325 0.99999811 0.00151637 -0.13855415] [ 0.001331 -0.00151475 0.99999797 0.72473432] [ 0. 0. 0. 1. ]] SLAMing on 42.602557844 meters 0.29740172115065266 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.14, Z:0.72 [[ 0.99999691 0.00174882 -0.00176857 -0.02375232] [-0.00174366 0.99999422 0.00291806 -0.14432974] [ 0.00177366 -0.00291497 0.99999418 0.7243082 ] [ 0. 0. 0. 1. ]] SLAMing on 42.662557844 meters 0.29581577041409896 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.73 [[ 9.99973104e-01 6.83232021e-03 -2.66661967e-03 -4.76852724e-02] [-6.83332072e-03 9.99976586e-01 -3.66266255e-04 -1.47993882e-01] [ 2.66405478e-03 3.84478271e-04 9.99996377e-01 7.25830497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722557844 meters 0.29709922575681935 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.15, Z:0.73 [[ 9.99970371e-01 7.23934328e-03 -2.61697932e-03 -4.80173817e-02] [-7.23751626e-03 9.99973559e-01 7.06935992e-04 -1.52328501e-01] [ 2.62202788e-03 -6.87974616e-04 9.99996326e-01 7.26248343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782557844 meters 0.29725274028861076 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.73 [[ 0.99999041 0.00324004 -0.00294749 -0.04683921] [-0.00324774 0.99999131 -0.00261239 -0.1562789 ] [ 0.002939 0.00262194 0.99999224 0.72526168] [ 0. 0. 0. 1. ]] SLAMing on 42.842557844 meters 0.29757474712999576 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.16, Z:0.73 [[ 0.99999139 0.00344415 -0.00231378 -0.04874015] [-0.00344897 0.99999189 -0.00208012 -0.15805524] [ 0.00230659 0.00208808 0.99999516 0.72650484] [ 0. 0. 0. 1. ]] SLAMing on 42.902557844 meters 0.2964625271510686 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.16, Z:0.73 [[ 0.99996672 -0.00528056 -0.00621861 -0.06712065] [ 0.00527286 0.99998531 -0.00125507 -0.1588993 ] [ 0.00622515 0.00122224 0.99997988 0.72634622] [ 0. 0. 0. 1. ]] SLAMing on 42.962557844 meters 0.29797384782022796 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.16, Z:0.73 [[ 0.99996715 0.00468559 -0.00661468 -0.04409941] [-0.00469471 0.99998805 -0.00136437 -0.16250616] [ 0.00660821 0.00139538 0.99997719 0.7259812 ] [ 0. 0. 0. 1. ]] SLAMing on 43.022557844 meters 0.2966858782257194 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.73 [[ 9.99967077e-01 4.93860652e-03 -6.43853143e-03 -4.49817461e-02] [-4.94243110e-03 9.99987619e-01 -5.78237564e-04 -1.65545375e-01] [ 6.43559602e-03 6.10040525e-04 9.99979105e-01 7.27245885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082557844 meters 0.2973989400979999 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.17, Z:0.73 [[ 9.99964976e-01 5.07720699e-03 -6.65345561e-03 -4.43499998e-02] [-5.07816534e-03 9.99987098e-01 -1.27151188e-04 -1.67355275e-01] [ 6.65272420e-03 1.60934082e-04 9.99977857e-01 7.26999973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142557844 meters 0.2974234325382976 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.73 [[ 9.99970931e-01 -3.62231261e-03 -6.70936599e-03 -2.09556783e-02] [ 3.62566282e-03 9.99993309e-01 4.87238669e-04 -1.68076752e-01] [ 6.70755616e-03 -5.11550405e-04 9.99977373e-01 7.26668100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202557844 meters 0.2967629731725926 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.17, Z:0.73 [[ 0.99997147 -0.00338089 -0.00675548 -0.02104898] [ 0.00338863 0.99999361 0.0011352 -0.17068739] [ 0.0067516 -0.00115806 0.99997654 0.72717389] [ 0. 0. 0. 1. ]] SLAMing on 43.262557844 meters 0.29749405149830266 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.17, Z:0.73 [[ 9.99982104e-01 5.13473154e-03 -3.07032607e-03 -2.89104064e-03] [-5.13361118e-03 9.99986753e-01 3.72667421e-04 -1.74284604e-01] [ 3.07219894e-03 -3.56898892e-04 9.99995217e-01 7.28281601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322557844 meters 0.29631546130643166 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:0.73 [[ 0.99998118 0.00538487 -0.0029406 -0.00368827] [-0.00538179 0.99998496 0.00105516 -0.17707047] [ 0.00294624 -0.00103932 0.99999512 0.72931695] [ 0. 0. 0. 1. ]] SLAMing on 43.382557844 meters 0.29665995762175246 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.18, Z:0.73 [[ 0.9999794 0.00558155 -0.003169 -0.00301355] [-0.0055763 0.99998307 0.00166195 -0.17954608] [ 0.00317822 -0.00164424 0.9999936 0.72908161] [ 0. 0. 0. 1. ]] SLAMing on 43.442557844 meters 0.29591408709676115 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.19, Z:0.73 [[ 9.99959983e-01 -6.50279880e-03 -6.14370340e-03 -2.11920707e-02] [ 6.50670762e-03 9.99978641e-01 6.16459387e-04 -1.86190965e-01] [ 6.13956347e-03 -6.56410000e-04 9.99980937e-01 7.28169441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502557844 meters 0.2976952362817083 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.19, Z:0.73 [[ 0.99997052 0.00125678 -0.0075745 0.00395363] [-0.00126461 0.99999867 -0.00102829 -0.19408997] [ 0.0075732 0.00103784 0.99997078 0.72670328] [ 0. 0. 0. 1. ]] SLAMing on 43.562557844 meters 0.29689000529276244 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:0.73 [[ 9.99967508e-01 1.59010037e-03 -7.90281068e-03 4.90709429e-03] [-1.58993110e-03 9.99998736e-01 2.77015652e-05 -1.98298296e-01] [ 7.90284474e-03 -1.51357407e-05 9.99968772e-01 7.26356145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844 meters 0.29565520918636234 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.20, Z:0.73 [[ 9.99968190e-01 1.86226023e-03 -7.75572949e-03 4.05804289e-03] [-1.85620705e-03 9.99997967e-01 7.87603118e-04 -2.01289881e-01] [ 7.75718044e-03 -7.73181824e-04 9.99969614e-01 7.27858655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682557844 meters 0.29472283453881004 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.20, Z:0.73 [[ 0.99991613 -0.00757583 -0.01050412 -0.01505102] [ 0.00759085 0.99997022 0.00139089 -0.19960068] [ 0.01049327 -0.00147051 0.99994386 0.72776913] [ 0. 0. 0. 1. ]] SLAMing on 43.742557844 meters 0.2974604457424786 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99945680e-01 1.08353693e-03 -1.03664021e-02 1.01585991e-02] [-1.08865099e-03 9.99999288e-01 -4.87700374e-04 -1.98219756e-01] [ 1.03658663e-02 4.98959276e-04 9.99946148e-01 7.24763192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802557844 meters 0.2971460524227324 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99947124e-01 1.12656814e-03 -1.02215329e-02 9.62322799e-03] [-1.13048096e-03 9.99999290e-01 -3.77032162e-04 -1.98629639e-01] [ 1.02211009e-02 3.88567474e-04 9.99947688e-01 7.25162444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862557844 meters 0.2978429849438465 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99943865e-01 1.14952365e-03 -1.05330818e-02 1.02650200e-02] [-1.15261418e-03 9.99999294e-01 -2.87346044e-04 -1.98987333e-01] [ 1.05327441e-02 2.99470493e-04 9.99944484e-01 7.25510272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922557844 meters 0.2966138831124541 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99944657e-01 1.32135621e-03 -1.04372463e-02 1.04859862e-02] [-1.32028319e-03 9.99999122e-01 1.09696595e-04 -2.00355891e-01] [ 1.04373821e-02 -9.59104028e-05 9.99945524e-01 7.24649056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982557844 meters 0.2960133998534005 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99946531e-01 1.34359644e-03 -1.02532691e-02 9.83334129e-03] [-1.34204536e-03 9.99999087e-01 1.58156235e-04 -2.00523653e-01] [ 1.02534722e-02 -1.44387427e-04 9.99947421e-01 7.25079565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042557844 meters 0.2964290615359679 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99946726e-01 1.34379709e-03 -1.02342234e-02 9.62737563e-03] [-1.34226694e-03 9.99999087e-01 1.56380332e-04 -2.00526353e-01] [ 1.02344242e-02 -1.42634941e-04 9.99947617e-01 7.25421430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102557844 meters 0.29616734009371326 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99947278e-01 1.04729159e-03 -1.02148684e-02 1.00250290e-02] [-1.05296302e-03 9.99999294e-01 -5.49850544e-04 -1.97584761e-01] [ 1.02142854e-02 5.60577434e-04 9.99947676e-01 7.24567301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162557844 meters 0.2956178202605077 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99950329e-01 8.83624987e-04 -9.92767599e-03 9.05074965e-03] [-8.93545546e-04 9.99999106e-01 -9.94891953e-04 -1.95773648e-01] [ 9.92678800e-03 1.00371337e-03 9.99950224e-01 7.25207743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222557844 meters 0.29496516145822094 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.73 [[ 9.99952258e-01 9.21413538e-04 -9.72798061e-03 8.59790018e-03] [-9.30146304e-04 9.99999169e-01 -8.93209514e-04 -1.96169670e-01] [ 9.72714950e-03 9.02215315e-04 9.99952283e-01 7.25106023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282557844 meters 0.2959050723540976 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.72 [[ 9.99960256e-01 -6.02188521e-03 -6.57445321e-03 3.18355672e-02] [ 6.02664854e-03 9.99981591e-01 7.04949828e-04 -1.99000961e-01] [ 6.57008706e-03 -7.44543729e-04 9.99978140e-01 7.22235826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342557844 meters 0.2960150334263155 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.20, Z:0.72 [[ 0.99996627 -0.0058602 -0.00575496 0.02933946] [ 0.0058669 0.99998213 0.00114893 -0.20055261] [ 0.00574812 -0.00118266 0.99998278 0.72367767] [ 0. 0. 0. 1. ]] SLAMing on 44.402557844 meters 0.29416356550371303 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99974372e-01 2.69999474e-03 -6.63058209e-03 8.37728147e-03] [-2.69484987e-03 9.99996061e-01 7.84742308e-04 -2.04135362e-01] [ 6.63267477e-03 -7.66853773e-04 9.99977710e-01 7.23835159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters 0.2949221356708378 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99971180e-01 2.74096248e-03 -7.08004726e-03 9.79403580e-03] [-2.73422615e-03 9.99995800e-01 9.60956080e-04 -2.04941018e-01] [ 7.08265147e-03 -9.41569935e-04 9.99974474e-01 7.22881636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522557844 meters 0.2943170170911267 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 0.99997023 0.00285781 -0.00716698 0.01007566] [-0.00284864 0.99999511 0.00128971 -0.20626901] [ 0.00717063 -0.00126925 0.99997349 0.72271578] [ 0. 0. 0. 1. ]] SLAMing on 44.582557844 meters 0.2961815559721594 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.21, Z:0.72 [[ 0.9999885 -0.00291519 -0.00380785 0.03284902] [ 0.00292989 0.99998826 0.00386032 -0.2087949 ] [ 0.00379655 -0.00387143 0.9999853 0.72000069] [ 0. 0. 0. 1. ]] SLAMing on 44.642557844 meters 0.2946523286539913 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 9.99977787e-01 2.25599656e-03 -6.27191770e-03 1.07684797e-02] [-2.25473132e-03 9.99997436e-01 2.08795706e-04 -2.07081401e-01] [ 6.27237266e-03 -1.94649579e-04 9.99980310e-01 7.21201553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702557844 meters 0.2965554345223698 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99979333e-01 2.06111952e-03 -6.08979833e-03 1.03450418e-02] [-2.06314535e-03 9.99997818e-01 -3.26397558e-04 -2.04890554e-01] [ 6.08911230e-03 3.38954952e-04 9.99981404e-01 7.21098687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762557844 meters 0.29702174172439555 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.20, Z:0.72 [[ 9.99979146e-01 1.94611235e-03 -6.15790714e-03 1.06922717e-02] [-1.94994278e-03 9.99997909e-01 -6.16092268e-04 -2.03710023e-01] [ 6.15669528e-03 6.28086987e-04 9.99980850e-01 7.20736730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822557844 meters 0.29559829303826946 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.72 [[ 0.99993326 -0.00616135 -0.00977347 -0.01041197] [ 0.00617461 0.99998006 0.00132738 -0.20785885] [ 0.0097651 -0.00138764 0.99995136 0.72280138] [ 0. 0. 0. 1. ]] SLAMing on 44.882557844 meters 0.2954223013237875 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 9.99943765e-01 2.95849766e-03 -1.01840455e-02 1.06372310e-02] [-2.95571616e-03 9.99995590e-01 2.88163307e-04 -2.13558643e-01] [ 1.01848531e-02 -2.58045955e-04 9.99948100e-01 7.22904668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942557844 meters 0.2940166752669005 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.21, Z:0.72 [[ 9.99964752e-01 1.24212101e-03 -8.30376060e-03 -3.01326997e-02] [-1.23714938e-03 9.99999052e-01 6.03830522e-04 -2.13435747e-01] [ 8.30450276e-03 -5.93536246e-04 9.99965341e-01 7.20330180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002557844 meters 0.29431532355292733 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.22, Z:0.72 [[ 0.99998974 -0.00321303 -0.00319271 -0.01021577] [ 0.00322522 0.99998749 0.00382231 -0.21615261] [ 0.00318039 -0.00383257 0.9999876 0.71873615] [ 0. 0. 0. 1. ]] SLAMing on 45.062557844 meters 0.2947889599099079 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.72 [[ 0.99998746 -0.00340111 -0.00367572 -0.00841848] [ 0.0034127 0.99998921 0.0031506 -0.21351964] [ 0.00366496 -0.00316311 0.99998828 0.71715412] [ 0. 0. 0. 1. ]] SLAMing on 45.122557844 meters 0.2953262654376831 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.21, Z:0.72 [[ 0.99998541 -0.00358878 -0.00403724 -0.00718353] [ 0.003599 0.99999033 0.0025264 -0.21100477] [ 0.00402814 -0.00254089 0.99998866 0.71620696] [ 0. 0. 0. 1. ]] SLAMing on 45.182557844 meters 0.29664261504405137 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.71 [[ 9.99994623e-01 3.17429348e-03 -8.23613019e-04 1.39663691e-02] [-3.17492392e-03 9.99994667e-01 -7.65283892e-04 -2.06615702e-01] [ 8.21179391e-04 7.67894686e-04 9.99999368e-01 7.14602019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242557844 meters 0.29367453902808816 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.20, Z:0.71 [[ 9.99993767e-01 3.33524591e-03 1.15881179e-03 -2.86460403e-02] [-3.33468656e-03 9.99994323e-01 -4.84291580e-04 -1.98697457e-01] [-1.16042044e-03 4.80424287e-04 9.99999211e-01 7.13190950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844 meters 0.2964283063897854 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:0.71 [[ 9.99996514e-01 -2.48494382e-03 8.93096892e-04 -3.07674941e-03] [ 2.48323996e-03 9.99995104e-01 1.90388671e-03 -1.93563650e-01] [-8.97823571e-04 -1.90166230e-03 9.99997789e-01 7.10562321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362557844 meters 0.29660762888342196 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.19, Z:0.71 [[ 9.99995351e-01 -2.78446975e-03 1.24297437e-03 -4.04140104e-03] [ 2.78368290e-03 9.99995924e-01 6.34317629e-04 -1.88625000e-01] [-1.24473554e-03 -6.30854633e-04 9.99999026e-01 7.10875473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422557844 meters 0.2964939977019005 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.19, Z:0.71 [[ 9.99979797e-01 6.18071017e-03 1.48495590e-03 -2.86812705e-02] [-6.18082423e-03 9.99980896e-01 7.22312989e-05 -1.85662030e-01] [-1.48448109e-03 -8.14080910e-05 9.99998895e-01 7.12107220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482557844 meters 0.29625233220898517 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.18, Z:0.71 [[ 9.99990834e-01 -1.47606895e-03 4.01908236e-03 -1.04273572e-02] [ 1.47394967e-03 9.99998773e-01 5.30216249e-04 -1.77581281e-01] [-4.01986006e-03 -5.24287464e-04 9.99991783e-01 7.13892864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542557844 meters 0.29425541298353725 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 9.99994690e-01 3.20065771e-03 6.12658342e-04 -3.36905667e-02] [-3.19880625e-03 9.99990385e-01 -2.99949067e-03 -1.73555747e-01] [-6.22252794e-04 2.99751496e-03 9.99995314e-01 7.16559960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602557844 meters 0.2948402198964176 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 9.99994639e-01 3.24180901e-03 4.60123577e-04 -3.30459159e-02] [-3.24047377e-03 9.99990621e-01 -2.87357758e-03 -1.74129884e-01] [-4.69434851e-04 2.87207116e-03 9.99995765e-01 7.15893749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662557844 meters 0.29635078484368865 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.71 [[ 9.99998023e-01 -1.89254862e-03 -6.10174149e-04 -7.02127071e-03] [ 1.89305961e-03 9.99997857e-01 8.37961389e-04 -1.72541910e-01] [ 6.08586958e-04 -8.39114829e-04 9.99999463e-01 7.14333542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722557844 meters 0.2946892249167175 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 0.99998725 0.00402577 -0.00304791 -0.02961972] [-0.00403256 0.9999894 -0.00222306 -0.17008216] [ 0.00303893 0.00223533 0.99999288 0.71611088] [ 0. 0. 0. 1. ]] SLAMing on 45.782557844 meters 0.29573430978029647 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 0.99998962 0.00398884 -0.00220089 -0.03169166] [-0.00399436 0.99998887 -0.00251083 -0.1688458 ] [ 0.00219085 0.0025196 0.99999443 0.71638987] [ 0. 0. 0. 1. ]] SLAMing on 45.842557844 meters 0.29614157297570814 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 0.99998912 0.00393845 -0.00249965 -0.03067817] [-0.00394513 0.99998865 -0.00267263 -0.16822939] [ 0.0024891 0.00268246 0.9999933 0.71556128] [ 0. 0. 0. 1. ]] SLAMing on 45.902557844 meters 0.29565570121703694 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.17, Z:0.72 [[ 0.99998843 0.00404782 -0.00260061 -0.03035856] [-0.004054 0.99998895 -0.00237806 -0.1694582 ] [ 0.00259095 0.00238858 0.99999379 0.71541549] [ 0. 0. 0. 1. ]] SLAMing on 45.962557844 meters 0.2961388199913926 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.72 [[ 9.99994290e-01 -3.32242031e-03 6.18401462e-04 -1.15954657e-02] [ 3.32303161e-03 9.99993989e-01 -9.90127082e-04 -1.69353116e-01] [-6.15108126e-04 9.92176396e-04 9.99999319e-01 7.16580564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022557844 meters 0.2957946255476921 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.72 [[ 9.99994627e-01 -3.22382490e-03 5.93747638e-04 -1.16648184e-02] [ 3.22426056e-03 9.99994532e-01 -7.34267959e-04 -1.70401776e-01] [-5.91377240e-04 7.36178411e-04 9.99999554e-01 7.16871784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082557844 meters 0.2952365077662659 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.72 [[ 9.99995009e-01 -3.07131324e-03 7.40605301e-04 -1.22541894e-02] [ 3.07156032e-03 9.99995227e-01 -3.32714076e-04 -1.71995664e-01] [-7.39579897e-04 3.34987229e-04 9.99999670e-01 7.17395491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142557844 meters 0.29560878582451583 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.17, Z:0.72 [[ 9.99995903e-01 -2.79116212e-03 6.35181181e-04 -1.19736075e-02] [ 2.79091875e-03 9.99996032e-01 3.83703931e-04 -1.74884194e-01] [-6.36249641e-04 -3.81929620e-04 9.99999725e-01 7.17357786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844 meters 0.2951745539659219 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.18, Z:0.72 [[ 0.99999601 0.00248959 -0.00133448 -0.03340498] [-0.0024931 0.99999342 -0.00263454 -0.17958386] [ 0.00132791 0.00263785 0.99999564 0.71772858] [ 0. 0. 0. 1. ]] SLAMing on 46.262557844 meters 0.29602603080299755 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.18, Z:0.72 [[ 0.99999041 0.00416777 -0.00134862 0.005997 ] [-0.00417005 0.99998987 -0.00169324 -0.18297143] [ 0.00134155 0.00169885 0.99999766 0.72025431] [ 0. 0. 0. 1. ]] SLAMing on 46.322557844 meters 0.29439064080505367 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.72 [[ 9.99980576e-01 -4.76605173e-03 -4.01652198e-03 -1.26194534e-02] [ 4.76637357e-03 9.99988638e-01 7.05587125e-05 -1.85633189e-01] [ 4.01614006e-03 -8.97015862e-05 9.99991931e-01 7.20234827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382557844 meters 0.2953375297280219 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.72 [[ 9.99980132e-01 -4.64647794e-03 -4.25983896e-03 -1.16188297e-02] [ 4.64818159e-03 9.99989121e-01 3.90120689e-04 -1.87054709e-01] [ 4.25797993e-03 -4.09913443e-04 9.99990851e-01 7.19186705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442557844 meters 0.29551230123695876 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.72 [[ 9.99981350e-01 -4.43465616e-03 -4.19929373e-03 -1.19488181e-02] [ 4.43865483e-03 9.99989704e-01 9.43385248e-04 -1.89296909e-01] [ 4.19506691e-03 -9.62006869e-04 9.99990738e-01 7.19601769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502557844 meters 0.2952215230421178 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.72 [[ 0.9999823 -0.00429249 -0.00411964 -0.01239845] [ 0.00429802 0.99998987 0.00133519 -0.19086865] [ 0.00411387 -0.00135287 0.99999062 0.72019147] [ 0. 0. 0. 1. ]] SLAMing on 46.562557844 meters 0.2950268172331346 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.19, Z:0.72 [[ 0.99998207 -0.0040749 -0.00438715 -0.01163618] [ 0.00408392 0.99998956 0.00205086 -0.19373405] [ 0.00437875 -0.00206874 0.99998827 0.71995842] [ 0. 0. 0. 1. ]] SLAMing on 46.622557844 meters 0.2953800313495872 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.20, Z:0.72 [[ 0.99998165 -0.00383838 -0.00468732 -0.01065773] [ 0.00385174 0.99998854 0.00284344 -0.19696496] [ 0.00467635 -0.00286144 0.99998497 0.7193458 ] [ 0. 0. 0. 1. ]] SLAMing on 46.682557844 meters 0.2956979011317337 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 9.99989953e-01 2.08027262e-03 -3.97078286e-03 1.04822213e-02] [-2.08129158e-03 9.99997802e-01 -2.52498817e-04 -2.08138996e-01] [ 3.97024887e-03 2.60760637e-04 9.99992085e-01 7.20090889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844 meters 0.29520224196655154 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 9.99989351e-01 2.41239833e-03 -3.93420154e-03 9.99668872e-03] [-2.41023700e-03 9.99996942e-01 5.54018160e-04 -2.11295387e-01] [ 3.93552602e-03 -5.44529902e-04 9.99992108e-01 7.21008382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802557844 meters 0.2963300809363611 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 9.99990284e-01 2.55103994e-03 -3.59488511e-03 8.94223577e-03] [-2.54764939e-03 9.99996306e-01 9.47423574e-04 -2.12758590e-01] [ 3.59728874e-03 -9.38255862e-04 9.99993090e-01 7.21601486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862557844 meters 0.2953180148958942 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 0.99998903 0.00259839 -0.00389618 0.00997928] [-0.00259423 0.99999606 0.00107364 -0.21334528] [ 0.00389896 -0.00106352 0.99999183 0.72083247] [ 0. 0. 0. 1. ]] SLAMing on 46.922557844 meters 0.2973291709411227 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.21, Z:0.72 [[ 0.99998868 0.00271684 -0.00390688 0.01012997] [-0.00271142 0.99999536 0.00139136 -0.21467104] [ 0.00391065 -0.00138075 0.9999914 0.7205287 ] [ 0. 0. 0. 1. ]] SLAMing on 46.982557844 meters 0.29601080866100743 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.999988 0.00289685 -0.00395034 0.01002889] [-0.00288916 0.99999393 0.00195005 -0.21684551] [ 0.00395597 -0.00193861 0.9999903 0.72105193] [ 0. 0. 0. 1. ]] SLAMing on 47.042557844 meters 0.29548596588160414 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99998381 0.00306127 -0.00479588 0.01223523] [-0.00304702 0.99999093 0.00297574 -0.2210663 ] [ 0.00480495 -0.00296108 0.99998407 0.72064325] [ 0. 0. 0. 1. ]] SLAMing on 47.102557844 meters 0.2955555659596785 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99998322 0.00336342 -0.00471643 0.01188042] [-0.00334543 0.99998712 0.00381611 -0.2244338 ] [ 0.0047292 -0.00380027 0.9999816 0.72094908] [ 0. 0. 0. 1. ]] SLAMing on 47.162557844 meters 0.2955319521822737 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99991033e-01 -3.52028495e-04 -4.22024786e-03 9.95859477e-03] [ 3.55091434e-04 9.99999674e-01 7.25044998e-04 -2.27580368e-01] [ 4.21999125e-03 -7.26537070e-04 9.99990832e-01 7.22043145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222557844 meters 0.29548839494815365 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99990226e-01 -2.86189652e-04 -4.41193100e-03 1.06104840e-02] [ 2.90163615e-04 9.99999553e-01 9.00117123e-04 -2.28326175e-01] [ 4.41167142e-03 -9.01388507e-04 9.99989862e-01 7.21648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282557844 meters 0.296156319334935 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99990547e-01 -1.88018269e-04 -4.34397621e-03 1.04328113e-02] [ 1.92999723e-04 9.99999324e-01 1.14635912e-03 -2.29322623e-01] [ 4.34375774e-03 -1.14718667e-03 9.99989908e-01 7.21663029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342557844 meters 0.2964507446017169 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99989873e-01 1.86642865e-05 -4.50045470e-03 1.06857210e-02] [-1.11449999e-05 9.99998604e-01 1.67080304e-03 -2.31469621e-01] [ 4.50047961e-03 -1.67073596e-03 9.99988477e-01 7.22031383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402557844 meters 0.2963962392573573 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.23, Z:0.72 [[ 0.99999216 -0.00106087 -0.00381462 -0.02730932] [ 0.00107097 0.99999593 0.00264448 -0.23385983] [ 0.0038118 -0.00264854 0.99998923 0.71836638] [ 0. 0. 0. 1. ]] SLAMing on 47.462557844 meters 0.2964001741093083 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99982879e-01 5.76595972e-03 9.97389197e-04 -7.57968218e-03] [-5.76571005e-03 9.99983346e-01 -2.53026267e-04 -2.28003905e-01] [-9.98831526e-04 2.47271278e-04 9.99999471e-01 7.16001328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522557844 meters 0.2972524005074884 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99983790e-01 5.63799633e-03 7.95918020e-04 -7.08713988e-03] [-5.63754333e-03 9.99983946e-01 -5.70254975e-04 -2.26691444e-01] [-7.99120338e-04 5.65758709e-04 9.99999521e-01 7.16040385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582557844 meters 0.2963729078032667 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99984050e-01 5.59288500e-03 7.86565009e-04 -7.14653884e-03] [-5.59234381e-03 9.99984126e-01 -6.88568282e-04 -2.26186259e-01] [-7.90403607e-04 6.84158557e-04 9.99999454e-01 7.16229527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642557844 meters 0.2946932206743089 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.22, Z:0.72 [[ 9.99989926e-01 -4.36964529e-03 1.02649253e-03 -2.91048468e-02] [ 4.36963851e-03 9.99990453e-01 8.84563350e-06 -2.24250512e-01] [-1.02652138e-03 -4.36014310e-06 9.99999473e-01 7.16182870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702557844 meters 0.2963681655158714 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99982011e-01 5.43315555e-03 2.54150541e-03 -9.49863698e-03] [-5.43207887e-03 9.99985154e-01 -4.30348606e-04 -2.29541057e-01] [-2.54380583e-03 4.16535206e-04 9.99996678e-01 7.16087719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762557844 meters 0.29633099566462046 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99981944e-01 5.53269358e-03 2.34527490e-03 -8.93763056e-03] [-5.53238462e-03 9.99984687e-01 -1.38204349e-04 -2.30773957e-01] [-2.34600363e-03 1.25226891e-04 9.99997240e-01 7.15944364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822557844 meters 0.2981034866993397 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.71 [[ 9.99983021e-01 5.48529808e-03 1.96688127e-03 -7.59300178e-03] [-5.48485782e-03 9.99984932e-01 -2.29158958e-04 -2.30480733e-01] [-1.96810864e-03 2.18367003e-04 9.99998039e-01 7.14592912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882557844 meters 0.2955130484384531 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.71 [[ 9.99983872e-01 5.41551190e-03 1.71092651e-03 -6.53464908e-03] [-5.41478815e-03 9.99985249e-01 -4.27369441e-04 -2.29659212e-01] [-1.71321570e-03 4.18098244e-04 9.99998445e-01 7.13365392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942557844 meters 0.2959865001369074 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 9.99994262e-01 -2.31658063e-03 2.47160082e-03 1.22940862e-02] [ 2.31555074e-03 9.99997231e-01 4.19469291e-04 -2.24235889e-01] [-2.47256571e-03 -4.13743768e-04 9.99996858e-01 7.15039905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002557844 meters 0.2967973105196343 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 9.99993433e-01 -2.28684572e-03 2.81144649e-03 1.11237104e-02] [ 2.28552180e-03 9.99997276e-01 4.74024437e-04 -2.24303561e-01] [-2.81252285e-03 -4.67595702e-04 9.99995936e-01 7.16009686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844 meters 0.2970940727312342 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99993741e-01 -2.22112493e-03 2.75416085e-03 1.13713150e-02] [ 2.21933577e-03 9.99997324e-01 6.52506749e-04 -2.25078977e-01] [-2.75560278e-03 -6.46390257e-04 9.99995994e-01 7.15797719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844 meters 0.2966718216597317 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.23, Z:0.72 [[ 9.99994579e-01 3.28774334e-03 -1.81682069e-04 -9.89789425e-03] [-3.28813004e-03 9.99992238e-01 -2.17078815e-03 -2.25948078e-01] [ 1.74543665e-04 2.17137378e-03 9.99997627e-01 7.17809959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182557844 meters 0.29824218883470893 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99999765 -0.00110192 0.00186735 0.01354593] [ 0.00109949 0.99999855 0.00130079 -0.22470231] [-0.00186878 -0.00129874 0.99999741 0.71651209] [ 0. 0. 0. 1. ]] SLAMing on 48.242557844 meters 0.29588213291550297 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99999737 -0.00115657 0.00198192 0.01320776] [ 0.0011543 0.99999868 0.00114624 -0.2240483 ] [-0.00198324 -0.00114395 0.99999738 0.71660002] [ 0. 0. 0. 1. ]] SLAMing on 48.302557844 meters 0.2968854541108144 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99999716 -0.00119288 0.00206377 0.0126382 ] [ 0.00119073 0.99999875 0.00104505 -0.22351555] [-0.00206501 -0.00104259 0.99999732 0.71744272] [ 0. 0. 0. 1. ]] SLAMing on 48.362557844 meters 0.2967364991206018 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99999695 -0.00113722 0.00219319 0.01203547] [ 0.00113458 0.99999863 0.00120794 -0.22410581] [-0.00219456 -0.00120545 0.99999687 0.71819289] [ 0. 0. 0. 1. ]] SLAMing on 48.422557844 meters 0.29593673960019024 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.22, Z:0.72 [[ 0.99999697 -0.00108694 0.0022109 0.01199034] [ 0.00108397 0.99999851 0.00134471 -0.2246598 ] [-0.00221236 -0.00134231 0.99999665 0.71819175] [ 0. 0. 0. 1. ]] SLAMing on 48.482557844 meters 0.2953621912344786 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 0.99999691 -0.00102432 0.00226561 0.0119272 ] [ 0.00102087 0.99999832 0.00152506 -0.22540027] [-0.00226717 -0.00152274 0.99999627 0.71800009] [ 0. 0. 0. 1. ]] SLAMing on 48.542557844 meters 0.29647796719073866 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.23, Z:0.72 [[ 9.99997096e-01 -9.94755469e-04 2.19504807e-03 1.18481129e-02] [ 9.91223929e-04 9.99998214e-01 1.60936831e-03 -2.25687282e-01] [-2.19664508e-03 -1.60718785e-03 9.99996296e-01 7.18606762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602557844 meters 0.29757142592845615 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.72 [[ 0.99999768 0.00187106 0.00106699 0.05146481] [-0.00187288 0.9999968 0.00170273 -0.2216917 ] [-0.00106381 -0.00170473 0.99999798 0.72094758] [ 0. 0. 0. 1. ]] SLAMing on 48.662557844 meters 0.29609027296639345 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.22, Z:0.72 [[ 0.9999713 0.00711964 -0.00258851 0.03078515] [-0.00712315 0.99997372 -0.00134931 -0.22002816] [ 0.00257884 0.00136771 0.99999574 0.72184656] [ 0. 0. 0. 1. ]] SLAMing on 48.722557844 meters 0.2976078745185284 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.72 [[ 9.99977220e-01 8.15378872e-04 -6.70038765e-03 5.05461103e-02] [-8.16562532e-04 9.99999651e-01 -1.73921549e-04 -2.18402762e-01] [ 6.70024350e-03 1.79388872e-04 9.99977537e-01 7.24094626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782557844 meters 0.2977062906902893 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.72 [[ 9.99976942e-01 9.53969123e-04 -6.72346510e-03 5.03913581e-02] [-9.52528875e-04 9.99999523e-01 2.17411193e-04 -2.19941644e-01] [ 6.72366929e-03 -2.11001885e-04 9.99977374e-01 7.24604251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842557844 meters 0.29621800754503386 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.73 [[ 9.99978555e-01 1.17469731e-03 -6.44276231e-03 4.93518305e-02] [-1.16871160e-03 9.99998882e-01 9.32745767e-04 -2.22660681e-01] [ 6.44385080e-03 -9.25196034e-04 9.99978810e-01 7.25598338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902557844 meters 0.2960832595384059 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.73 [[ 0.99997766 0.00131275 -0.00655449 0.04959733] [-0.00130401 0.99999826 0.00133763 -0.22428907] [ 0.00655623 -0.00132905 0.99997762 0.72570499] [ 0. 0. 0. 1. ]] SLAMing on 48.962557844 meters 0.29597245202295525 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.73 [[ 0.99997734 0.00156894 -0.00654619 0.04953812] [-0.0015555 0.99999667 0.0020577 -0.22721162] [ 0.0065494 -0.00204747 0.99997646 0.72581063] [ 0. 0. 0. 1. ]] SLAMing on 49.022557844 meters 0.29603818215765876 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.23, Z:0.73 [[ 0.9999774 0.00181813 -0.00647319 0.04878231] [-0.00180017 0.99999452 0.00277925 -0.23005033] [ 0.00647821 -0.00276753 0.99997519 0.72718122] [ 0. 0. 0. 1. ]] SLAMing on 49.082557844 meters 0.2965626951253012 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.72 [[ 0.99998151 0.00537258 -0.00284713 0.07077867] [-0.0053814 0.99998072 -0.00309767 -0.23034091] [ 0.00283043 0.00311294 0.99999115 0.72388042] [ 0. 0. 0. 1. ]] SLAMing on 49.142557844 meters 0.29547950654814825 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.72 [[ 0.99998105 0.00546853 -0.00282756 0.07090072] [-0.00547659 0.99998094 -0.00285041 -0.23140123] [ 0.00281191 0.00286584 0.99999194 0.72348952] [ 0. 0. 0. 1. ]] SLAMing on 49.202557844 meters 0.29569309483366196 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:0.72 [[ 0.99998108 0.00548477 -0.00278664 0.07074087] [-0.00549259 0.99998097 -0.00280826 -0.23155942] [ 0.00277119 0.00282352 0.99999217 0.723616 ] [ 0. 0. 0. 1. ]] SLAMing on 49.262557844 meters 0.29701711458475427 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.73 [[ 0.99999457 -0.00187364 -0.00271221 0.08916525] [ 0.00186869 0.99999658 -0.00182703 -0.22418861] [ 0.00271562 0.00182195 0.99999465 0.72532561] [ 0. 0. 0. 1. ]] SLAMing on 49.322557844 meters 0.29724084241356535 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.72 [[ 0.99999423 -0.00201151 -0.00273688 0.0894587 ] [ 0.00200543 0.99999552 -0.00222323 -0.22263496] [ 0.00274134 0.00221773 0.99999378 0.72477627] [ 0. 0. 0. 1. ]] SLAMing on 49.382557844 meters 0.29602473496242715 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.72 [[ 0.99999525 -0.00284346 -0.00118578 0.04746869] [ 0.00284183 0.99999502 -0.00136972 -0.22287483] [ 0.00118967 0.00136634 0.99999836 0.72392249] [ 0. 0. 0. 1. ]] SLAMing on 49.442557844 meters 0.2983917088817023 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:0.72 [[ 9.99998535e-01 -2.22237057e-04 1.69694986e-03 9.17157636e-02] [ 2.24197109e-04 9.99999308e-01 -1.15494108e-03 -2.15254993e-01] [-1.69669202e-03 1.15531984e-03 9.99997893e-01 7.20683544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502557844 meters 0.29634194854287604 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.22, Z:0.72 [[ 9.99997158e-01 -1.58356507e-03 1.78208411e-03 5.42718093e-02] [ 1.58468762e-03 9.99998547e-01 -6.28671460e-04 -2.15115172e-01] [-1.78108598e-03 6.31493720e-04 9.99998214e-01 7.17499053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844 meters 0.29618793042670183 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.72 [[ 9.99997012e-01 -1.67083472e-03 1.78466827e-03 5.40750159e-02] [ 1.67236070e-03 9.99998237e-01 -8.53897035e-04 -2.14152046e-01] [-1.78323840e-03 8.56879092e-04 9.99998043e-01 7.17922498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844 meters 0.2947147077011103 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.72 [[ 9.99996878e-01 -1.64835411e-03 1.87817384e-03 5.36972532e-02] [ 1.64986134e-03 9.99998318e-01 -8.01230795e-04 -2.14335919e-01] [-1.87684997e-03 8.04327020e-04 9.99997915e-01 7.18243296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682557844 meters 0.29620560387251726 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.72 [[ 0.99998204 0.00486677 0.0034986 0.07527761] [-0.00485029 0.99997718 -0.00470273 -0.21490747] [-0.00352141 0.00468567 0.99998282 0.71722064] [ 0. 0. 0. 1. ]] SLAMing on 49.742557844 meters 0.2972016428858518 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999088 -0.00219537 0.00366389 0.09498619] [ 0.00220694 0.99999258 -0.00315633 -0.21030566] [-0.00365693 0.00316439 0.99998831 0.71835807] [ 0. 0. 0. 1. ]] SLAMing on 49.802557844 meters 0.2956541563749831 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:0.72 [[ 0.99999108 -0.00216987 0.00362437 0.09503458] [ 0.00218107 0.99999285 -0.00308869 -0.21057761] [-0.00361764 0.00309656 0.99998866 0.71848188] [ 0. 0. 0. 1. ]] SLAMing on 49.862557844 meters 0.2957068619494843 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999116 -0.00213282 0.00362246 0.09476273] [ 0.00214366 0.99999323 -0.00299161 -0.21090976] [-0.00361606 0.00299934 0.99998896 0.71909839] [ 0. 0. 0. 1. ]] SLAMing on 49.922557844 meters 0.2953853223264221 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.21, Z:0.72 [[ 0.99999204 -0.00205653 0.00341929 0.09531283] [ 0.00206601 0.99999403 -0.0027696 -0.21186035] [-0.00341357 0.00277664 0.99999032 0.7190508 ] [ 0. 0. 0. 1. ]] SLAMing on 49.982557844 meters 0.29481052541601827 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.72 [[ 9.99996937e-01 2.44056136e-03 4.10757574e-04 7.19287358e-02] [-2.43811511e-03 9.99979892e-01 -5.85416189e-03 -2.12013295e-01] [-4.25036756e-04 5.85314249e-03 9.99982780e-01 7.21603838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042557844 meters 0.2970937526107966 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.21, Z:0.72 [[ 0.99998907 0.00347787 0.00312472 0.11677492] [-0.00345544 0.99996843 -0.00715565 -0.20901842] [-0.00314951 0.00714478 0.99996952 0.71922798] [ 0. 0. 0. 1. ]] SLAMing on 50.102557844 meters 0.2949258797201452 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999035 -0.0031889 0.00302042 0.09383012] [ 0.00319916 0.99998911 -0.00339777 -0.20620774] [-0.00300956 0.0034074 0.99998967 0.72042497] [ 0. 0. 0. 1. ]] SLAMing on 50.162557844 meters 0.29519069203097215 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99998959 -0.00320092 0.00325138 0.09301677] [ 0.00321215 0.99998888 -0.00345244 -0.20589417] [-0.00324029 0.00346285 0.99998875 0.72108847] [ 0. 0. 0. 1. ]] SLAMing on 50.222557844 meters 0.29605927889443745 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99998979 -0.00308898 0.00329806 0.0926988 ] [ 0.00309946 0.99999014 -0.00318001 -0.20703863] [-0.0032882 0.0031902 0.99998951 0.72152442] [ 0. 0. 0. 1. ]] SLAMing on 50.282557844 meters 0.29551692742451663 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999075 -0.00297117 0.00310868 0.09350557] [ 0.00297993 0.99999159 -0.00281647 -0.20866649] [-0.00310029 0.0028257 0.9999912 0.72068952] [ 0. 0. 0. 1. ]] SLAMing on 50.342557844 meters 0.296251934322599 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999149 -0.00286845 0.00296556 0.09389994] [ 0.002876 0.99999263 -0.00254476 -0.20981394] [-0.00295824 0.00255327 0.99999236 0.72065714] [ 0. 0. 0. 1. ]] SLAMing on 50.402557844 meters 0.2958591857011223 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:0.72 [[ 0.99999185 -0.00275419 0.00295353 0.09374657] [ 0.00276083 0.99999366 -0.00224798 -0.21102903] [-0.00294732 0.00225612 0.99999311 0.72106121] [ 0. 0. 0. 1. ]] SLAMing on 50.462557844 meters 0.29543229945526106 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.72 [[ 0.99998153 0.00563003 0.00229084 0.07108814] [-0.00562471 0.99998149 -0.00232129 -0.21280141] [-0.00230386 0.00230836 0.99999468 0.72078447] [ 0. 0. 0. 1. ]] SLAMing on 50.522557844 meters 0.2957781912271307 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:0.72 [[ 0.99998242 0.00554995 0.00208706 0.07202154] [-0.00554468 0.99998144 -0.00252326 -0.21207166] [-0.00210103 0.00251164 0.99999464 0.71955946] [ 0. 0. 0. 1. ]] SLAMing on 50.582557844 meters 0.29711988802718575 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.72 [[ 9.99993947e-01 -3.47899887e-03 4.18875278e-05 5.41042156e-02] [ 3.47904743e-03 9.99993203e-01 -1.22111319e-03 -2.07482089e-01] [-3.76389916e-05 1.22125153e-03 9.99999254e-01 7.18389017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters 0.2947666742670512 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.72 [[ 9.99993965e-01 -3.47378687e-03 5.80712872e-05 5.39947038e-02] [ 3.47385472e-03 9.99993231e-01 -1.21224816e-03 -2.07510869e-01] [-5.38598024e-05 1.21244258e-03 9.99999264e-01 7.18544778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702557844 meters 0.29385019713005894 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:0.72 [[ 9.99993721e-01 -3.53836619e-03 1.92165280e-04 5.37181969e-02] [ 3.53862593e-03 9.99992803e-01 -1.36858519e-03 -2.06857981e-01] [-1.87321341e-04 1.36925660e-03 9.99999045e-01 7.18383895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762557844 meters 0.29529550175923025 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:0.72 [[ 0.99999265 0.00368495 0.00105533 0.0762345 ] [-0.00367953 0.99998023 -0.00509818 -0.20517135] [-0.00107409 0.00509426 0.99998645 0.71659267] [ 0. 0. 0. 1. ]] SLAMing on 50.822557844 meters 0.29548089775317926 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.72 [[ 0.99999294 0.00356588 0.00118851 0.07589925] [-0.00355939 0.99997901 -0.00541459 -0.20383365] [-0.00120779 0.00541032 0.99998463 0.71656013] [ 0. 0. 0. 1. ]] SLAMing on 50.882557844 meters 0.29457622467066574 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.72 [[ 0.99999308 0.00348657 0.00129404 0.07531155] [-0.00347927 0.99997823 -0.00560613 -0.20295146] [-0.00131355 0.00560159 0.99998345 0.71722296] [ 0. 0. 0. 1. ]] SLAMing on 50.942557844 meters 0.2947426177463456 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:0.72 [[ 0.99999349 0.0034223 0.00114479 0.0759439 ] [-0.00341564 0.99997753 -0.00576839 -0.20234689] [-0.00116451 0.00576444 0.99998271 0.71662486] [ 0. 0. 0. 1. ]] SLAMing on 51.002557844 meters 0.29610431209446014 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:0.72 [[ 9.99998996e-01 -1.02834938e-03 9.75181153e-04 9.93148442e-02] [ 1.03050311e-03 9.99997026e-01 -2.21061278e-03 -1.96496546e-01] [-9.72904970e-04 2.21161549e-03 9.99997081e-01 7.15406845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844 meters 0.2951343065348554 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999838 -0.0012435 0.00129798 0.09826133] [ 0.00124725 0.99999505 -0.00288999 -0.19351445] [-0.00129438 0.00289161 0.99999498 0.71605666] [ 0. 0. 0. 1. ]] SLAMing on 51.122557844 meters 0.29576822856875123 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999795 -0.00142242 0.00144138 0.09800552] [ 0.00142722 0.99999342 -0.00333588 -0.19166035] [-0.00143663 0.00333793 0.9999934 0.71579178] [ 0. 0. 0. 1. ]] SLAMing on 51.182557844 meters 0.2947694726632277 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999773 -0.00140347 0.00160365 0.09725784] [ 0.00140874 0.99999359 -0.00329097 -0.19180837] [-0.00159902 0.00329322 0.9999933 0.71672549] [ 0. 0. 0. 1. ]] SLAMing on 51.242557844 meters 0.29347825716133774 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999741 -0.00146524 0.00174268 0.09654992] [ 0.00147125 0.99999295 -0.00345372 -0.19095789] [-0.00173761 0.00345627 0.99999252 0.71754808] [ 0. 0. 0. 1. ]] SLAMing on 51.302557844 meters 0.2940654479277288 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999718 -0.00155779 0.001795 0.09659567] [ 0.00156443 0.99999192 -0.00370184 -0.18995841] [-0.00178922 0.00370464 0.99999154 0.71712978] [ 0. 0. 0. 1. ]] SLAMing on 51.362557844 meters 0.29435844786389453 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.72 [[ 0.99999697 -0.00162334 0.00185056 0.09667219] [ 0.00163051 0.99999114 -0.00387977 -0.18925947] [-0.00184425 0.00388278 0.99999076 0.71661674] [ 0. 0. 0. 1. ]] SLAMing on 51.422557843999996 meters 0.29556242767235574 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:0.71 [[ 9.99999648e-01 4.59162401e-04 7.01644607e-04 1.02235914e-01] [-4.57811552e-04 9.99998044e-01 -1.92420998e-03 -1.89435483e-01] [-7.02526759e-04 1.92388809e-03 9.99997903e-01 7.13128178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844 meters 0.29408096098939857 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.19, Z:0.71 [[ 9.99999625e-01 -5.20411710e-04 6.92494266e-04 6.43702150e-02] [ 5.21929052e-04 9.99997460e-01 -2.19275179e-03 -1.86010007e-01] [-6.91351373e-04 2.19311240e-03 9.99997356e-01 7.10105735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542557844 meters 0.2967432682795476 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.18, Z:0.71 [[ 9.99994858e-01 3.20609237e-03 7.30636780e-05 1.05985740e-01] [-3.20595146e-03 9.99993144e-01 -1.85332417e-03 -1.75035739e-01] [-7.90051055e-05 1.85308040e-03 9.99998280e-01 7.10126368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602557844 meters 0.2934473230997304 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.71 [[ 0.99999078 0.00214554 -0.00371995 0.0629602 ] [-0.0021535 0.9999954 -0.00213558 -0.16690634] [ 0.00371535 0.00214357 0.9999908 0.71122135] [ 0. 0. 0. 1. ]] SLAMing on 51.662557844 meters 0.29488057723972466 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.71 [[ 9.99993950e-01 -3.36184376e-03 -8.92906533e-04 8.34862255e-02] [ 3.36237262e-03 9.99994172e-01 5.91459631e-04 -1.62840194e-01] [ 8.90912935e-04 -5.94458338e-04 9.99999426e-01 7.10641123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722557844 meters 0.2948950233147974 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.71 [[ 9.99993987e-01 -3.38483195e-03 -7.53921930e-04 8.28698860e-02] [ 3.38522383e-03 9.99994135e-01 5.19118365e-04 -1.62503309e-01] [ 7.52160380e-04 -5.21667439e-04 9.99999581e-01 7.11334875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782557844 meters 0.29688105943911264 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.71 [[ 9.99994266e-01 -3.32583893e-03 -6.38126345e-04 8.25557488e-02] [ 3.32628223e-03 9.99994226e-01 6.94879458e-04 -1.63227266e-01] [ 6.35811604e-04 -6.96998062e-04 9.99999555e-01 7.11404180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842557844 meters 0.2959301998628276 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.71 [[ 9.99994520e-01 -3.27834228e-03 -4.60608440e-04 8.19277925e-02] [ 3.27871612e-03 9.99994294e-01 8.13217529e-04 -1.63678738e-01] [ 4.57939806e-04 -8.14723277e-04 9.99999563e-01 7.11826616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902557844 meters 0.29512934520455647 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.16, Z:0.71 [[ 9.99994751e-01 -3.19206563e-03 -5.55283506e-04 8.20909929e-02] [ 3.19264217e-03 9.99994362e-01 1.04050117e-03 -1.64620160e-01] [ 5.51959027e-04 -1.04226853e-03 9.99999305e-01 7.12029035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962557844 meters 0.29378925516921606 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.71 [[ 0.99999005 0.001955 -0.00400915 0.06184643] [-0.00196354 0.99999581 -0.00212745 -0.16547597] [ 0.00400497 0.00213531 0.9999897 0.71210039] [ 0. 0. 0. 1. ]] SLAMing on 52.022557844 meters 0.29673835477448135 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 0.9999951 -0.00244855 -0.00195115 0.08641195] [ 0.0024512 0.99999608 0.00135291 -0.16482945] [ 0.00194783 -0.00135769 0.99999718 0.70973068] [ 0. 0. 0. 1. ]] SLAMing on 52.082557844 meters 0.294826423596984 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.17, Z:0.71 [[ 0.99997946 0.0062072 -0.00159674 0.06320246] [-0.00620552 0.99998019 0.00105125 -0.16552329] [ 0.00160323 -0.00104132 0.99999817 0.70931798] [ 0. 0. 0. 1. ]] SLAMing on 52.142557844 meters 0.29762098369897677 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998447e-01 8.37040169e-04 -1.55067392e-03 8.82272379e-02] [-8.31142926e-04 9.99992435e-01 3.79976867e-03 -1.60680970e-01] [ 1.55384274e-03 -3.79847394e-03 9.99991579e-01 7.07101491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202557844 meters 0.29619292146455545 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998492e-01 7.92624657e-04 -1.54547305e-03 8.82030936e-02] [-7.86921301e-04 9.99992892e-01 3.68748491e-03 -1.60206871e-01] [ 1.54838485e-03 -3.68626318e-03 9.99992007e-01 7.07116722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262557844 meters 0.2968563943002638 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998292e-01 8.42857002e-04 -1.64506171e-03 8.83079504e-02] [-8.36558759e-04 9.99992333e-01 3.82551617e-03 -1.60757519e-01] [ 1.64827346e-03 -3.82413344e-03 9.99991330e-01 7.07479341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322557844 meters 0.2969312816834826 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998216e-01 8.07524361e-04 -1.70732033e-03 8.86145985e-02] [-8.01151010e-04 9.99992721e-01 3.73034995e-03 -1.60388542e-01] [ 1.71032025e-03 -3.72897547e-03 9.99991585e-01 7.07140366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382557844 meters 0.2964983592615234 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998673e-01 4.54050735e-04 -1.56463853e-03 8.86516030e-02] [-4.49531687e-04 9.99995730e-01 2.88738018e-03 -1.56702375e-01] [ 1.56594287e-03 -2.88667300e-03 9.99994607e-01 7.06284854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442557844 meters 0.2955176385831828 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.16, Z:0.71 [[ 9.99998688e-01 3.75994075e-04 -1.57571234e-03 8.84506004e-02] [-3.71763400e-04 9.99996328e-01 2.68436203e-03 -1.55826512e-01] [ 1.57671586e-03 -2.68377272e-03 9.99995156e-01 7.06802219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502557844 meters 0.2965423555551604 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.15, Z:0.70 [[ 9.99970401e-01 7.11581535e-03 2.92609299e-03 1.09274777e-01] [-7.11615315e-03 9.99974674e-01 1.05048879e-04 -1.51988981e-01] [-2.92527137e-03 -1.25868295e-04 9.99995713e-01 7.04256936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844 meters 0.2964540204119724 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.15, Z:0.70 [[ 0.99999237 0.00259742 0.0029194 0.1097858 ] [-0.00258371 0.99998565 -0.00469195 -0.1498497 ] [-0.00293155 0.00468437 0.99998473 0.7031617 ] [ 0. 0. 0. 1. ]] SLAMing on 52.622557844 meters 0.2969056356600143 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.15, Z:0.70 [[ 0.99999193 0.00263887 0.00302783 0.10968747] [-0.00262497 0.99998605 -0.00458409 -0.15031791] [-0.00303988 0.0045761 0.99998491 0.70273292] [ 0. 0. 0. 1. ]] SLAMing on 52.682557844 meters 0.2961020982211544 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.15, Z:0.70 [[ 0.99997585 -0.0066433 0.00204185 0.09056562] [ 0.00665024 0.99997207 -0.00341166 -0.1472544 ] [-0.00201913 0.00342516 0.9999921 0.70187273] [ 0. 0. 0. 1. ]] SLAMing on 52.742557844 meters 0.2946192676345928 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.70 [[ 0.99999678 0.00202657 0.00152774 0.06753558] [-0.00202096 0.99999125 -0.00366299 -0.14881228] [-0.00153515 0.00365989 0.99999212 0.70278926] [ 0. 0. 0. 1. ]] SLAMing on 52.802557844 meters 0.2956510326010916 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.15, Z:0.70 [[ 9.99990155e-01 -2.53343259e-03 3.64303151e-03 9.00228966e-02] [ 2.53386038e-03 9.99996783e-01 -1.12814835e-04 -1.45662330e-01] [-3.64273399e-03 1.22044657e-04 9.99993358e-01 7.01730451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862557844 meters 0.29459350669015605 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.15, Z:0.70 [[ 0.99998599 0.00505148 0.00158209 0.07155278] [-0.00504941 0.99998639 -0.00131048 -0.1499863 ] [-0.00158869 0.00130248 0.99999789 0.70088996] [ 0. 0. 0. 1. ]] SLAMing on 52.922557843999996 meters 0.2956865671897422 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.70 [[ 9.99994345e-01 -3.31638197e-03 5.58748795e-04 9.57276311e-02] [ 3.31688583e-03 9.99994091e-01 -9.03267428e-04 -1.47049145e-01] [-5.55749914e-04 9.05115626e-04 9.99999436e-01 7.00255134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844 meters 0.29578340725547647 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.70 [[ 9.99994678e-01 -3.20529722e-03 6.08433827e-04 9.52761713e-02] [ 3.20566377e-03 9.99994680e-01 -6.02436294e-04 -1.48331081e-01] [-6.06499603e-04 6.04383522e-04 9.99999633e-01 7.01035955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042557844 meters 0.2941138732832825 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.15, Z:0.70 [[ 9.99994620e-01 -3.16973546e-03 8.44476893e-04 9.45303134e-02] [ 3.17017289e-03 9.99994841e-01 -5.17147749e-04 -1.48605174e-01] [-8.42833315e-04 5.19822105e-04 9.99999510e-01 7.01472409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102557844 meters 0.29524395319887237 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.15, Z:0.70 [[ 9.99994744e-01 -3.17253670e-03 6.68194103e-04 9.52182539e-02] [ 3.17288122e-03 9.99994834e-01 -5.15170856e-04 -1.48652049e-01] [-6.66556252e-04 5.17288249e-04 9.99999644e-01 7.00775610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162557844 meters 0.2959535862861003 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.9999902 0.00412773 0.00160198 0.11728498] [-0.00412169 0.99998445 -0.00375591 -0.14861509] [-0.00161745 0.00374927 0.99999166 0.69969635] [ 0. 0. 0. 1. ]] SLAMing on 53.222557844 meters 0.2959005990915706 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.9999904 0.00408707 0.00158199 0.1175261 ] [-0.00408093 0.9999842 -0.00386723 -0.14817987] [-0.00159777 0.00386074 0.99999127 0.69922993] [ 0. 0. 0. 1. ]] SLAMing on 53.282557844 meters 0.2959128526980436 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.99999042 0.00411953 0.00148177 0.117916 ] [-0.00411391 0.99998441 -0.00377535 -0.14859872] [-0.0014973 0.00376921 0.99999178 0.69892435] [ 0. 0. 0. 1. ]] SLAMing on 53.342557844 meters 0.29496052586114946 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.99999044 0.0041639 0.00133715 0.11840917] [-0.004159 0.99998471 -0.00364579 -0.14917441] [-0.00135231 0.00364019 0.99999246 0.69860106] [ 0. 0. 0. 1. ]] SLAMing on 53.402557844 meters 0.2954083939842398 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.99999037 0.00419801 0.00128319 0.1186635 ] [-0.00419343 0.9999849 -0.00355142 -0.14958837] [-0.00129808 0.003546 0.99999287 0.69832667] [ 0. 0. 0. 1. ]] SLAMing on 53.462557844 meters 0.2959300242357761 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.15, Z:0.70 [[ 0.99999059 0.00412468 0.0013466 0.11839256] [-0.00411959 0.99998443 -0.00376287 -0.14868945] [-0.0013621 0.00375729 0.99999201 0.69859413] [ 0. 0. 0. 1. ]] SLAMing on 53.522557844 meters 0.2975514654620479 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.70 [[ 9.99996026e-01 -2.87490642e-04 2.80442853e-03 1.40609370e-01] [ 2.88066493e-04 9.99999938e-01 -2.04934568e-04 -1.42363203e-01] [-2.80436944e-03 2.05741616e-04 9.99996047e-01 6.97846476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582557844 meters 0.2969111675345171 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.70 [[ 9.99994562e-01 -4.61265792e-04 3.26555423e-03 1.39178754e-01] [ 4.63917484e-04 9.99999563e-01 -8.11307969e-04 -1.39651794e-01] [-3.26517858e-03 8.12818505e-04 9.99994339e-01 6.98559543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642557844 meters 0.2960505165067561 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.13, Z:0.70 [[ 9.99988806e-01 4.70553071e-03 -4.95581408e-04 1.18511664e-01] [-4.70769412e-03 9.99978979e-01 -4.45866555e-03 -1.34058969e-01] [ 4.74590602e-04 4.46094868e-03 9.99989937e-01 6.99938604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844 meters 0.29737812792832835 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.70 [[ 9.99998814e-01 -1.19563392e-03 9.70361221e-04 1.40805563e-01] [ 1.19727838e-03 9.99997845e-01 -1.69587599e-03 -1.29903861e-01] [-9.68331483e-04 1.69703577e-03 9.99998091e-01 6.99388766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762557844 meters 0.2973896383609503 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.70 [[ 0.99999874 -0.00121516 0.00101992 0.14043122] [ 0.00121696 0.9999977 -0.0017653 -0.12958415] [-0.00101777 0.00176654 0.99999792 0.7000441 ] [ 0. 0. 0. 1. ]] SLAMing on 53.822557844 meters 0.29611302519935967 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.13, Z:0.70 [[ 9.99992089e-01 3.97344515e-03 1.84556264e-04 1.16856631e-01] [-3.97243413e-03 9.99978649e-01 -5.18867040e-03 -1.31845652e-01] [-2.05169221e-04 5.18789621e-03 9.99986522e-01 7.01261885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882557844 meters 0.29664068909578145 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.70 [[ 0.99998881 -0.00442474 0.00167501 0.13827913] [ 0.00443276 0.99997858 -0.00481537 -0.1291796 ] [-0.00165367 0.00482274 0.999987 0.7010142 ] [ 0. 0. 0. 1. ]] SLAMing on 53.942557844 meters 0.29648292013069877 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.13, Z:0.70 [[ 0.99998884 -0.00448194 0.00149385 0.13888908] [ 0.00448931 0.99997761 -0.00496323 -0.12859396] [-0.00147158 0.00496988 0.99998657 0.70064507] [ 0. 0. 0. 1. ]] SLAMing on 54.002557844 meters 0.29704576230604013 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.70 [[ 9.99997639e-01 -2.15293290e-03 2.93645753e-04 1.45451528e-01] [ 2.15380359e-03 9.99993187e-01 -2.99775351e-03 -1.26707465e-01] [-2.87189790e-04 2.99837888e-03 9.99995464e-01 6.95594678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062557844 meters 0.2973341400439431 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.70 [[ 9.99997142e-01 -2.34148007e-03 4.83766436e-04 1.44876914e-01] [ 2.34321207e-03 9.99990734e-01 -3.61124354e-03 -1.24193583e-01] [-4.75306299e-04 3.61236679e-03 9.99993362e-01 6.95807364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122557844 meters 0.2970825363347978 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.12, Z:0.70 [[ 9.99996832e-01 -2.45735533e-03 5.44472595e-04 1.44671120e-01] [ 2.45948113e-03 9.99989219e-01 -3.93868094e-03 -1.22844195e-01] [-5.34787986e-04 3.94000758e-03 9.99992095e-01 6.95915053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182557844 meters 0.29769118884611817 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.69 [[ 9.99999020e-01 -1.19182778e-03 -7.33986488e-04 1.49987296e-01] [ 1.18942909e-03 9.99993979e-01 -3.25983696e-03 -1.20381351e-01] [ 7.37867233e-04 3.25896074e-03 9.99994417e-01 6.92359472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242557844 meters 0.2976456204360156 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.69 [[ 9.99998894e-01 -1.33763470e-03 -6.50731808e-04 1.49596183e-01] [ 1.33526119e-03 9.99992504e-01 -3.63431275e-03 -1.18789894e-01] [ 6.55588314e-04 3.63343983e-03 9.99993184e-01 6.92724384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302557844 meters 0.29678653588875936 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.69 [[ 9.99998815e-01 -1.39415320e-03 -6.53228143e-04 1.49336155e-01] [ 1.39166342e-03 9.99991825e-01 -3.79657953e-03 -1.18117407e-01] [ 6.58515816e-04 3.79566596e-03 9.99992580e-01 6.93372526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362557844 meters 0.2973401751321266 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.69 [[ 9.99998846e-01 -1.44007326e-03 -4.84169221e-04 1.48693006e-01] [ 1.43816623e-03 9.99991297e-01 -3.91631013e-03 -1.17541035e-01] [ 4.89804781e-04 3.91560929e-03 9.99992214e-01 6.93867957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422557843999996 meters 0.29588615817803043 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.70 [[ 9.99998881e-01 -1.43642583e-03 -4.17512212e-04 1.48114205e-01] [ 1.43477880e-03 9.99991292e-01 -3.91876350e-03 -1.17481728e-01] [ 4.23137589e-04 3.91816008e-03 9.99992234e-01 6.95031514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482557844 meters 0.2957096269978363 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.12, Z:0.69 [[ 9.99998658e-01 -1.55719965e-03 -5.08264062e-04 1.48585379e-01] [ 1.55502475e-03 9.99989752e-01 -4.25179572e-03 -1.16123527e-01] [ 5.14879749e-04 4.25099965e-03 9.99990832e-01 6.94428289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542557844 meters 0.29834253880960254 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.70 [[ 9.99995947e-01 8.79078235e-04 -2.70807428e-03 1.90731578e-01] [-8.89275604e-04 9.99992511e-01 -3.76664294e-03 -1.12983009e-01] [ 2.70474283e-03 3.76903590e-03 9.99989239e-01 6.96621359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602557844 meters 0.29722051037158453 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.11, Z:0.70 [[ 9.99996507e-01 8.90114018e-04 -2.48885311e-03 1.89881946e-01] [-8.99445752e-04 9.99992561e-01 -3.75080935e-03 -1.12966566e-01] [ 2.48549595e-03 3.75303483e-03 9.99989868e-01 6.97333621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844 meters 0.2962809405780621 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.12, Z:0.70 [[ 9.99963887e-01 -6.18176956e-03 -5.83187030e-03 1.68464342e-01] [ 6.17592358e-03 9.99980409e-01 -1.01989749e-03 -1.16660832e-01] [ 5.83806082e-03 9.83843477e-04 9.99982474e-01 6.99379981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722557844 meters 0.2967268910750733 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.12, Z:0.70 [[ 9.99962984e-01 -6.09511561e-03 -6.07296280e-03 1.69237396e-01] [ 6.09049544e-03 9.99981149e-01 -7.78979876e-04 -1.17726005e-01] [ 6.07759629e-03 7.41963689e-04 9.99981256e-01 6.99036304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters 0.2974666917432833 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.12, Z:0.70 [[ 9.99962577e-01 -5.99482119e-03 -6.23750361e-03 1.70020623e-01] [ 5.99181159e-03 9.99981923e-01 -5.01075781e-04 -1.19049558e-01] [ 6.24039471e-03 4.63683083e-04 9.99980421e-01 6.98155879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842557844 meters 0.29578046283588805 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.13, Z:0.70 [[ 0.99996839 -0.00633172 -0.00480995 0.1296354 ] [ 0.00633895 0.9999788 0.00149007 -0.12741754] [ 0.00480042 -0.00152051 0.99998732 0.69585409] [ 0. 0. 0. 1. ]] SLAMing on 54.902557844 meters 0.29723585596951135 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99995820e-01 1.04195876e-03 -2.69727333e-03 1.52182377e-01] [-1.04417694e-03 9.99999118e-01 -8.21101682e-04 -1.28725767e-01] [ 2.69641539e-03 8.23914680e-04 9.99996025e-01 6.93951967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters 0.2975476884660839 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99995996e-01 1.14934641e-03 -2.58599023e-03 1.52039863e-01] [-1.15078752e-03 9.99999183e-01 -5.55856286e-04 -1.29851789e-01] [ 2.58534924e-03 5.58829986e-04 9.99996502e-01 6.93637176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844 meters 0.29729032545533346 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99995707e-01 1.11146724e-03 -2.71135723e-03 1.52678202e-01] [-1.11325010e-03 9.99999165e-01 -6.56131269e-04 -1.29470786e-01] [ 2.71062570e-03 6.59146871e-04 9.99996109e-01 6.92828394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082557844 meters 0.2976932867825347 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99995127e-01 1.09206771e-03 -2.92463543e-03 1.53428647e-01] [-1.09412783e-03 9.99999154e-01 -7.02893692e-04 -1.29300361e-01] [ 2.92386535e-03 7.06090192e-04 9.99995476e-01 6.92290079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142557844 meters 0.2966446498814037 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99994856e-01 1.19942341e-03 -2.97465026e-03 1.53429617e-01] [-1.20070066e-03 9.99999188e-01 -4.27631906e-04 -1.30437794e-01] [ 2.97413493e-03 4.31201371e-04 9.99995484e-01 6.92591094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844 meters 0.2965682109677778 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.13, Z:0.69 [[ 9.99995219e-01 1.24548057e-03 -2.83034906e-03 1.52916303e-01] [-1.24637213e-03 9.99999174e-01 -3.13255833e-04 -1.30880125e-01] [ 2.82995657e-03 3.16782004e-04 9.99995945e-01 6.92957571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262557844 meters 0.297415983378866 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.69 [[ 9.99989036e-01 -4.68167042e-03 9.68833591e-05 1.73174614e-01] [ 4.68141723e-03 9.99986000e-01 2.46665784e-03 -1.29441056e-01] [-1.08430082e-04 -2.46617724e-03 9.99996953e-01 6.92108897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322557844 meters 0.2976963842188509 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.69 [[ 9.99989207e-01 -4.64522581e-03 -8.84128327e-05 1.73649419e-01] [ 4.64543803e-03 9.99985896e-01 2.57431546e-03 -1.29895408e-01] [ 7.64533091e-05 -2.57469839e-03 9.99996683e-01 6.92120543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382557844 meters 0.2973486699331693 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.69 [[ 9.99990354e-01 -4.39169674e-03 -6.68613393e-05 1.73160718e-01] [ 4.39189996e-03 9.99984492e-01 3.42450598e-03 -1.33183569e-01] [ 5.18209106e-05 -3.42476659e-03 9.99994134e-01 6.93266053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442557844 meters 0.29702540220083135 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:0.69 [[ 9.99991418e-01 -4.14268852e-03 -4.01615814e-05 1.72990420e-01] [ 4.14281964e-03 9.99982785e-01 4.15532825e-03 -1.36157218e-01] [ 2.29466593e-05 -4.15545897e-03 9.99991366e-01 6.93458919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502557844 meters 0.29697310703240876 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:0.69 [[ 9.99992029e-01 -3.99279814e-03 -5.48676451e-06 1.72798166e-01] [ 3.99278182e-03 9.99981695e-01 4.54621484e-03 -1.37784955e-01] [-1.26654541e-05 -4.54620051e-03 9.99989666e-01 6.93737833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562557844 meters 0.29663530347930167 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:0.69 [[ 9.99992151e-01 -3.96150843e-03 6.45657051e-05 1.72548897e-01] [ 3.96116674e-03 9.99981419e-01 4.63365386e-03 -1.38119914e-01] [-8.29207643e-05 -4.63336174e-03 9.99989262e-01 6.93916834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622557844 meters 0.29691317863502703 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:0.69 [[ 9.99991757e-01 -4.05250967e-03 2.51519880e-04 1.72449867e-01] [ 4.05137138e-03 9.99982235e-01 4.37220494e-03 -1.37143081e-01] [-2.69233814e-04 -4.37114990e-03 9.99990410e-01 6.93077855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682557844 meters 0.2985230393664428 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998111 0.0052559 0.00318609 0.19030623] [-0.00526593 0.99998117 0.00315036 -0.13616398] [-0.00316947 -0.00316708 0.99998996 0.69409215] [ 0. 0. 0. 1. ]] SLAMing on 55.742557844 meters 0.2964825745669377 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998098 0.0053103 0.00313797 0.19031653] [-0.00532065 0.99998041 0.00329823 -0.13676388] [-0.0031204 -0.00331486 0.99998964 0.69437264] [ 0. 0. 0. 1. ]] SLAMing on 55.802557844 meters 0.2970318824173391 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.70 [[ 9.99994224e-01 1.14194117e-03 3.20136371e-03 1.89793634e-01] [-1.13981238e-03 9.99999128e-01 -6.66711543e-04 -1.38213044e-01] [-3.20212226e-03 6.63058737e-04 9.99994653e-01 6.95102491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862557844 meters 0.2962291472599613 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 9.99996418e-01 1.19625545e-03 2.39452480e-03 1.92175537e-01] [-1.19707935e-03 9.99999225e-01 3.42670309e-04 -1.42773227e-01] [-2.39411302e-03 -3.45535517e-04 9.99997074e-01 6.94280207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922557843999996 meters 0.2966153195958145 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99999684 0.00143785 0.00206243 0.193491 ] [-0.00144006 0.99999839 0.00106996 -0.14619822] [-0.00206089 -0.00107293 0.9999973 0.69313617] [ 0. 0. 0. 1. ]] SLAMing on 55.982557844 meters 0.29641910091758716 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99999756 0.00143049 0.00168257 0.19462459] [-0.00143231 0.99999839 0.00108002 -0.14627507] [-0.00168102 -0.00108243 0.999998 0.69253311] [ 0. 0. 0. 1. ]] SLAMing on 56.042557844 meters 0.297767087822613 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.69 [[ 0.99998681 -0.00459577 0.00229438 0.21703919] [ 0.00458859 0.99998459 0.00312563 -0.13808992] [-0.00230871 -0.00311506 0.99999248 0.69131752] [ 0. 0. 0. 1. ]] SLAMing on 56.102557844 meters 0.29718382797749343 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.69 [[ 0.99998472 -0.00478474 0.0027693 0.21603988] [ 0.00477819 0.99998578 0.00236934 -0.13505361] [-0.00278059 -0.00235607 0.99999336 0.69081834] [ 0. 0. 0. 1. ]] SLAMing on 56.162557844 meters 0.29725343024218287 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 0.99998254 -0.00510968 0.00296682 0.21542959] [ 0.00510533 0.99998588 0.00147248 -0.13128862] [-0.0029743 -0.00145731 0.99999451 0.69103028] [ 0. 0. 0. 1. ]] SLAMing on 56.222557844 meters 0.2991394532971189 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.69 [[ 0.99998149 -0.00508642 0.00333816 0.21415238] [ 0.00508139 0.99998594 0.00151387 -0.13137864] [-0.00334582 -0.00149687 0.99999328 0.69211973] [ 0. 0. 0. 1. ]] SLAMing on 56.282557844 meters 0.29604776003901473 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997829 0.00396881 0.00526059 0.1921691 ] [-0.00398126 0.99998929 0.00235841 -0.14040174] [-0.00525117 -0.00237931 0.99998338 0.69217471] [ 0. 0. 0. 1. ]] SLAMing on 56.342557844 meters 0.29588439631218344 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998216 0.00398714 0.00444775 0.19428313] [-0.0039989 0.99998852 0.00263888 -0.14178198] [-0.00443717 -0.00265662 0.99998663 0.69167705] [ 0. 0. 0. 1. ]] SLAMing on 56.402557844 meters 0.29557441683302843 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.9999827 0.00404372 0.00427276 0.19494328] [-0.00405574 0.99998783 0.00280736 -0.14253187] [-0.00426135 -0.00282464 0.99998693 0.69111642] [ 0. 0. 0. 1. ]] SLAMing on 56.462557844 meters 0.296420681675833 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998246 0.00409666 0.00427851 0.19499845] [-0.00410928 0.99998722 0.0029467 -0.14313258] [-0.00426639 -0.00296423 0.99998651 0.69096028] [ 0. 0. 0. 1. ]] SLAMing on 56.522557844 meters 0.2959160449089357 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998155 0.00405693 0.00452189 0.19421533] [-0.00406969 0.99998775 0.00281593 -0.14246631] [-0.00451041 -0.00283429 0.99998581 0.69138741] [ 0. 0. 0. 1. ]] SLAMing on 56.582557844 meters 0.29550863439426145 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998281 0.00388301 0.0043945 0.19471467] [-0.00389334 0.99998968 0.00234308 -0.14054523] [-0.00438536 -0.00236015 0.9999876 0.69091442] [ 0. 0. 0. 1. ]] SLAMing on 56.642557844 meters 0.29585552371416246 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.69 [[ 0.99998378 0.00370329 0.00432745 0.19525373] [-0.00371114 0.99999148 0.00180761 -0.13837342] [-0.00432072 -0.00182364 0.999989 0.68997803] [ 0. 0. 0. 1. ]] SLAMing on 56.702557844 meters 0.2970836673446495 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99998327 0.00347819 0.00462105 0.19452927] [-0.00348305 0.99999339 0.0010436 -0.13525697] [-0.00461738 -0.00105968 0.99998878 0.68992633] [ 0. 0. 0. 1. ]] SLAMing on 56.762557844 meters 0.29606355895178355 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99983733e-01 3.38136345e-03 4.59350188e-03 1.94563336e-01] [-3.38500388e-03 9.99993963e-01 7.84972456e-04 -1.34172519e-01] [-4.59081987e-03 -8.00508708e-04 9.99989142e-01 6.90001258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822557844 meters 0.2965760400803413 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99984268e-01 3.25573873e-03 4.56776858e-03 1.95054633e-01] [-3.25775329e-03 9.99994599e-01 4.33666163e-04 -1.32718929e-01] [-4.56633201e-03 -4.48540003e-04 9.99989474e-01 6.88940869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882557844 meters 0.2976308922969946 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.13, Z:0.69 [[ 0.99997278 -0.00443817 0.00589451 0.21369317] [ 0.00442998 0.99998921 0.00140138 -0.12636003] [-0.00590066 -0.00137522 0.99998165 0.68970665] [ 0. 0. 0. 1. ]] SLAMing on 56.942557844 meters 0.2965471878616908 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99985399e-01 3.06017404e-03 4.45388552e-03 1.94685479e-01] [-3.05975314e-03 9.99995314e-01 -1.01311571e-04 -1.29631659e-01] [-4.45417468e-03 8.76823010e-05 9.99990076e-01 6.88867505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002557844 meters 0.29721858831956466 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99986333e-01 2.98253690e-03 4.29405428e-03 1.95340812e-01] [-2.98122403e-03 9.99995507e-01 -3.12108406e-04 -1.28788577e-01] [-4.29496586e-03 2.99302602e-04 9.99990732e-01 6.88196457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062557844 meters 0.2956481854454991 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.13, Z:0.69 [[ 9.99977099e-01 -6.26042350e-03 2.57063948e-03 1.75676398e-01] [ 6.25928878e-03 9.99980310e-01 4.49224726e-04 -1.25272142e-01] [-2.57340120e-03 -4.33124063e-04 9.99996595e-01 6.87491184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122557844 meters 0.2952564514655062 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99980069e-01 2.71370904e-03 5.70058798e-03 1.93050446e-01] [-2.70947827e-03 9.99996048e-01 -7.49755927e-04 -1.26560847e-01] [-5.70260007e-03 7.34295364e-04 9.99983470e-01 6.88496408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182557844 meters 0.29629446024993017 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99980449e-01 2.80112529e-03 5.59056521e-03 1.93271405e-01] [-2.79839149e-03 9.99995961e-01 -4.96765569e-04 -1.27594558e-01] [-5.59193414e-03 4.81111267e-04 9.99984249e-01 6.88652666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242557844 meters 0.29630278487654493 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99979279e-01 2.97699620e-03 5.70784545e-03 1.92682335e-01] [-2.97746130e-03 9.99995565e-01 7.29877674e-05 -1.29845381e-01] [-5.70760285e-03 -8.99811439e-05 9.99983707e-01 6.89464614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302557844 meters 0.2954717416436061 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99975573e-01 3.21801143e-03 6.20471081e-03 1.90936265e-01] [-3.22410981e-03 9.99994329e-01 9.73111640e-04 -1.33258892e-01] [-6.20154414e-03 -9.93092539e-04 9.99980277e-01 6.90948953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362557844 meters 0.2941244928209099 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997554 0.00338622 0.00611929 0.19105381] [-0.00339541 0.99999312 0.00149177 -0.13535083] [-0.0061142 -0.00151251 0.99998016 0.6912037 ] [ 0. 0. 0. 1. ]] SLAMing on 57.422557843999996 meters 0.2941625558671888 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997415 0.00372284 0.0061506 0.19070521] [-0.00373775 0.9999901 0.00241429 -0.13918579] [-0.00614155 -0.00243721 0.99997817 0.6917206 ] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844 meters 0.2960692702539368 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997476 0.00381322 0.00599429 0.19116255] [-0.0038292 0.99998914 0.00265542 -0.14021762] [-0.0059841 -0.00267831 0.99997851 0.6916008 ] [ 0. 0. 0. 1. ]] SLAMing on 57.542557844 meters 0.29464083266254004 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997507 0.00394427 0.00585712 0.19164849] [-0.00396177 0.99998772 0.00297863 -0.14163151] [-0.0058453 -0.00300176 0.99997841 0.69135016] [ 0. 0. 0. 1. ]] SLAMing on 57.602557843999996 meters 0.29368197498306187 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.70 [[ 9.99975890e-01 1.52666154e-03 6.77407558e-03 1.86442239e-01] [-1.53293675e-03 9.99998401e-01 9.21261514e-04 -1.44245492e-01] [-6.77265829e-03 -9.31623532e-04 9.99976631e-01 6.95196185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662557844 meters 0.294472577303326 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99997832 0.00172651 0.0063543 0.1877265 ] [-0.00173567 0.99999746 0.0014365 -0.14651806] [-0.0063518 -0.0014475 0.99997878 0.69461041] [ 0. 0. 0. 1. ]] SLAMing on 57.722557844 meters 0.29480676427604835 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99997971 0.00167276 0.00614608 0.18869687] [-0.0016808 0.99999774 0.00130287 -0.14600099] [-0.00614388 -0.00131317 0.99998026 0.69337546] [ 0. 0. 0. 1. ]] SLAMing on 57.782557844 meters 0.29582679098896636 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 9.99978945e-01 1.49915729e-03 6.31371637e-03 1.88473443e-01] [-1.50422752e-03 9.99998550e-01 7.98377028e-04 -1.43981175e-01] [-6.31251033e-03 -8.07857484e-04 9.99979750e-01 6.92868121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842557844 meters 0.2945722281478198 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 9.99977844e-01 1.38890497e-03 6.51024397e-03 1.87730058e-01] [-1.39209593e-03 9.99998913e-01 4.85637900e-04 -1.42554055e-01] [-6.50956239e-03 -4.94690024e-04 9.99978690e-01 6.93412694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902557844 meters 0.29538082072459504 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 9.99978156e-01 1.44643066e-03 6.44944823e-03 1.87757344e-01] [-1.45064885e-03 9.99998737e-01 6.49409008e-04 -1.43210472e-01] [-6.44850076e-03 -6.58750707e-04 9.99978991e-01 6.93733936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962557844 meters 0.2927924698025015 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.69 [[ 9.99947360e-01 -9.46517586e-03 3.96079317e-03 1.67269514e-01] [ 9.46401895e-03 9.99955167e-01 3.10732006e-04 -1.46388959e-01] [-3.96355673e-03 -2.73230627e-04 9.99992108e-01 6.94343724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844 meters 0.2953167042537961 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 9.99985227e-01 -1.10092606e-03 5.32289478e-03 1.91393400e-01] [ 1.10582645e-03 9.99998967e-01 -9.17769320e-04 -1.49618717e-01] [-5.32187889e-03 9.23641960e-04 9.99985412e-01 6.91316492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082557844 meters 0.29317086554179167 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.69 [[ 0.99998528 0.00442417 0.0031408 0.16786178] [-0.00441224 0.99998306 -0.00379649 -0.15045828] [-0.00315754 0.00378258 0.99998786 0.69430402] [ 0. 0. 0. 1. ]] SLAMing on 58.142557844 meters 0.2930059313930087 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.69 [[ 0.99998493 0.00441852 0.00325687 0.16749685] [-0.00440606 0.99998299 -0.00382216 -0.15032671] [-0.0032737 0.00380775 0.99998739 0.69450253] [ 0. 0. 0. 1. ]] SLAMing on 58.202557844 meters 0.2941468309096506 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99997345 -0.0032553 0.00651996 0.18572023] [ 0.00327555 0.99998984 -0.00309772 -0.14546366] [-0.00650981 0.003119 0.99997395 0.69454848] [ 0. 0. 0. 1. ]] SLAMing on 58.262557844 meters 0.29496829703716454 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997474 -0.00333982 0.00627429 0.18655057] [ 0.00336079 0.99998879 -0.00333476 -0.14451081] [-0.00626309 0.00335577 0.99997476 0.69393989] [ 0. 0. 0. 1. ]] SLAMing on 58.322557844 meters 0.294411003567081 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.69 [[ 0.99997534 -0.00330899 0.00619508 0.18684858] [ 0.00332915 0.99998918 -0.00324791 -0.14490291] [-0.00618427 0.00326845 0.99997554 0.69372991] [ 0. 0. 0. 1. ]] SLAMing on 58.382557844 meters 0.2927098870729327 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99997442 -0.00322593 0.00638428 0.18606917] [ 0.0032452 0.9999902 -0.00301137 -0.1458349 ] [-0.0063745 0.00303202 0.99997509 0.69457649] [ 0. 0. 0. 1. ]] SLAMing on 58.442557844 meters 0.2929418162303968 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.70 [[ 0.99997446 -0.00309684 0.00644118 0.18575249] [ 0.00311376 0.99999173 -0.00261778 -0.14740959] [-0.00643302 0.00263777 0.99997583 0.69505314] [ 0. 0. 0. 1. ]] SLAMing on 58.502557844 meters 0.2936754177890049 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99997649 -0.00294557 0.00619218 0.18643248] [ 0.00295883 0.99999335 -0.00213343 -0.14942513] [-0.00618585 0.0021517 0.99997855 0.69493318] [ 0. 0. 0. 1. ]] SLAMing on 58.562557844 meters 0.29240477803696796 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.16, Z:0.69 [[ 0.99998308 0.0045038 0.00368141 0.16869286] [-0.00449331 0.99998583 -0.00285323 -0.15768371] [-0.00369421 0.00283664 0.99998915 0.69381409] [ 0. 0. 0. 1. ]] SLAMing on 58.622557844 meters 0.2936419427129111 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.16, Z:0.69 [[ 0.99998296 0.00465779 0.00351938 0.16908093] [-0.00464927 0.99998625 -0.00242451 -0.15947623] [-0.00353063 0.0024081 0.99999087 0.6938649 ] [ 0. 0. 0. 1. ]] SLAMing on 58.682557844 meters 0.2948881841835478 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.69 [[ 0.99998515 -0.00397083 0.00373212 0.19088784] [ 0.00397886 0.99998978 -0.00214666 -0.15541947] [-0.00372355 0.00216147 0.99999073 0.69285231] [ 0. 0. 0. 1. ]] SLAMing on 58.742557844 meters 0.29396304418803765 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.16, Z:0.69 [[ 0.99998801 0.00448562 0.00196193 0.17044353] [-0.00448034 0.99998636 -0.00268506 -0.15690217] [-0.00197395 0.00267624 0.99999447 0.69228694] [ 0. 0. 0. 1. ]] SLAMing on 58.802557844 meters 0.2939443611930528 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.16, Z:0.69 [[ 0.99998865 0.00437369 0.00188802 0.17077126] [-0.00436786 0.99998571 -0.00308142 -0.15539446] [-0.00190147 0.00307313 0.99999347 0.69186051] [ 0. 0. 0. 1. ]] SLAMing on 58.862557844 meters 0.2936489312415938 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.69 [[ 0.99998943 0.00418161 0.00191333 0.17093582] [-0.00417448 0.99998438 -0.00371619 -0.15290201] [-0.00192884 0.00370816 0.99999126 0.6913203 ] [ 0. 0. 0. 1. ]] SLAMing on 58.922557843999996 meters 0.2942345781304169 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:0.69 [[ 0.99998987 0.00414169 0.00176379 0.17137576] [-0.00413493 0.99998416 -0.0038179 -0.15250392] [-0.00177958 0.00381057 0.99999116 0.69117215] [ 0. 0. 0. 1. ]] SLAMing on 58.982557844 meters 0.2966214515013195 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 9.99984155e-01 -9.21781353e-04 5.55344851e-03 1.91439549e-01] [ 9.24689086e-04 9.99999437e-01 -5.21045800e-04 -1.52805490e-01] [-5.55296509e-03 5.26172757e-04 9.99984444e-01 6.90954345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042557844 meters 0.2954255087812926 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 9.99983760e-01 -1.02854929e-03 5.60545524e-03 1.91180720e-01] [ 1.03309460e-03 9.99999140e-01 -8.08037802e-04 -1.51575992e-01] [-5.60461931e-03 8.13815645e-04 9.99983963e-01 6.91217475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102557843999996 meters 0.2968213547559383 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99998542 -0.00124474 0.00525404 0.19248739] [ 0.00125275 0.99999806 -0.00152165 -0.14876105] [-0.00525214 0.00152821 0.99998504 0.68987993] [ 0. 0. 0. 1. ]] SLAMing on 59.162557844 meters 0.295813293287189 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.15, Z:0.69 [[ 0.99998446 -0.0015004 0.0053686 0.19240483] [ 0.00151348 0.99999589 -0.00243377 -0.14522409] [-0.00536493 0.00244185 0.99998263 0.68932655] [ 0. 0. 0. 1. ]] SLAMing on 59.222557844 meters 0.29440159475129135 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.14, Z:0.69 [[ 0.99998749 0.00449211 0.00219904 0.16902727] [-0.00448035 0.9999758 -0.00532267 -0.13762829] [-0.00222289 0.00531276 0.99998342 0.69304125] [ 0. 0. 0. 1. ]] SLAMing on 59.282557844 meters 0.2955501000574526 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99993365e-01 -5.88680040e-04 3.59491871e-03 1.92164645e-01] [ 5.96745375e-04 9.99997307e-01 -2.24287727e-03 -1.32607849e-01] [-3.59358869e-03 2.24500764e-03 9.99991023e-01 6.91559253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342557844 meters 0.2940341570841014 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99992693e-01 -6.77378041e-04 3.76234896e-03 1.91576717e-01] [ 6.86801399e-04 9.99996629e-01 -2.50392062e-03 -1.31511710e-01] [-3.76064018e-03 2.50648631e-03 9.99989788e-01 6.92022656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402557844 meters 0.29594284894468914 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:0.69 [[ 0.99999497 0.00192143 0.0025239 0.23232055] [-0.00191596 0.99999582 -0.00216497 -0.12361792] [-0.00252805 0.00216012 0.99999447 0.69372844] [ 0. 0. 0. 1. ]] SLAMing on 59.462557844 meters 0.2941521471779504 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99996725e-01 6.97348769e-04 2.46260743e-03 1.94411539e-01] [-6.92446961e-04 9.99997779e-01 -1.99078728e-03 -1.25045955e-01] [-2.46399023e-03 1.98907553e-03 9.99994986e-01 6.90611243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522557844 meters 0.29439936930112554 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.12, Z:0.69 [[ 9.99996520e-01 6.84936093e-04 2.54788532e-03 1.94032054e-01] [-6.79754456e-04 9.99997700e-01 -2.03401132e-03 -1.24854606e-01] [-2.54927263e-03 2.03227231e-03 9.99994686e-01 6.91027333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582557844 meters 0.2936195165900106 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99996668e-01 7.50200138e-04 2.46998476e-03 1.94317673e-01] [-7.45639320e-04 9.99998016e-01 -1.84689996e-03 -1.25619444e-01] [-2.47136540e-03 1.84505209e-03 9.99995244e-01 6.90822561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642557844 meters 0.29423026670814606 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.69 [[ 9.99997129e-01 8.52905388e-04 2.23933599e-03 1.94721301e-01] [-8.49613761e-04 9.99998558e-01 -1.47045195e-03 -1.27077702e-01] [-2.24058692e-03 1.46854516e-03 9.99996412e-01 6.91282516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702557844 meters 0.2944519205084069 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99966048e-01 -7.70007138e-03 2.93458480e-03 2.16772240e-01] [ 7.70246919e-03 9.99970010e-01 -8.06661470e-04 -1.27160247e-01] [-2.92828544e-03 8.29237631e-04 9.99995369e-01 6.91634651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762557844 meters 0.2945970648965598 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99968647e-01 -7.39343984e-03 2.83590591e-03 2.16802574e-01] [ 7.39341928e-03 9.99972668e-01 1.77305203e-05 -1.30523111e-01] [-2.83595949e-03 3.23707706e-06 9.99995979e-01 6.92140412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822557844 meters 0.2945864246536627 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99969202e-01 -7.29740020e-03 2.88836683e-03 2.16715264e-01] [ 7.29665804e-03 9.99973343e-01 2.67404660e-04 -1.31561232e-01] [-2.89024119e-03 -2.46321000e-04 9.99995793e-01 6.92040912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882557844 meters 0.29514074106894433 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99969646e-01 -7.23252094e-03 2.89785135e-03 2.16909373e-01] [ 7.23125953e-03 9.99973755e-01 4.45532277e-04 -1.32314621e-01] [-2.90099762e-03 -4.24563638e-04 9.99995702e-01 6.91535636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942557844 meters 0.295203599481929 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99970009e-01 -7.21964852e-03 2.80309646e-03 2.17347911e-01] [ 7.21831247e-03 9.99973829e-01 4.86457291e-04 -1.32517631e-01] [-2.80653516e-03 -4.66209075e-04 9.99995953e-01 6.91064588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002557844 meters 0.2950722516688221 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99970714e-01 -7.13317954e-03 2.77274443e-03 2.17026368e-01] [ 7.13123924e-03 9.99974321e-01 7.09034211e-04 -1.33458208e-01] [-2.77773090e-03 -6.89240343e-04 9.99995905e-01 6.91986837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062557844 meters 0.2959208933897442 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.13, Z:0.69 [[ 9.99970017e-01 -7.19661747e-03 2.85892621e-03 2.16877576e-01] [ 7.19510120e-03 9.99973969e-01 5.40293732e-04 -1.32766597e-01] [-2.86274008e-03 -5.19707269e-04 9.99995767e-01 6.91793882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122557844 meters 0.2933397071315105 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99998483e-01 -1.73007881e-03 2.01698215e-04 1.95004549e-01] [ 1.73059132e-03 9.99995202e-01 -2.56913776e-03 -1.33570927e-01] [-1.97252436e-04 2.56948292e-03 9.99996679e-01 6.93381564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182557844 meters 0.2945350542755927 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.69 [[ 0.99998234 -0.00450871 0.00387191 0.21831111] [ 0.0044981 0.99998612 0.00274478 -0.1375593 ] [-0.00388423 -0.00272732 0.99998874 0.69009754] [ 0. 0. 0. 1. ]] SLAMing on 60.242557844 meters 0.2946378747486684 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.69 [[ 0.99998252 -0.00446916 0.0038723 0.21823109] [ 0.00445813 0.99998599 0.00285237 -0.13798965] [-0.00388499 -0.00283506 0.99998843 0.69028996] [ 0. 0. 0. 1. ]] SLAMing on 60.302557844 meters 0.2955418565800748 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.69 [[ 0.99998323 -0.0043934 0.00377205 0.21850469] [ 0.00438192 0.99998576 0.0030456 -0.13879062] [-0.00378537 -0.00302902 0.99998825 0.69028681] [ 0. 0. 0. 1. ]] SLAMing on 60.362557844 meters 0.29426628338322586 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.69 [[ 9.99998822e-01 1.45663536e-03 4.83302817e-04 1.95960707e-01] [-1.45688606e-03 9.99998804e-01 5.18775571e-04 -1.37206862e-01] [-4.82546572e-04 -5.19479077e-04 9.99999749e-01 6.92782622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422557843999996 meters 0.2957297395832945 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.14, Z:0.69 [[ 9.99999125e-01 1.29819785e-03 2.55047318e-04 1.96841454e-01] [-1.29819939e-03 9.99999157e-01 5.85902442e-06 -1.35253099e-01] [-2.55039497e-04 -6.19012156e-06 9.99999967e-01 6.91832401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482557844 meters 0.2956313999841419 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99999289e-01 1.08489714e-03 4.95035679e-04 1.96478687e-01] [-1.08451469e-03 9.99999114e-01 -7.72202854e-04 -1.32259519e-01] [-4.95873001e-04 7.71665431e-04 9.99999579e-01 6.91217846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542557844 meters 0.29645555865302725 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99999478e-01 9.15793688e-04 4.52776222e-04 1.96586685e-01] [-9.15244840e-04 9.99998848e-01 -1.21090854e-03 -1.30437500e-01] [-4.53884643e-04 1.21049350e-03 9.99999164e-01 6.91213681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557843999996 meters 0.29893369938710684 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.69 [[ 9.99999569e-01 7.88359270e-04 4.90340318e-04 1.96418736e-01] [-7.87604688e-04 9.99998508e-01 -1.53718947e-03 -1.29074812e-01] [-4.91551444e-04 1.53680261e-03 9.99998698e-01 6.91351360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662557844 meters 0.29606688514506607 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.13, Z:0.69 [[ 9.99971417e-01 -7.41429523e-03 1.48122214e-03 1.70402144e-01] [ 7.41426387e-03 9.99972514e-01 2.66615770e-05 -1.25136845e-01] [-1.48137911e-03 -1.56786431e-05 9.99998903e-01 6.93886054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722557844 meters 0.2968214832050689 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.12, Z:0.70 [[ 9.99998193e-01 6.79151008e-04 -1.77587856e-03 1.87711545e-01] [-6.82378191e-04 9.99998116e-01 -1.81725752e-03 -1.22520123e-01] [ 1.77464103e-03 1.81846606e-03 9.99996772e-01 6.98026875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782557844 meters 0.29610552958918346 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.12, Z:0.70 [[ 9.99997490e-01 6.60223377e-04 -2.14103513e-03 1.88805563e-01] [-6.64183368e-04 9.99998069e-01 -1.84938493e-03 -1.22453166e-01] [ 2.13980999e-03 1.85080232e-03 9.99995998e-01 6.97516703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842557844 meters 0.294938744445128 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.12, Z:0.70 [[ 9.99997321e-01 7.36997244e-04 -2.19442045e-03 1.88501633e-01] [-7.40474637e-04 9.99998471e-01 -1.58426194e-03 -1.23428594e-01] [ 2.19324950e-03 1.58588261e-03 9.99996337e-01 6.98541339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902557844 meters 0.2950989417467447 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.70 [[ 9.99997926e-01 8.83246593e-04 -1.83492412e-03 1.87245654e-01] [-8.85315305e-04 9.99998973e-01 -1.12690383e-03 -1.25140536e-01] [ 1.83392690e-03 1.12852598e-03 9.99997682e-01 6.99616884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962557844 meters 0.29541449887572085 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.13, Z:0.70 [[ 9.99998008e-01 1.10615670e-03 -1.66136868e-03 1.86373501e-01] [-1.10686248e-03 9.99999298e-01 -4.23957533e-04 -1.27929441e-01] [ 1.66089855e-03 4.25795595e-04 9.99998530e-01 7.00719934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022557844 meters 0.29262464399445315 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.14, Z:0.70 [[ 9.99987169e-01 -7.61391450e-04 -5.00828143e-03 1.42057065e-01] [ 7.59234078e-04 9.99999618e-01 -4.32648139e-04 -1.36011431e-01] [ 5.00860893e-03 4.28840130e-04 9.99987365e-01 7.03312904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082557844 meters 0.294102013399007 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.70 [[ 9.99970614e-01 2.28834234e-04 -7.66280791e-03 1.86022557e-01] [-2.27623727e-04 9.99999961e-01 1.58843449e-04 -1.40746241e-01] [ 7.66284397e-03 -1.57094544e-04 9.99970628e-01 7.04364233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142557844 meters 0.29421683094961 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.14, Z:0.71 [[ 9.99971168e-01 5.73400262e-04 -7.57191599e-03 1.85258647e-01] [-5.64924101e-04 9.99999212e-01 1.12151229e-03 -1.44638718e-01] [ 7.57255310e-03 -1.11720239e-03 9.99970704e-01 7.05559441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202557844 meters 0.2943048811966127 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.15, Z:0.71 [[ 9.99971128e-01 8.16028007e-04 -7.55495963e-03 1.84977756e-01] [-8.02154895e-04 9.99997987e-01 1.83914008e-03 -1.47516788e-01] [ 7.55644521e-03 -1.83302673e-03 9.99969770e-01 7.06119674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262557844 meters 0.29643844790338575 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.15, Z:0.71 [[ 9.99969542e-01 4.43710446e-04 -7.79213722e-03 2.24174794e-01] [-4.36555087e-04 9.99999482e-01 9.19956336e-04 -1.52313660e-01] [ 7.79254137e-03 -9.16526620e-04 9.99969218e-01 7.08919223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322557844 meters 0.29460883025343204 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:0.71 [[ 9.99974136e-01 -2.36067663e-03 -6.79372101e-03 1.84603508e-01] [ 2.36595105e-03 9.99996906e-01 7.68435496e-04 -1.58615487e-01] [ 6.79188596e-03 -7.84489233e-04 9.99976627e-01 7.06265555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382557844 meters 0.29510837952264146 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:0.71 [[ 0.99997609 -0.00205732 -0.00660214 0.18378783] [ 0.00206902 0.9999963 0.00176501 -0.16255126] [ 0.00659848 -0.00177863 0.99997665 0.70715474] [ 0. 0. 0. 1. ]] SLAMing on 61.442557844 meters 0.29320062665772534 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.17, Z:0.71 [[ 9.99959422e-01 2.98485023e-03 -8.49972413e-03 1.61086599e-01] [-2.98739346e-03 9.99995497e-01 -2.86532768e-04 -1.72540754e-01] [ 8.49883060e-03 3.11913161e-04 9.99963836e-01 7.08540233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502557844 meters 0.2939828304278351 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.71 [[ 9.99962198e-01 -5.93352117e-03 -6.35571035e-03 1.82959289e-01] [ 5.93386553e-03 9.99982394e-01 3.53244832e-05 -1.76768243e-01] [ 6.35538886e-03 -7.30370785e-05 9.99979802e-01 7.07763913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562557844 meters 0.29422179370973806 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.18, Z:0.71 [[ 9.99964174e-01 -5.61839341e-03 -6.33128723e-03 1.82702755e-01] [ 5.62469706e-03 9.99983703e-01 9.78267849e-04 -1.80513391e-01] [ 6.32568775e-03 -1.01384437e-03 9.99979479e-01 7.08207721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622557844 meters 0.29278797317322836 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:0.71 [[ 9.99968735e-01 2.20170596e-03 -7.59478018e-03 1.63970671e-01] [-2.19735591e-03 9.99997417e-01 5.81064916e-04 -1.88486452e-01] [ 7.59603990e-03 -5.64358315e-04 9.99970990e-01 7.07029953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682557844 meters 0.29344885854335506 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:0.71 [[ 9.99968434e-01 2.27851437e-03 -7.61180243e-03 1.64170427e-01] [-2.27252713e-03 9.99997102e-01 7.95129110e-04 -1.89393904e-01] [ 7.61359208e-03 -7.77805983e-04 9.99970714e-01 7.06640036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742557844 meters 0.29371347731518826 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:0.71 [[ 9.99968022e-01 2.30421346e-03 -7.65810443e-03 1.64399020e-01] [-2.29765401e-03 9.99996986e-01 8.65225509e-04 -1.89703157e-01] [ 7.66007501e-03 -8.47602166e-04 9.99970302e-01 7.06367941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802557844 meters 0.2959446918859037 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.70 [[ 0.99997617 -0.00411627 -0.00554224 0.18819173] [ 0.00413265 0.99998712 0.00294792 -0.19015748] [ 0.00553003 -0.00297075 0.9999803 0.70384747] [ 0. 0. 0. 1. ]] SLAMing on 61.862557844 meters 0.29562138132898624 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.70 [[ 0.99997634 -0.00417629 -0.00546521 0.18807323] [ 0.00419149 0.99998737 0.00277421 -0.18946799] [ 0.00545355 -0.00279705 0.99998122 0.70367098] [ 0. 0. 0. 1. ]] SLAMing on 61.922557843999996 meters 0.29470904956951527 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.70 [[ 0.99997695 -0.00428818 -0.00526469 0.1875848 ] [ 0.00430123 0.9999877 0.00246874 -0.18822297] [ 0.00525404 -0.00249133 0.99998309 0.70365144] [ 0. 0. 0. 1. ]] SLAMing on 61.982557844 meters 0.2938895834075718 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:0.70 [[ 0.99997633 -0.00451963 -0.00518847 0.18742084] [ 0.00452962 0.99998791 0.00191508 -0.18593322] [ 0.00517976 -0.00193854 0.99998471 0.70357852] [ 0. 0. 0. 1. ]] SLAMing on 62.042557844 meters 0.294385252514698 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99997544 -0.00463029 -0.00526036 0.18772058] [ 0.00463889 0.99998792 0.00162475 -0.18474758] [ 0.00525277 -0.00164911 0.99998484 0.70331942] [ 0. 0. 0. 1. ]] SLAMing on 62.102557843999996 meters 0.2942268742128901 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99997355 -0.00484232 -0.00542694 0.18834359] [ 0.00484814 0.99998769 0.00105826 -0.18243404] [ 0.00542175 -0.00108454 0.99998471 0.70287883] [ 0. 0. 0. 1. ]] SLAMing on 62.162557844 meters 0.29359238644772556 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 9.99972248e-01 -5.08311495e-03 -5.44662764e-03 1.88328849e-01] [ 5.08429495e-03 9.99987054e-01 2.02823246e-04 -1.79082238e-01] [ 5.44552615e-03 -2.30509879e-04 9.99985146e-01 7.03104665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222557844 meters 0.29548539521180595 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.18, Z:0.70 [[ 9.99980203e-01 5.14840732e-03 -3.61778921e-03 2.08492474e-01] [-5.14933881e-03 9.99986711e-01 -2.48205920e-04 -1.77992891e-01] [ 3.61646327e-03 2.66830228e-04 9.99993425e-01 7.02974524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282557844 meters 0.2958855024953062 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.18, Z:0.70 [[ 9.99980837e-01 5.01643092e-03 -3.62795089e-03 2.08467373e-01] [-5.01908543e-03 9.99987143e-01 -7.22949584e-04 -1.76111463e-01] [ 3.62427762e-03 7.41144725e-04 9.99993158e-01 7.03151078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342557844 meters 0.2963597541923669 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.17, Z:0.70 [[ 9.99985472e-01 -3.61099782e-03 -4.00213674e-03 2.28339204e-01] [ 3.60816545e-03 9.99993235e-01 -7.14708499e-04 -1.69837872e-01] [ 4.00469048e-03 7.00257744e-04 9.99991736e-01 7.04539311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402557844 meters 0.29452814330335925 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.70 [[ 0.99999522 -0.00163958 -0.00262301 0.18719845] [ 0.00164407 0.99999719 0.00170933 -0.16446814] [ 0.0026202 -0.00171363 0.9999951 0.70281886] [ 0. 0. 0. 1. ]] SLAMing on 62.462557844 meters 0.29407255403502464 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.70 [[ 0.99999515 -0.0017798 -0.00255535 0.18693619] [ 0.00178319 0.99999754 0.00132241 -0.16286547] [ 0.00255299 -0.00132696 0.99999586 0.70304184] [ 0. 0. 0. 1. ]] SLAMing on 62.522557844 meters 0.2942253563752107 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.16, Z:0.70 [[ 0.99999538 -0.00172462 -0.00250226 0.18677188] [ 0.00172829 0.99999743 0.0014658 -0.16346252] [ 0.00249972 -0.00147012 0.9999958 0.70310967] [ 0. 0. 0. 1. ]] SLAMing on 62.582557844 meters 0.2954883205576335 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99997511e-01 -3.83168291e-04 -2.19777278e-03 2.23431054e-01] [ 3.86602494e-04 9.99998705e-01 1.56237173e-03 -1.61830955e-01] [ 2.19717128e-03 -1.56321750e-03 9.99996364e-01 7.06987084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642557844 meters 0.2956277687033376 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99997462e-01 -3.66987607e-04 -2.22292202e-03 2.23264353e-01] [ 3.70552006e-04 9.99998646e-01 1.60327522e-03 -1.61988654e-01] [ 2.22233062e-03 -1.60409486e-03 9.99996244e-01 7.07505356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702557844 meters 0.2954547350802192 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99997625e-01 -4.01702469e-04 -2.14219273e-03 2.23206844e-01] [ 4.04918289e-04 9.99998792e-01 1.50095909e-03 -1.61589329e-01] [ 2.14158720e-03 -1.50182293e-03 9.99996579e-01 7.07147180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762557844 meters 0.2965813385903145 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99997529e-01 -5.53958022e-04 -2.15315031e-03 2.23339512e-01] [ 5.56274360e-04 9.99999267e-01 1.07533998e-03 -1.59873283e-01] [ 2.15255304e-03 -1.07653507e-03 9.99997104e-01 7.06889226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822557844 meters 0.2955664957960117 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99997132e-01 -6.85736111e-04 -2.29464117e-03 2.23882249e-01] [ 6.87284555e-04 9.99999537e-01 6.74088201e-04 -1.58270486e-01] [ 2.29417786e-03 -6.75663339e-04 9.99997140e-01 7.06426871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882557844 meters 0.29714243742553065 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.71 [[ 9.99996834e-01 -6.84123478e-04 -2.42162900e-03 2.24299885e-01] [ 6.85780600e-04 9.99999531e-01 6.83536285e-04 -1.58311281e-01] [ 2.42116025e-03 -6.85194827e-04 9.99996834e-01 7.06187002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942557844 meters 0.29467503500985154 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.16, Z:0.71 [[ 9.99970228e-01 7.01102151e-03 -3.22325812e-03 2.03688289e-01] [-7.01156442e-03 9.99975406e-01 -1.57165752e-04 -1.63234513e-01] [ 3.22207696e-03 1.79761154e-04 9.99994793e-01 7.05229983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002557844 meters 0.2939855164200859 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.16, Z:0.70 [[ 9.99993049e-01 -3.06311282e-03 -2.12564368e-03 1.81893139e-01] [ 3.06415860e-03 9.99995186e-01 4.88901397e-04 -1.60925781e-01] [ 2.12413589e-03 -4.95411308e-04 9.99997621e-01 7.04881021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062557844 meters 0.2952907998345376 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:0.70 [[ 0.99999471 -0.00121199 -0.00301802 0.1867777 ] [ 0.00122071 0.99999508 0.00288903 -0.16611155] [ 0.0030145 -0.00289269 0.99999127 0.70100172] [ 0. 0. 0. 1. ]] SLAMing on 63.122557844 meters 0.2959929564201977 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:0.70 [[ 0.9999943 -0.00115174 -0.00317279 0.1875365 ] [ 0.00116145 0.99999464 0.00306108 -0.16687349] [ 0.00316925 -0.00306475 0.99999028 0.70006005] [ 0. 0. 0. 1. ]] SLAMing on 63.182557844 meters 0.29542768392830554 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.17, Z:0.70 [[ 9.99968903e-01 3.73890857e-03 -6.94358016e-03 1.67792531e-01] [-3.74155662e-03 9.99992932e-01 -3.68415687e-04 -1.68244573e-01] [ 6.94215361e-03 3.94384028e-04 9.99975825e-01 7.00362307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242557844 meters 0.2949562519185473 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.17, Z:0.70 [[ 9.99968939e-01 3.80062482e-03 -6.90473523e-03 1.67762250e-01] [-3.80217426e-03 9.99992749e-01 -2.11288910e-04 -1.68915876e-01] [ 6.90388214e-03 2.37535353e-04 9.99976140e-01 7.00206636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302557844 meters 0.2958319391999124 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.17, Z:0.70 [[ 0.99999502 -0.00143714 -0.00281009 0.18852651] [ 0.00144537 0.99999467 0.00292714 -0.17228653] [ 0.00280587 -0.00293119 0.99999177 0.69878742] [ 0. 0. 0. 1. ]] SLAMing on 63.362557844 meters 0.2937465833803883 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.18, Z:0.70 [[ 9.99991724e-01 -3.99035356e-03 -7.93272893e-04 1.46106950e-01] [ 3.99299888e-03 9.99986378e-01 3.36155800e-03 -1.80152625e-01] [ 7.79848282e-04 -3.36469771e-03 9.99994035e-01 6.97654666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422557843999996 meters 0.29618164978595996 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99998914 -0.00320755 0.00338122 0.18595321] [ 0.00319817 0.99999103 0.00277638 -0.18250657] [-0.00339009 -0.00276554 0.99999043 0.69794422] [ 0. 0. 0. 1. ]] SLAMing on 63.482557844 meters 0.2953163841388651 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99998956 -0.00323275 0.00322967 0.18648086] [ 0.00322399 0.99999111 0.00271601 -0.18228234] [-0.00323842 -0.00270557 0.9999911 0.69761216] [ 0. 0. 0. 1. ]] SLAMing on 63.542557844 meters 0.29622140889933046 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99998966 -0.00333683 0.00308815 0.18724947] [ 0.00332931 0.99999148 0.00243884 -0.18112276] [-0.00309626 -0.00242854 0.99999226 0.69659975] [ 0. 0. 0. 1. ]] SLAMing on 63.602557843999996 meters 0.2961016782562389 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99998985 -0.00335624 0.0030046 0.18757129] [ 0.00334906 0.99999153 0.00239292 -0.18094866] [-0.00301261 -0.00238283 0.99999262 0.69637123] [ 0. 0. 0. 1. ]] SLAMing on 63.662557844 meters 0.29472360608362674 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.70 [[ 0.99998965 -0.00331645 0.00311621 0.1871691 ] [ 0.0033087 0.99999143 0.00248885 -0.18133616] [-0.00312444 -0.00247851 0.99999205 0.6966197 ] [ 0. 0. 0. 1. ]] SLAMing on 63.722557844 meters 0.2940563957353946 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.19, Z:0.70 [[ 0.99998463 0.00422103 0.00359511 0.16687463] [-0.00422638 0.99998997 0.00148253 -0.18634943] [-0.00358882 -0.0014977 0.99999244 0.69517038] [ 0. 0. 0. 1. ]] SLAMing on 63.782557844 meters 0.2945747088549963 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.19, Z:0.69 [[ 0.99998449 0.00424854 0.00360201 0.1669929 ] [-0.00425417 0.99998974 0.00155585 -0.18667869] [-0.00359536 -0.00157115 0.9999923 0.69486598] [ 0. 0. 0. 1. ]] SLAMing on 63.842557844 meters 0.29426160786825367 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.19, Z:0.69 [[ 0.99998485 0.00426673 0.00347818 0.16765799] [-0.00427235 0.99998958 0.00161022 -0.1870046 ] [-0.00347127 -0.00162506 0.99999265 0.69401123] [ 0. 0. 0. 1. ]] SLAMing on 63.902557844 meters 0.2954078985383367 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.18, Z:0.69 [[ 0.99998331 -0.0037077 0.00443124 0.18827622] [ 0.00369719 0.99999034 0.00237716 -0.18316921] [-0.00444001 -0.00236074 0.99998736 0.6940613 ] [ 0. 0. 0. 1. ]] SLAMing on 63.962557844 meters 0.2936002122010556 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:0.69 [[ 0.99996587 0.00447355 0.0069453 0.1639204 ] [-0.00449395 0.99998563 0.00292388 -0.19063317] [-0.00693212 -0.00295499 0.99997161 0.69496006] [ 0. 0. 0. 1. ]] SLAMing on 64.02255784399999 meters 0.29429585956371584 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:0.69 [[ 0.99996557 0.00467242 0.00685825 0.1643219 ] [-0.00469579 0.99998321 0.00339632 -0.19267681] [-0.00684226 -0.00342841 0.99997071 0.69464499] [ 0. 0. 0. 1. ]] SLAMing on 64.082557844 meters 0.297416613820694 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.19, Z:0.70 [[ 0.99996686 0.00570833 0.0058041 0.20475572] [-0.00572166 0.99998103 0.00228139 -0.19047263] [-0.00579097 -0.00231453 0.99998055 0.69644018] [ 0. 0. 0. 1. ]] SLAMing on 64.142557844 meters 0.29554593464791307 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.19, Z:0.70 [[ 0.99996545 0.00581909 0.0059369 0.20434607] [-0.00583433 0.99997972 0.00255272 -0.19160839] [-0.00592192 -0.00258727 0.99997912 0.69657984] [ 0. 0. 0. 1. ]] SLAMing on 64.202557844 meters 0.2944473079681019 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.19, Z:0.70 [[ 0.99997985 0.00161509 0.00613932 0.20366246] [-0.00160583 0.99999757 -0.00151354 -0.1925989 ] [-0.00614175 0.00150365 0.99998001 0.69684263] [ 0. 0. 0. 1. ]] SLAMing on 64.26255784399999 meters 0.29593364631421354 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.19, Z:0.70 [[ 0.99998503 0.00178564 0.00517192 0.24262894] [-0.00176996 0.99999383 -0.00303418 -0.19278926] [-0.00517731 0.00302498 0.99998202 0.70026947] [ 0. 0. 0. 1. ]] SLAMing on 64.32255784399999 meters 0.2959684119331112 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:0.70 [[ 0.99998341 0.00206754 0.0053758 0.24218722] [-0.00205564 0.99999543 -0.00221754 -0.19610774] [-0.00538036 0.00220646 0.99998309 0.70018068] [ 0. 0. 0. 1. ]] SLAMing on 64.38255784399999 meters 0.29461017805521733 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.21, Z:0.70 [[ 9.99981480e-01 -6.08526365e-03 1.01075336e-04 2.24550950e-01] [ 6.08527643e-03 9.99981477e-01 -1.26629436e-04 -2.05448509e-01] [-1.00302890e-04 1.27242162e-04 9.99999987e-01 7.01718270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44255784399999 meters 0.2951268517463767 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.70 [[ 9.99991100e-01 4.21898792e-03 4.13704678e-06 2.45033089e-01] [-4.21898844e-03 9.99991091e-01 1.35824186e-04 -2.13360850e-01] [-3.56396933e-06 -1.35840431e-04 9.99999991e-01 7.02032014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502557844 meters 0.2953243598145642 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.70 [[ 9.99991057e-01 4.22760520e-03 -1.18209264e-04 2.45785069e-01] [-4.22758561e-03 9.99991050e-01 1.65566635e-04 -2.13631337e-01] [ 1.18908157e-04 -1.65065415e-04 9.99999979e-01 7.01009255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562557844 meters 0.2957265474725875 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.70 [[ 9.99991318e-01 4.16074498e-03 -2.26354429e-04 2.46274079e-01] [-4.16074542e-03 9.99991344e-01 -1.46922775e-06 -2.12945136e-01] [ 2.26346357e-04 2.41101815e-06 9.99999974e-01 7.00534922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622557844 meters 0.2945638128060241 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.70 [[ 9.99990670e-01 4.30713933e-03 -3.27857986e-04 2.46391845e-01] [-4.30701077e-03 9.99990648e-01 3.91829149e-04 -2.14569904e-01] [ 3.29542582e-04 -3.90413406e-04 9.99999869e-01 7.00900043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68255784399999 meters 0.29573316161993424 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 0.99999431 -0.00321981 0.00100263 0.26743605] [ 0.00321857 0.99999406 0.00123213 -0.21124596] [-0.00100659 -0.0012289 0.99999874 0.70117177] [ 0. 0. 0. 1. ]] SLAMing on 64.74255784399999 meters 0.292746941834948 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.21, Z:0.70 [[ 0.99998811 -0.00424991 -0.00239167 0.22284726] [ 0.0042555 0.99998821 0.00233817 -0.21437065] [ 0.00238171 -0.00234832 0.99999441 0.70434655] [ 0. 0. 0. 1. ]] SLAMing on 64.80255784399999 meters 0.2938693733890993 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:0.70 [[ 9.99995305e-01 2.91002615e-03 -9.60577502e-04 2.44553109e-01] [-2.91111707e-03 9.99995117e-01 -1.13625626e-03 -2.14426296e-01] [ 9.57266277e-04 1.13904727e-03 9.99998893e-01 7.03037960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862557844 meters 0.2956195464713932 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.70 [[ 9.99997041e-01 -2.43255452e-03 -5.80348071e-06 2.69904293e-01] [ 2.43256131e-03 9.99994916e-01 2.06177706e-03 -2.15192014e-01] [ 7.88066094e-07 -2.06178508e-03 9.99997875e-01 6.99547368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922557844 meters 0.29446404810859855 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.22, Z:0.70 [[ 9.99987688e-01 4.96217056e-03 -2.75303129e-06 2.49792014e-01] [-4.96216552e-03 9.99987213e-01 9.74663891e-04 -2.19680427e-01] [ 7.58944455e-06 -9.74638230e-04 9.99999525e-01 6.98307976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982557844 meters 0.29379810200361095 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.22, Z:0.70 [[ 0.99999527 0.00280878 0.00125566 0.24392492] [-0.00280698 0.99999503 -0.00143397 -0.21598449] [-0.00125968 0.00143044 0.99999818 0.70271915] [ 0. 0. 0. 1. ]] SLAMing on 65.04255784399999 meters 0.2947492393863256 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 0.99999261 -0.00194755 0.00331576 0.26626719] [ 0.00194185 0.99999664 0.00172003 -0.2110843 ] [-0.0033191 -0.00171358 0.99999302 0.70048299] [ 0. 0. 0. 1. ]] SLAMing on 65.10255784399999 meters 0.2941303681857676 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 0.99999287 -0.00207845 0.00315233 0.26684808] [ 0.00207425 0.99999696 0.0013344 -0.20954551] [-0.0031551 -0.00132786 0.99999414 0.69999945] [ 0. 0. 0. 1. ]] SLAMing on 65.16255784399999 meters 0.2949885145702592 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 9.99992321e-01 -2.29058712e-03 3.17970569e-03 2.66650122e-01] [ 2.28829339e-03 9.99997119e-01 7.24818057e-04 -2.06994422e-01] [-3.18135678e-03 -7.17536392e-04 9.99994682e-01 7.00274134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222557844 meters 0.2933626135665264 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 9.99991964e-01 -2.34122440e-03 3.25425463e-03 2.66294764e-01] [ 2.33929240e-03 9.99997085e-01 5.97362509e-04 -2.06401943e-01] [-3.25564371e-03 -5.89745056e-04 9.99994526e-01 7.00595672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282557844 meters 0.2929583349318866 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.70 [[ 9.99992623e-01 -2.27119311e-03 3.09761981e-03 2.66651794e-01] [ 2.26863869e-03 9.99997084e-01 8.27904508e-04 -2.07340886e-01] [-3.09949111e-03 -8.20871021e-04 9.99994860e-01 7.00697807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342557844 meters 0.2933459531768945 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.70 [[ 0.9999715 0.00463878 0.00595679 0.28652855] [-0.00462717 0.99998737 -0.00195995 -0.21095219] [-0.00596581 0.00193233 0.99998034 0.70017176] [ 0. 0. 0. 1. ]] SLAMing on 65.40255784399999 meters 0.2917828097172405 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.22, Z:0.70 [[ 9.99991992e-01 -3.20423149e-03 2.39784636e-03 2.67157996e-01] [ 3.20202663e-03 9.99994448e-01 9.22788530e-04 -2.16469769e-01] [-2.40078987e-03 -9.15103172e-04 9.99996699e-01 7.01452563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46255784399999 meters 0.29359354568732626 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.23, Z:0.70 [[ 9.99994812e-01 3.07006955e-03 -9.74542876e-04 2.91945234e-01] [-3.07227483e-03 9.99992705e-01 -2.26951671e-03 -2.25674865e-01] [ 9.67568193e-04 2.27249900e-03 9.99996950e-01 7.00922688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52255784399999 meters 0.2921256839575983 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.23, Z:0.70 [[ 9.99981002e-01 -4.56227268e-03 -4.14500257e-03 2.72161757e-01] [ 4.56502510e-03 9.99989366e-01 6.54815397e-04 -2.28434911e-01] [ 4.14197105e-03 -6.73724998e-04 9.99991195e-01 7.02386437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582557844 meters 0.29301080763074333 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.23, Z:0.70 [[ 9.99995056e-01 3.01400979e-03 -8.96129548e-04 2.92207938e-01] [-3.01556378e-03 9.99993943e-01 -1.73785004e-03 -2.29455364e-01] [ 8.90886223e-04 1.74054378e-03 9.99998088e-01 7.01238728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642557844 meters 0.29346849448741824 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.23, Z:0.70 [[ 9.99994789e-01 3.10842922e-03 -8.71660464e-04 2.92132926e-01] [-3.10968637e-03 9.99994121e-01 -1.44461982e-03 -2.30586270e-01] [ 8.67164842e-04 1.44732288e-03 9.99998577e-01 7.01274825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702557844 meters 0.29247616846537017 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.23, Z:0.70 [[ 9.99998391e-01 1.49478366e-03 -9.91742511e-04 2.55946104e-01] [-1.49581710e-03 9.99998338e-01 -1.04212978e-03 -2.33932702e-01] [ 9.90183104e-04 1.04361157e-03 9.99998965e-01 6.97576651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76255784399999 meters 0.29551663538379896 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.23, Z:0.70 [[ 9.99988444e-01 4.45028607e-03 1.81851902e-03 2.98388404e-01] [-4.44907285e-03 9.99989878e-01 -6.70645324e-04 -2.29060770e-01] [-1.82148518e-03 6.62546851e-04 9.99998122e-01 6.96096399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82255784399999 meters 0.29222873604841254 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.23, Z:0.70 [[ 9.99996330e-01 2.67517250e-03 4.28069478e-04 2.54752643e-01] [-2.67512570e-03 9.99996416e-01 -1.09853762e-04 -2.30382294e-01] [-4.28361822e-04 1.08708219e-04 9.99999902e-01 6.97829635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88255784399999 meters 0.29274568238133153 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.23, Z:0.70 [[ 9.99996349e-01 2.66359169e-03 4.55938130e-04 2.54627411e-01] [-2.66352683e-03 9.99996443e-01 -1.42813822e-04 -2.30230433e-01] [-4.56316906e-04 1.41598897e-04 9.99999886e-01 6.97951295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94255784399999 meters 0.292851136241143 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.23, Z:0.70 [[ 9.99996210e-01 2.68933978e-03 5.88843095e-04 2.54244914e-01] [-2.68929386e-03 9.99996381e-01 -7.87612672e-05 -2.30475367e-01] [-5.89052780e-04 7.71773966e-05 9.99999824e-01 6.98051779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002557844 meters 0.2912693460917696 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.23, Z:0.70 [[ 9.99972801e-01 -7.36256508e-03 -4.36198939e-04 2.33269087e-01] [ 7.36287473e-03 9.99972640e-01 7.12587122e-04 -2.30570892e-01] [ 4.30940536e-04 -7.15779418e-04 9.99999651e-01 6.98170049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062557844 meters 0.29511939104269175 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.23, Z:0.70 [[ 9.99984833e-01 -5.30406737e-03 1.48316097e-03 2.76515516e-01] [ 5.30363535e-03 9.99985892e-01 2.95067782e-04 -2.27352630e-01] [-1.48470510e-03 -2.87197162e-04 9.99998857e-01 6.96514362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122557844 meters 0.2920830057664899 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.23, Z:0.70 [[ 9.99998095e-01 2.60262341e-05 -1.95196340e-03 2.54924535e-01] [-3.12991593e-05 9.99996351e-01 -2.70136239e-03 -2.25458860e-01] [ 1.95188597e-03 2.70141834e-03 9.99994446e-01 6.98478882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18255784399999 meters 0.29147029485977 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.70 [[ 9.99998113e-01 -1.06083810e-04 -1.93957805e-03 2.55161186e-01] [ 1.00146660e-04 9.99995310e-01 -3.06089318e-03 -2.23990811e-01] [ 1.93989367e-03 3.06069316e-03 9.99993434e-01 6.97850302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24255784399999 meters 0.2924994067208529 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 9.99992696e-01 2.43417063e-03 -2.94666546e-03 2.61401413e-01] [-2.43644869e-03 9.99996736e-01 -7.69754871e-04 -2.24062115e-01] [ 2.94478213e-03 7.76928648e-04 9.99995362e-01 6.92633753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30255784399999 meters 0.2937670184057 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.22, Z:0.69 [[ 0.99999444 -0.00265843 -0.00201531 0.28534488] [ 0.00266314 0.99999372 0.00233794 -0.22123948] [ 0.00200908 -0.0023433 0.99999524 0.69047704] [ 0. 0. 0. 1. ]] SLAMing on 66.362557844 meters 0.29201427754071246 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 9.99982242e-01 5.95389266e-03 2.59245822e-04 2.60352951e-01] [-5.95452799e-03 9.99979089e-01 2.52307698e-03 -2.24494604e-01] [-2.44218272e-04 -2.52457586e-03 9.99996783e-01 6.92425389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422557844 meters 0.2949974705528695 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:0.69 [[ 0.99999695 -0.00204659 0.0013861 0.2824881 ] [ 0.00204259 0.99999376 0.0028837 -0.22084605] [-0.00139199 -0.00288086 0.99999488 0.69189957] [ 0. 0. 0. 1. ]] SLAMing on 66.482557844 meters 0.2930717079404951 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:0.69 [[ 0.99999726 -0.00191785 0.00134007 0.2825133 ] [ 0.00191355 0.99999302 0.00320929 -0.22222378] [-0.00134622 -0.00320672 0.99999395 0.69210852] [ 0. 0. 0. 1. ]] SLAMing on 66.54255784399999 meters 0.2934602694076382 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:0.69 [[ 0.999997 -0.0020665 0.00131342 0.28269951] [ 0.00206284 0.999994 0.00278422 -0.22050055] [-0.00131917 -0.0027815 0.99999526 0.69178688] [ 0. 0. 0. 1. ]] SLAMing on 66.60255784399999 meters 0.293412654812437 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:0.69 [[ 0.99999672 -0.00226814 0.0011913 0.28345099] [ 0.00226558 0.99999512 0.00215046 -0.21797335] [-0.00119617 -0.00214775 0.99999698 0.69069123] [ 0. 0. 0. 1. ]] SLAMing on 66.66255784399999 meters 0.29364728525166006 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.69 [[ 0.99999597 -0.00258531 0.00117163 0.28371012] [ 0.0025838 0.99999583 0.00129013 -0.21436825] [-0.00117496 -0.0012871 0.99999848 0.69017183] [ 0. 0. 0. 1. ]] SLAMing on 66.722557844 meters 0.29206102039419907 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.21, Z:0.69 [[ 0.99999662 0.00237704 0.00105454 0.2578458 ] [-0.00237476 0.99999484 -0.00216248 -0.21393524] [-0.00105967 0.00215996 0.99999711 0.69336796] [ 0. 0. 0. 1. ]] SLAMing on 66.782557844 meters 0.29117427669009965 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.70 [[ 0.99999574 0.00249647 0.00151308 0.25607503] [-0.00249379 0.99999532 -0.00177442 -0.21574835] [-0.0015175 0.00177064 0.99999728 0.69527598] [ 0. 0. 0. 1. ]] SLAMing on 66.842557844 meters 0.2910543490168635 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.70 [[ 0.99999551 0.00257379 0.00153758 0.2559304 ] [-0.00257139 0.99999547 -0.00156513 -0.21659507] [-0.00154161 0.00156117 0.99999759 0.69548726] [ 0. 0. 0. 1. ]] SLAMing on 66.90255784399999 meters 0.2904211671459483 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.70 [[ 9.99995523e-01 2.81941154e-03 1.00242296e-03 2.57191488e-01] [-2.81879873e-03 9.99995840e-01 -6.12225113e-04 -2.20517745e-01] [-1.00414491e-03 6.09396744e-04 9.99999310e-01 6.95608961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96255784399999 meters 0.29378369222620887 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:0.70 [[ 9.99994390e-01 3.34184984e-03 2.26997052e-04 2.99415563e-01] [-3.34137799e-03 9.99992320e-01 -2.04815269e-03 -2.20211125e-01] [-2.33839927e-04 2.04738272e-03 9.99997877e-01 6.96112191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02255784399999 meters 0.29070976622938016 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 9.99996560e-01 2.57481443e-03 4.99952267e-04 2.61483245e-01] [-2.57450997e-03 9.99996501e-01 -6.08672962e-04 -2.23305977e-01] [-5.01517738e-04 6.07383736e-04 9.99999690e-01 6.92697175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082557844 meters 0.2952886565071579 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:0.69 [[ 9.99999282e-01 -1.11176800e-03 -4.46242714e-04 3.25419967e-01] [ 1.11141552e-03 9.99999071e-01 -7.89363268e-04 -2.15766004e-01] [ 4.47119889e-04 7.88866741e-04 9.99999589e-01 6.91320975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142557844 meters 0.2939349370117488 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99998799e-01 -8.19155523e-04 -1.31562608e-03 2.91186882e-01] [ 8.20204508e-04 9.99999346e-01 7.96985759e-04 -2.14455809e-01] [ 1.31497237e-03 -7.98063884e-04 9.99998817e-01 6.85923914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202557844 meters 0.29386083461629253 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99998743e-01 -9.04853230e-04 -1.30235318e-03 2.91263096e-01] [ 9.05611047e-04 9.99999421e-01 5.81410404e-04 -2.13556562e-01] [ 1.30182633e-03 -5.82589098e-04 9.99998983e-01 6.85662292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26255784399999 meters 0.29350646028974087 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99998652e-01 -1.04467983e-03 -1.26639828e-03 2.91418030e-01] [ 1.04498507e-03 9.99999425e-01 2.40393898e-04 -2.12128639e-01] [ 1.26614641e-03 -2.41716942e-04 9.99999169e-01 6.85094843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32255784399999 meters 0.2910497049406846 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.69 [[ 0.99998908 0.00343246 -0.00317043 0.26656821] [-0.0034438 0.99998767 -0.00357848 -0.20929368] [ 0.00315811 0.00358936 0.99998857 0.68810943] [ 0. 0. 0. 1. ]] SLAMing on 67.38255784399999 meters 0.2923726305226022 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99999168e-01 -1.28993427e-03 6.18786721e-06 2.87233812e-01] [ 1.28993527e-03 9.99999155e-01 -1.62970096e-04 -2.07260821e-01] [-5.97764127e-06 1.62977942e-04 9.99999987e-01 6.87220085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44255784399999 meters 0.2929297129064779 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99999097e-01 -1.34397461e-03 2.21473809e-05 2.87135010e-01] [ 1.34398114e-03 9.99999053e-01 -2.97674944e-04 -2.06668348e-01] [-2.17472924e-05 2.97704441e-04 9.99999955e-01 6.87336180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502557844 meters 0.29323447082449916 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.21, Z:0.69 [[ 9.99999099e-01 -1.34228622e-03 -1.46642598e-05 2.87180412e-01] [ 1.34228186e-03 9.99999056e-01 -2.93088678e-04 -2.06680618e-01] [ 1.50576548e-05 2.93068730e-04 9.99999957e-01 6.87449072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562557844 meters 0.29125910453414083 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.21, Z:0.69 [[ 0.99999213 0.00365987 -0.00153092 0.26353282] [-0.00366552 0.99998642 -0.00370459 -0.20684531] [ 0.00151734 0.00371018 0.99999197 0.68949508] [ 0. 0. 0. 1. ]] SLAMing on 67.622557844 meters 0.2912199547964128 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.21, Z:0.69 [[ 0.99999226 0.00364966 -0.00146683 0.26311843] [-0.00365512 0.99998635 -0.00373345 -0.20665375] [ 0.00145319 0.00373878 0.99999195 0.69010055] [ 0. 0. 0. 1. ]] SLAMing on 67.68255784399999 meters 0.28978783701074584 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:0.69 [[ 9.99989636e-01 -3.54289703e-03 -2.85920262e-03 2.41316625e-01] [ 3.54149092e-03 9.99993606e-01 -4.96695676e-04 -2.05649430e-01] [ 2.86094408e-03 4.86564688e-04 9.99995789e-01 6.91282868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74255784399999 meters 0.2920402087343368 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:0.69 [[ 9.99990939e-01 3.44918803e-04 -4.24306472e-03 2.81221339e-01] [-3.45926259e-04 9.99999912e-01 -2.36704343e-04 -1.97361700e-01] [ 4.24298270e-03 2.38169986e-04 9.99990970e-01 6.93360653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80255784399999 meters 0.2927306124903957 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:0.69 [[ 9.99991102e-01 1.41760997e-04 -4.21615323e-03 2.81160296e-01] [-1.44956946e-04 9.99999702e-01 -7.57728895e-04 -1.95140580e-01] [ 4.21604455e-03 7.58333313e-04 9.99990825e-01 6.93312342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862557844 meters 0.2916308679995027 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.19, Z:0.69 [[ 9.99991757e-01 4.82961479e-05 -4.06001512e-03 2.80611433e-01] [-5.23561760e-05 9.99999499e-01 -9.99902861e-04 -1.94075660e-01] [ 4.05996480e-03 1.00010719e-03 9.99991258e-01 6.93626471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922557844 meters 0.28998604353574087 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:0.69 [[ 9.99993356e-01 -1.59927876e-03 -3.27563037e-03 2.42211495e-01] [ 1.59807193e-03 9.99998654e-01 -3.71011068e-04 -1.97734305e-01] [ 3.27621931e-03 3.65773910e-04 9.99994566e-01 6.90178628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.982557844 meters 0.28942795395848137 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:0.69 [[ 9.99992807e-01 -1.63692734e-03 -3.42137034e-03 2.42837349e-01] [ 1.63533139e-03 9.99998553e-01 -4.69208608e-04 -1.97399694e-01] [ 3.42213345e-03 4.63610158e-04 9.99994037e-01 6.89510733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04255784399999 meters 0.29023245911179446 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.20, Z:0.69 [[ 9.99991998e-01 -1.59321573e-03 -3.66952819e-03 2.43625505e-01] [ 1.59198201e-03 9.99998675e-01 -3.39103855e-04 -1.98026352e-01] [ 3.67006360e-03 3.33259319e-04 9.99993210e-01 6.89112231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10255784399999 meters 0.2909407272779394 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:0.69 [[ 9.99984493e-01 5.56483075e-03 -2.15903585e-04 2.64780627e-01] [-5.56546301e-03 9.99979869e-01 -3.04759715e-03 -1.97061767e-01] [ 1.98939876e-04 3.04875149e-03 9.99995333e-01 6.86629592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16255784399999 meters 0.2915018579890073 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.20, Z:0.69 [[ 9.99992794e-01 -4.48077868e-04 -3.76980002e-03 2.83265091e-01] [ 4.45657786e-04 9.99999694e-01 -6.42781242e-04 -2.01105857e-01] [ 3.77008688e-03 6.41096569e-04 9.99992688e-01 6.91647598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222557844 meters 0.28974176127704604 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.21, Z:0.69 [[ 0.99999538 -0.00172683 -0.00250265 0.24457924] [ 0.00172972 0.99999784 0.00115145 -0.20885444] [ 0.00250066 -0.00115577 0.99999621 0.68840996] [ 0. 0. 0. 1. ]] SLAMing on 68.282557844 meters 0.2913968877738694 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.21, Z:0.69 [[ 9.99984474e-01 5.56516970e-03 -2.84748930e-04 2.66053223e-01] [-5.56558347e-03 9.99983426e-01 -1.47353168e-03 -2.11648617e-01] [ 2.76543757e-04 1.47509360e-03 9.99998874e-01 6.87350211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342557844 meters 0.2900761098584602 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.69 [[ 9.99986644e-01 -3.69117228e-03 -3.61759008e-03 2.49007402e-01] [ 3.68990123e-03 9.99993128e-01 -3.57963623e-04 -2.09326965e-01] [ 3.61888652e-03 3.44610292e-04 9.99993392e-01 6.87053338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40255784399999 meters 0.29044239099578584 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.69 [[ 9.99988795e-01 -3.61434698e-03 -3.05708811e-03 2.47402912e-01] [ 3.61360355e-03 9.99993440e-01 -2.48670567e-04 -2.09539357e-01] [ 3.05796683e-03 2.37620676e-04 9.99995296e-01 6.87811134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46255784399999 meters 0.289827651353003 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.69 [[ 9.99989048e-01 -3.57625063e-03 -3.01903765e-03 2.47037664e-01] [ 3.57581705e-03 9.99993596e-01 -1.49000192e-04 -2.09914916e-01] [ 3.01955118e-03 1.38203034e-04 9.99995432e-01 6.88450970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52255784399999 meters 0.2902496999844529 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:0.69 [[ 9.99989136e-01 -3.53400738e-03 -3.03961082e-03 2.47410969e-01] [ 3.53391598e-03 9.99993755e-01 -3.54400255e-05 -2.10467745e-01] [ 3.03971709e-03 2.46979112e-05 9.99995380e-01 6.87677826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582557844 meters 0.29305543588909866 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.69 [[ 9.99995998e-01 -1.94971739e-03 -2.05016784e-03 2.83616449e-01] [ 1.94931883e-03 9.99998081e-01 -1.96384713e-04 -2.10314671e-01] [ 2.05054680e-03 1.92387497e-04 9.99997879e-01 6.91533265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642557844 meters 0.29096745888627873 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 0.99999326 0.00318907 -0.00181734 0.25904289] [-0.00319451 0.9999904 -0.00299953 -0.2158626 ] [ 0.00180775 0.00300532 0.99999385 0.6934541 ] [ 0. 0. 0. 1. ]] SLAMing on 68.702557844 meters 0.2904741585135779 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 0.99999292 0.00331611 -0.00177989 0.25897412] [-0.00332087 0.9999909 -0.00267685 -0.2172421 ] [ 0.001771 0.00268275 0.99999483 0.69339127] [ 0. 0. 0. 1. ]] SLAMing on 68.76255784399999 meters 0.289314743230764 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 0.99999271 0.00337131 -0.00179544 0.25904763] [-0.00337587 0.99999107 -0.00254091 -0.2178234 ] [ 0.00178685 0.00254695 0.99999516 0.69333031] [ 0. 0. 0. 1. ]] SLAMing on 68.82255784399999 meters 0.29137650369304496 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.22, Z:0.69 [[ 0.99999238 0.00320957 -0.0022236 0.26070718] [-0.00321624 0.99999032 -0.00300265 -0.21589697] [ 0.00221394 0.00300978 0.99999302 0.69144463] [ 0. 0. 0. 1. ]] SLAMing on 68.88255784399999 meters 0.2923168499443848 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.69 [[ 9.99996056e-01 -1.58644729e-03 -2.31773667e-03 2.84365166e-01] [ 1.58664822e-03 9.99998738e-01 8.48563149e-05 -2.09138653e-01] [ 2.31759912e-03 -8.85334130e-05 9.99997310e-01 6.90371452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94255784399999 meters 0.292943081646479 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:0.69 [[ 9.99996074e-01 -1.82301065e-03 -2.12799536e-03 2.84041901e-01] [ 1.82171426e-03 9.99998154e-01 -6.10986251e-04 -2.06284568e-01] [ 2.12910527e-03 6.07107253e-04 9.99997549e-01 6.89929097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002557844 meters 0.29215491604787597 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.20, Z:0.69 [[ 0.99997861 0.00369592 -0.00539668 0.26286783] [-0.00371674 0.99998566 -0.00385437 -0.20235885] [ 0.00538236 0.00387434 0.99997801 0.69126682] [ 0. 0. 0. 1. ]] SLAMing on 69.062557844 meters 0.29394793683226333 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:0.69 [[ 9.99988147e-01 -9.09923566e-04 -4.78317676e-03 2.86626467e-01] [ 9.05938053e-04 9.99999241e-01 -8.35336195e-04 -1.94038518e-01] [ 4.78393322e-03 8.30993032e-04 9.99988212e-01 6.90226615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122557844 meters 0.29132922514542053 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.19, Z:0.69 [[ 9.99988460e-01 -1.45621527e-03 -4.57820721e-03 2.48133708e-01] [ 1.45789521e-03 9.99998871e-01 3.63626076e-04 -1.92380779e-01] [ 4.57767252e-03 -3.70296426e-04 9.99989454e-01 6.87322979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18255784399999 meters 0.2897783947182898 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.19, Z:0.69 [[ 9.99959544e-01 7.04868065e-03 -5.58802685e-03 2.25656147e-01] [-7.05123900e-03 9.99975044e-01 -4.38256438e-04 -1.91798366e-01] [ 5.58479827e-03 4.77641221e-04 9.99984291e-01 6.89080552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24255784399999 meters 0.2908015226738448 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99995778e-01 -2.01938919e-04 -2.89887809e-03 2.43797561e-01] [ 2.03369975e-04 9.99999858e-01 4.93372318e-04 -1.84858854e-01] [ 2.89877805e-03 -4.93959780e-04 9.99995677e-01 6.90976379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30255784399999 meters 0.29033552207320845 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99996023e-01 -3.34297170e-04 -2.80048267e-03 2.43471645e-01] [ 3.34715589e-04 9.99999933e-01 1.48942184e-04 -1.83379373e-01] [ 2.80043269e-03 -1.49878957e-04 9.99996068e-01 6.91121394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362557844 meters 0.29099791833978567 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99995916e-01 -4.00172450e-04 -2.82996889e-03 2.43634700e-01] [ 4.00089131e-04 9.99999920e-01 -3.00077837e-05 -1.82650133e-01] [ 2.82998067e-03 2.88754214e-05 9.99995995e-01 6.90912756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422557844 meters 0.2915421808472021 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99996074e-01 -4.01127114e-04 -2.77327020e-03 2.43216090e-01] [ 4.01035741e-04 9.99999919e-01 -3.35039661e-05 -1.82574897e-01] [ 2.77328341e-03 3.23916541e-05 9.99996154e-01 6.91545626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482557844 meters 0.2918139830412712 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99995955e-01 -3.58335885e-04 -2.82166132e-03 2.43181877e-01] [ 3.58546726e-04 9.99999933e-01 7.42167991e-05 -1.83017799e-01] [ 2.82163454e-03 -7.52281963e-05 9.99996016e-01 6.91907280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54255784399999 meters 0.29083549549192084 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99996251e-01 -3.61393537e-04 -2.71435287e-03 2.43043192e-01] [ 3.61562938e-04 9.99999933e-01 6.19188555e-05 -1.82988651e-01] [ 2.71433031e-03 -6.29000328e-05 9.99996314e-01 6.91598812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60255784399999 meters 0.29072342043761074 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99996404e-01 -4.39615288e-04 -2.64534503e-03 2.43104019e-01] [ 4.39137706e-04 9.99999887e-01 -1.81114536e-04 -1.82039792e-01] [ 2.64542435e-03 1.79952214e-04 9.99996485e-01 6.91019246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66255784399999 meters 0.29178892910419335 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.18, Z:0.69 [[ 9.99995385e-01 -5.78374953e-04 -2.98261596e-03 2.44320829e-01] [ 5.76600950e-04 9.99999656e-01 -5.95606434e-04 -1.80464690e-01] [ 2.98295942e-03 5.93883906e-04 9.99995375e-01 6.89983132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722557844 meters 0.29152746490299514 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99994869e-01 -7.60500109e-04 -3.11186259e-03 2.45003853e-01] [ 7.56909253e-04 9.99999047e-01 -1.15493993e-03 -1.78236986e-01] [ 3.11273796e-03 1.15257860e-03 9.99994491e-01 6.89084484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782557844 meters 0.2906141550897433 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.18, Z:0.69 [[ 9.99998383e-01 -1.50142691e-03 -9.89831092e-04 2.03389189e-01] [ 1.50188066e-03 9.99998767e-01 4.57821502e-04 -1.81846531e-01] [ 9.89142487e-04 -4.59307369e-04 9.99999405e-01 6.87088989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842557844 meters 0.2919433225674092 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.18, Z:0.69 [[ 9.99986207e-01 5.25171504e-03 7.73240436e-05 2.26689116e-01] [-5.25143898e-03 9.99981031e-01 -3.21858556e-03 -1.80965367e-01] [-9.42256710e-05 3.21813511e-03 9.99994817e-01 6.85145207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90255784399999 meters 0.2915803624892243 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.18, Z:0.69 [[ 9.99986050e-01 5.28129692e-03 8.51461236e-05 2.26420782e-01] [-5.28100318e-03 9.99981114e-01 -3.14362929e-03 -1.81252322e-01] [-1.01746955e-04 3.14313578e-03 9.99995055e-01 6.85713510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96255784399999 meters 0.29177011367240413 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.18, Z:0.68 [[ 9.99987118e-01 5.07569870e-03 -2.40093374e-05 2.27136655e-01] [-5.07575287e-03 9.99980218e-01 -3.71487570e-03 -1.78926510e-01] [ 5.15327271e-06 3.71494971e-03 9.99993100e-01 6.84614960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02255784399999 meters 0.29271671286225515 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99999664e-01 4.92864060e-04 6.54304645e-04 2.50732103e-01] [-4.92707443e-04 9.99999850e-01 -2.39503741e-04 -1.73817849e-01] [-6.54422589e-04 2.39181280e-04 9.99999757e-01 6.83596297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082557844 meters 0.2927361728775564 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99999708e-01 3.27517298e-04 6.90599956e-04 2.50513998e-01] [-3.27076440e-04 9.99999743e-01 -6.38385688e-04 -1.72073880e-01] [-6.90808861e-04 6.38159622e-04 9.99999558e-01 6.83822507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142557844 meters 0.29219391453862253 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99999333e-01 3.49747126e-04 1.10086663e-03 2.49213506e-01] [-3.49078649e-04 9.99999755e-01 -6.07361905e-04 -1.72054782e-01] [-1.10107878e-03 6.06977211e-04 9.99999210e-01 6.84519242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202557844 meters 0.29216791375051177 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.69 [[ 9.99999171e-01 3.49777925e-04 1.23908104e-03 2.48633778e-01] [-3.49008812e-04 9.99999746e-01 -6.20874361e-04 -1.71963171e-01] [-1.23929790e-03 6.20441397e-04 9.99999040e-01 6.85125924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26255784399999 meters 0.2910992527916433 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.17, Z:0.68 [[ 9.99997574e-01 -5.30545087e-04 2.13779977e-03 2.10131445e-01] [ 5.29517602e-04 9.99999744e-01 4.81165093e-04 -1.73184347e-01] [-2.13805450e-03 -4.80031924e-04 9.99997599e-01 6.81567822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32255784399999 meters 0.29295165744749097 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99998782e-01 3.60309643e-04 1.51870170e-03 2.48341457e-01] [-3.58832462e-04 9.99999462e-01 -9.72820765e-04 -1.68401688e-01] [-1.51905141e-03 9.72274621e-04 9.99998374e-01 6.84971606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38255784399999 meters 0.29328905836625135 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.69 [[ 9.99998932e-01 4.17341508e-04 1.40056622e-03 2.48582854e-01] [-4.16214263e-04 9.99999589e-01 -8.05044407e-04 -1.69106715e-01] [-1.40090162e-03 8.04460612e-04 9.99998695e-01 6.85132850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44255784399999 meters 0.2928507141875326 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.69 [[ 9.99999037e-01 6.01957302e-04 1.25009407e-03 2.49029226e-01] [-6.01649391e-04 9.99999789e-01 -2.46672055e-04 -1.71463206e-01] [-1.25024229e-03 2.45919699e-04 9.99999188e-01 6.85005963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502557844 meters 0.29170970504304033 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99999177e-01 7.44892048e-04 1.04415259e-03 2.49654741e-01] [-7.45059012e-04 9.99999710e-01 1.59524454e-04 -1.73248920e-01] [-1.04403346e-03 -1.60302278e-04 9.99999442e-01 6.84777135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562557844 meters 0.29232433728948687 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99999221e-01 8.67150833e-04 8.97945309e-04 2.50367173e-01] [-8.67580023e-04 9.99999510e-01 4.77689405e-04 -1.74749982e-01] [-8.97530639e-04 -4.78468073e-04 9.99999483e-01 6.83975829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62255784399999 meters 0.2926664714984515 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.68 [[ 9.99999047e-01 1.03275092e-03 9.15715140e-04 2.50024180e-01] [-1.03356511e-03 9.99999071e-01 8.89112979e-04 -1.76490231e-01] [-9.14796057e-04 -8.90058583e-04 9.99999185e-01 6.84672465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68255784399999 meters 0.2918352598498634 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.68 [[ 0.99999868 0.00126314 0.00101753 0.2497569 ] [-0.00126461 0.99999816 0.00144555 -0.17886867] [-0.0010157 -0.00144683 0.99999844 0.68470307] [ 0. 0. 0. 1. ]] SLAMing on 70.74255784399999 meters 0.29311940167694495 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.68 [[ 9.99998458e-01 1.44229768e-03 1.00201677e-03 2.49762314e-01] [-1.44417565e-03 9.99997197e-01 1.87600150e-03 -1.80718724e-01] [-9.99308205e-04 -1.87744569e-03 9.99997738e-01 6.84801227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80255784399999 meters 0.29294310367827275 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.68 [[ 0.99999838 0.00145483 0.00106107 0.24960421] [-0.00145686 0.9999971 0.00191602 -0.18086558] [-0.00105828 -0.00191756 0.9999976 0.68482631] [ 0. 0. 0. 1. ]] SLAMing on 70.862557844 meters 0.29268524148363556 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 0.99999812 0.00157949 0.0011262 0.24916348] [-0.00158199 0.99999628 0.00222305 -0.18213961] [-0.00112269 -0.00222483 0.99999689 0.68544809] [ 0. 0. 0. 1. ]] SLAMing on 70.922557844 meters 0.2922478968304259 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 0.99999789 0.00168022 0.00118144 0.24891423] [-0.00168315 0.9999955 0.00248344 -0.1832343 ] [-0.00117726 -0.00248542 0.99999622 0.68570915] [ 0. 0. 0. 1. ]] SLAMing on 70.982557844 meters 0.29299422627548877 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 0.99999799 0.0016661 0.00111866 0.24936298] [-0.00166884 0.99999561 0.00244891 -0.18314745] [-0.00111458 -0.00245077 0.99999638 0.68502559] [ 0. 0. 0. 1. ]] SLAMing on 71.04255784399999 meters 0.2939508318300152 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 0.999998 0.00164727 0.00113144 0.24924197] [-0.00164998 0.99999576 0.0024007 -0.18292223] [-0.00112748 -0.00240256 0.99999648 0.68521949] [ 0. 0. 0. 1. ]] SLAMing on 71.10255784399999 meters 0.29199700893815494 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.18, Z:0.68 [[ 9.99998219e-01 8.30529243e-05 1.88549959e-03 2.10430757e-01] [-8.87672527e-05 9.99995403e-01 3.03078937e-03 -1.84115814e-01] [-1.88523921e-03 -3.03095134e-03 9.99993630e-01 6.82022438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16255784399999 meters 0.29363552700136575 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997406e-01 7.57353929e-04 2.14788541e-03 2.47148733e-01] [-7.60887757e-04 9.99998358e-01 1.64491938e-03 -1.79696855e-01] [-2.14663610e-03 -1.64654942e-03 9.99996340e-01 6.85883050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222557844 meters 0.2930817584692899 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997486e-01 6.19647637e-04 2.15514224e-03 2.47198019e-01] [-6.22425769e-04 9.99998976e-01 1.28863940e-03 -1.78186458e-01] [-2.15434153e-03 -1.28997758e-03 9.99996847e-01 6.85709992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282557844 meters 0.2927284150277481 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997673e-01 5.09764178e-04 2.09609491e-03 2.47519954e-01] [-5.11860601e-04 9.99999369e-01 9.99741548e-04 -1.76978795e-01] [-2.09558395e-03 -1.00081213e-03 9.99997303e-01 6.85283819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342557844 meters 0.291643646823304 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997739e-01 4.93583617e-04 2.06855947e-03 2.47669768e-01] [-4.95565975e-04 9.99999418e-01 9.57924835e-04 -1.76819474e-01] [-2.06808545e-03 -9.58947777e-04 9.99997402e-01 6.85094883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40255784399999 meters 0.2925478248579002 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997772e-01 6.56365145e-04 2.00637342e-03 2.47723539e-01] [-6.59215237e-04 9.99998774e-01 1.42018813e-03 -1.78750843e-01] [-2.00543880e-03 -1.42150760e-03 9.99996979e-01 6.85360568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46255784399999 meters 0.2939271468855466 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.18, Z:0.69 [[ 9.99997686e-01 2.14672144e-03 1.37750859e-04 2.89794039e-01] [-2.14682216e-03 9.99997425e-01 7.35209534e-04 -1.75720821e-01] [-1.36172214e-04 -7.35503559e-04 9.99999720e-01 6.86837101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52255784399999 meters 0.29480445694917234 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.18, Z:0.69 [[ 9.99997807e-01 2.08937116e-03 1.46521893e-04 2.89914245e-01] [-2.08945664e-03 9.99997646e-01 5.85629851e-04 -1.75107740e-01] [-1.45297950e-04 -5.85934718e-04 9.99999818e-01 6.86505804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582557844 meters 0.29189521301776883 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99997905e-01 4.30731114e-04 2.00094066e-03 2.46690523e-01] [-4.33522796e-04 9.99998933e-01 1.39496069e-03 -1.78504250e-01] [-2.00033767e-03 -1.39582522e-03 9.99997025e-01 6.86647532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642557844 meters 0.29225866545332474 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.18, Z:0.69 [[ 9.99998123e-01 6.64886667e-04 1.82000213e-03 2.47103496e-01] [-6.68770782e-04 9.99997499e-01 2.13435046e-03 -1.81549288e-01] [-1.81857847e-03 -2.13556362e-03 9.99996066e-01 6.86801679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702557844 meters 0.29442943093099055 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.18, Z:0.68 [[ 9.99984964e-01 9.67144204e-04 5.39776526e-03 2.92747799e-01] [-9.71154425e-04 9.99999254e-01 7.40369431e-04 -1.80931751e-01] [-5.39704519e-03 -7.45600362e-04 9.99985158e-01 6.82944515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76255784399999 meters 0.2937043626540358 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.18, Z:0.69 [[ 0.99997471 0.00685339 0.00189957 0.27010184] [-0.00684968 0.99997464 -0.00195028 -0.1759926 ] [-0.00191288 0.00193721 0.99999629 0.68546238] [ 0. 0. 0. 1. ]] SLAMing on 71.82255784399999 meters 0.2933171771118349 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99996315e-01 -2.56553261e-03 -8.88224690e-04 2.52808685e-01] [ 2.56427335e-03 9.99995710e-01 -1.41597244e-03 -1.70321097e-01] [ 8.91853603e-04 1.41368958e-03 9.99998603e-01 6.84546788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88255784399999 meters 0.29474277146772715 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99996159e-01 -2.62386785e-03 -8.93297908e-04 2.52735965e-01] [ 2.62246457e-03 9.99995331e-01 -1.56846079e-03 -1.69655289e-01] [ 8.97409171e-04 1.56611213e-03 9.99998371e-01 6.84738020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94255784399999 meters 0.2947195756540228 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99996088e-01 -2.67583044e-03 -8.14361057e-04 2.52487551e-01] [ 2.67442799e-03 9.99994947e-01 -1.71840012e-03 -1.69013513e-01] [ 8.18955090e-04 1.71621545e-03 9.99998192e-01 6.84850198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002557844 meters 0.29482699223698366 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 9.99996101e-01 -2.62783807e-03 -9.44314520e-04 2.52776521e-01] [ 2.62633089e-03 9.99995281e-01 -1.59376821e-03 -1.69541380e-01] [ 9.48498228e-04 1.59128192e-03 9.99998284e-01 6.84938590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062557844 meters 0.2951469048321056 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.17, Z:0.68 [[ 0.99999591 -0.00267317 -0.00101715 0.25298127] [ 0.00267143 0.99999497 -0.00171047 -0.16905699] [ 0.00102172 0.00170775 0.99999802 0.68490065] [ 0. 0. 0. 1. ]] SLAMing on 72.12255784399999 meters 0.293273134114033 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.17, Z:0.69 [[ 9.99983587e-01 5.64589970e-03 -9.74018216e-04 2.29898119e-01] [-5.64828864e-03 9.99981004e-01 -2.46760464e-03 -1.70038379e-01] [ 9.60067865e-04 2.47306568e-03 9.99996481e-01 6.85846129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18255784399999 meters 0.29361231003621113 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.69 [[ 9.99998418e-01 -1.77621957e-03 -9.75424272e-05 2.48067072e-01] [ 1.77606228e-03 9.99997159e-01 -1.58964645e-03 -1.61381930e-01] [ 1.00365711e-04 1.58947069e-03 9.99998732e-01 6.87643214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24255784399999 meters 0.294772814572203 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.68 [[ 9.99999343e-01 1.13973784e-04 -1.14058473e-03 2.53625108e-01] [-1.13720002e-04 9.99999969e-01 2.22564713e-04 -1.62360137e-01] [ 1.14061007e-03 -2.22434859e-04 9.99999325e-01 6.83643362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30255784399999 meters 0.2947218101070156 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.16, Z:0.68 [[ 9.99999314e-01 1.43040439e-05 -1.17109318e-03 2.53821734e-01] [-1.43468194e-05 9.99999999e-01 -3.65177408e-05 -1.61293571e-01] [ 1.17109266e-03 3.65345173e-05 9.99999314e-01 6.83361762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362557844 meters 0.29397154038741613 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.16, Z:0.68 [[ 9.99999259e-01 6.50640153e-05 -1.21581999e-03 2.15988034e-01] [-6.37614523e-05 9.99999424e-01 1.07135334e-03 -1.58979249e-01] [ 1.21588899e-03 -1.07127502e-03 9.99998687e-01 6.80230068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422557844 meters 0.29501386557987164 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:0.68 [[ 9.99998502e-01 1.51373750e-03 -8.39497164e-04 2.51564519e-01] [-1.51387016e-03 9.99998842e-01 -1.57406969e-04 -1.50268288e-01] [ 8.39257919e-04 1.58677623e-04 9.99999635e-01 6.84831961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.482557844 meters 0.2934551169141831 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.68 [[ 9.99999219e-01 1.84942627e-04 1.23609682e-03 2.09068652e-01] [-1.84959690e-04 9.99999983e-01 1.36897023e-05 -1.49585033e-01] [-1.23609426e-03 -1.39183197e-05 9.99999236e-01 6.83244567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54255784399999 meters 0.29450321529451895 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.68 [[ 9.99999318e-01 -1.48685719e-04 1.15797776e-03 2.09660347e-01] [ 1.49699813e-04 9.99999605e-01 -8.75708407e-04 -1.45845424e-01] [-1.15784710e-03 8.75881160e-04 9.99998946e-01 6.82391879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60255784399999 meters 0.29521772737543023 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.68 [[ 0.99998377 -0.00469488 0.0032265 0.23313043] [ 0.00468663 0.99998574 0.00256048 -0.14265491] [-0.00323847 -0.00254532 0.99999152 0.68079881] [ 0. 0. 0. 1. ]] SLAMing on 72.66255784399999 meters 0.29461410048961373 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.68 [[ 0.99998294 -0.00488723 0.00319783 0.23338959] [ 0.00488062 0.99998594 0.00207262 -0.1405842 ] [-0.00320792 -0.00205697 0.99999274 0.68036184] [ 0. 0. 0. 1. ]] SLAMing on 72.722557844 meters 0.2955785517556121 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.14, Z:0.68 [[ 0.9999826 -0.00496592 0.00318576 0.23377406] [ 0.00495999 0.99998596 0.00186706 -0.13977456] [-0.00319499 -0.00185123 0.99999318 0.67952889] [ 0. 0. 0. 1. ]] SLAMing on 72.782557844 meters 0.2939939635065769 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.68 [[ 9.99995394e-01 2.61905041e-03 1.53388190e-03 2.15048279e-01] [-2.61962498e-03 9.99996499e-01 3.72698132e-04 -1.42884480e-01] [-1.53290041e-03 -3.76714611e-04 9.99998754e-01 6.78758550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842557844 meters 0.2969809312923275 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.68 [[ 0.99999404 -0.00233257 0.00254398 0.23956557] [ 0.00232337 0.99999077 0.00361511 -0.13955711] [-0.00255239 -0.00360918 0.99999023 0.67675346] [ 0. 0. 0. 1. ]] SLAMing on 72.90255784399999 meters 0.2953749075756522 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.68 [[ 0.99999265 -0.0025437 0.00286943 0.23851344] [ 0.00253518 0.99999238 0.00296852 -0.1366706 ] [-0.00287696 -0.00296123 0.99999148 0.67721446] [ 0. 0. 0. 1. ]] SLAMing on 72.96255784399999 meters 0.2952141640938026 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:0.68 [[ 0.99999188 -0.00275978 0.0029365 0.23840768] [ 0.00275263 0.99999325 0.00243515 -0.13439725] [-0.0029432 -0.00242704 0.99999272 0.67700382] [ 0. 0. 0. 1. ]] SLAMing on 73.02255784399999 meters 0.29353976332430204 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.14, Z:0.68 [[ 9.99992201e-01 2.73196002e-03 2.85196330e-03 2.14312338e-01] [-2.73016034e-03 9.99996072e-01 -6.34732225e-04 -1.37792856e-01] [-2.85368616e-03 6.26940958e-04 9.99995732e-01 6.78640532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082557844 meters 0.29496299145765514 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:0.68 [[ 9.99976799e-01 -5.91741892e-03 3.37411903e-03 2.37374780e-01] [ 5.91843524e-03 9.99982443e-01 -2.91304672e-04 -1.36765560e-01] [-3.37233602e-03 3.11267418e-04 9.99994265e-01 6.77781089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142557844 meters 0.29416537735232917 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.68 [[ 0.99999349 0.00180682 0.00312293 0.21840406] [-0.00180288 0.99999758 -0.00126382 -0.14320026] [-0.00312521 0.00125819 0.99999432 0.67628318] [ 0. 0. 0. 1. ]] SLAMing on 73.202557844 meters 0.2947679986585198 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.68 [[ 0.99999344 0.00179127 0.00314727 0.2184243 ] [-0.00178716 0.99999755 -0.00130858 -0.14303803] [-0.0031496 0.00130294 0.99999419 0.67608921] [ 0. 0. 0. 1. ]] SLAMing on 73.26255784399999 meters 0.29637396181525255 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.68 [[ 0.9999943 0.00160508 0.00297156 0.21913736] [-0.00159943 0.99999691 -0.00190381 -0.14069469] [-0.00297461 0.00189905 0.99999377 0.67531876] [ 0. 0. 0. 1. ]] SLAMing on 73.32255784399999 meters 0.2960096830527358 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.67 [[ 0.9999948 0.00130057 0.00295182 0.21935302] [-0.00129178 0.99999474 -0.00297493 -0.13637121] [-0.00295567 0.00297111 0.99999122 0.67495948] [ 0. 0. 0. 1. ]] SLAMing on 73.38255784399999 meters 0.29505615586026035 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.68 [[ 0.99995532 -0.00900212 0.00288603 0.19644735] [ 0.00901126 0.99995438 -0.00316937 -0.13382247] [-0.00285737 0.00319523 0.99999081 0.67553255] [ 0. 0. 0. 1. ]] SLAMing on 73.44255784399999 meters 0.29655452052965425 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.14, Z:0.67 [[ 0.99998943 0.00178948 0.00423527 0.21795553] [-0.00177813 0.99999482 -0.00268215 -0.13529795] [-0.00424005 0.00267459 0.99998743 0.67439913] [ 0. 0. 0. 1. ]] SLAMing on 73.502557844 meters 0.29394034336573954 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.14, Z:0.67 [[ 9.99992751e-01 6.01249012e-04 3.75991971e-03 1.81421026e-01] [-5.91901361e-04 9.99996733e-01 -2.48674925e-03 -1.36880374e-01] [-3.76140258e-03 2.48450572e-03 9.99989839e-01 6.70212302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562557844 meters 0.2951736771390284 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.67 [[ 0.99997772 -0.00391202 0.00540906 0.20426209] [ 0.00390533 0.9999916 0.00124796 -0.13346934] [-0.00541389 -0.0012268 0.99998459 0.66946575] [ 0. 0. 0. 1. ]] SLAMing on 73.62255784399999 meters 0.29546660108721107 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.67 [[ 0.99997808 -0.0039908 0.00528268 0.20460266] [ 0.0039853 0.99999151 0.00105168 -0.13263813] [-0.00528683 -0.00103061 0.99998549 0.66941926] [ 0. 0. 0. 1. ]] SLAMing on 73.68255784399999 meters 0.2951382991767271 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.67 [[ 9.99976640e-01 -4.22402399e-03 5.37381145e-03 2.04104653e-01] [ 4.22165569e-03 9.99990987e-01 4.51978250e-04 -1.29931500e-01] [-5.37567218e-03 -4.29281310e-04 9.99985459e-01 6.69855657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74255784399999 meters 0.29520910630184843 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.13, Z:0.67 [[ 9.99976404e-01 -4.26059701e-03 5.38872396e-03 2.03817288e-01] [ 4.25875039e-03 9.99990869e-01 3.54109803e-04 -1.29474544e-01] [-5.39018347e-03 -3.31152217e-04 9.99985418e-01 6.70451491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80255784399999 meters 0.29355842655157727 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.12, Z:0.67 [[ 0.9999956 0.00264568 0.00133969 0.18173166] [-0.00264351 0.99999519 -0.00162113 -0.12207054] [-0.00134397 0.00161758 0.99999779 0.67312785] [ 0. 0. 0. 1. ]] SLAMing on 73.862557844 meters 0.295743295817329 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:0.67 [[ 9.99985371e-01 5.40895933e-03 6.43669995e-06 2.22287322e-01] [-5.40893770e-03 9.99983608e-01 -1.87803654e-03 -1.12625711e-01] [-1.65948177e-05 1.87797425e-03 9.99998236e-01 6.74962211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922557844 meters 0.29496732489800287 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:0.68 [[ 9.99998820e-01 -1.31734065e-03 -7.90412312e-04 1.99563526e-01] [ 1.31764979e-03 9.99999056e-01 3.90715687e-04 -1.04452735e-01] [ 7.89896860e-04 -3.91756712e-04 9.99999611e-01 6.75342578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.982557844 meters 0.2960841995230795 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99999819e-01 -4.80865958e-04 3.61921543e-04 2.33437861e-01] [ 4.81032667e-04 9.99999778e-01 -4.60675465e-04 -9.50868055e-02] [-3.61699940e-04 4.60849478e-04 9.99999828e-01 6.80306158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04255784399999 meters 0.29603521185914594 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99999775e-01 -6.70000250e-04 2.92532296e-05 2.34722110e-01] [ 6.70027157e-04 9.99999343e-01 -9.29686156e-04 -9.34130030e-02] [-2.86303205e-05 9.29705547e-04 9.99999567e-01 6.79151667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10255784399999 meters 0.29508428117970165 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.68 [[ 9.99999694e-01 -6.94719249e-04 -3.58357209e-04 2.35860734e-01] [ 6.94364305e-04 9.99999269e-01 -9.89649467e-04 -9.32725078e-02] [ 3.59044476e-04 9.89400334e-04 9.99999446e-01 6.78632031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16255784399999 meters 0.29383386345172685 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.68 [[ 9.99999783e-01 -6.31606003e-04 -1.87788489e-04 2.35067476e-01] [ 6.31455379e-04 9.99999480e-01 -8.01074026e-04 -9.40153856e-02] [ 1.88294354e-04 8.00955272e-04 9.99999662e-01 6.79640568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222557844 meters 0.295399681870489 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99999945e-01 1.49214468e-04 -2.97457121e-04 2.72322998e-01] [-1.49466179e-04 9.99999631e-01 -8.46368742e-04 -9.38891800e-02] [ 2.97330721e-04 8.46413155e-04 9.99999598e-01 6.83867699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282557844 meters 0.2959982868053845 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99999796e-01 1.21939239e-04 -6.26531679e-04 2.73617411e-01] [-1.22503240e-04 9.99999587e-01 -9.00236217e-04 -9.36997639e-02] [ 6.26421646e-04 9.00312785e-04 9.99999399e-01 6.82497687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342557844 meters 0.2957683374509522 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99999831e-01 -6.24113733e-07 -5.81601832e-04 2.73368225e-01] [-1.37166568e-07 9.99999143e-01 -1.30893629e-03 -9.20652193e-02] [ 5.81602150e-04 1.30893615e-03 9.99998974e-01 6.82801207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40255784399999 meters 0.29438176306630615 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99999919e-01 -4.80731947e-05 -3.99213383e-04 2.72881224e-01] [ 4.74964190e-05 9.99998955e-01 -1.44466420e-03 -9.14752067e-02] [ 3.99282415e-04 1.44464512e-03 9.99998877e-01 6.82848188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46255784399999 meters 0.2953035562899511 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99999846e-01 1.04174263e-04 -5.45880722e-04 2.73312034e-01] [-1.04733102e-04 9.99999470e-01 -1.02380896e-03 -9.32844528e-02] [ 5.45773778e-04 1.02386597e-03 9.99999327e-01 6.82767785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52255784399999 meters 0.29611026791140255 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999927e-01 3.23022980e-04 -2.04177625e-04 2.72044938e-01] [-3.23080587e-04 9.99999908e-01 -2.82173932e-04 -9.62762508e-02] [ 2.04086457e-04 2.82239878e-04 9.99999939e-01 6.83989620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582557844 meters 0.29518829686063375 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999655e-01 5.71715835e-04 -6.02831842e-04 2.73341237e-01] [-5.71349355e-04 9.99999652e-01 6.07928131e-04 -1.00107167e-01] [ 6.03179194e-04 -6.07583493e-04 9.99999634e-01 6.83379763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters 0.2938012854633637 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999443e-01 8.12204531e-04 -6.74423525e-04 2.73521621e-01] [-8.11382175e-04 9.99998928e-01 1.21872631e-03 -1.02732730e-01] [ 6.75412657e-04 -1.21817842e-03 9.99999030e-01 6.83431161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702557844 meters 0.2934567763351914 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999437e-01 8.79038840e-04 -5.94826607e-04 2.73232653e-01] [-8.78211762e-04 9.99998649e-01 1.38928808e-03 -1.03437337e-01] [ 5.96047042e-04 -1.38876492e-03 9.99998858e-01 6.83639467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76255784399999 meters 0.29372940526788094 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99999220e-01 1.05693788e-03 -6.65243808e-04 2.73445650e-01] [-1.05573982e-03 9.99997825e-01 1.79871512e-03 -1.05227152e-01] [ 6.67143492e-04 -1.79801139e-03 9.99998161e-01 6.83621848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82255784399999 meters 0.2939912270663391 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999241e-01 9.76511751e-04 -7.51501655e-04 2.73763095e-01] [-9.75314068e-04 9.99998256e-01 1.59243999e-03 -1.04368636e-01] [ 7.53055381e-04 -1.59170583e-03 9.99998450e-01 6.83376880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88255784399999 meters 0.29358581941341644 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999384e-01 8.89596355e-04 -6.64015298e-04 2.73693345e-01] [-8.88685693e-04 9.99998666e-01 1.37048462e-03 -1.03433077e-01] [ 6.65233591e-04 -1.36989367e-03 9.99998840e-01 6.83016774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94255784399999 meters 0.2957922701151413 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99999240e-01 9.64735196e-04 -7.67391612e-04 2.74165462e-01] [-9.63523677e-04 9.99998291e-01 1.57755439e-03 -1.04371194e-01] [ 7.68912223e-04 -1.57681379e-03 9.99998461e-01 6.82567006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002557844 meters 0.29469798403196634 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99999020e-01 1.11703001e-03 -8.44527707e-04 2.74291723e-01] [-1.11531898e-03 9.99997330e-01 2.02378641e-03 -1.06235017e-01] [ 8.46786083e-04 -2.02284251e-03 9.99997596e-01 6.82739421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062557844 meters 0.2939953623022063 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99999132e-01 1.04014334e-03 -8.09082890e-04 2.74043542e-01] [-1.03865543e-03 9.99997773e-01 1.83725869e-03 -1.05393692e-01] [ 8.10992100e-04 -1.83641673e-03 9.99997985e-01 6.83045892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12255784399999 meters 0.2938692702524942 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.68 [[ 0.99997834 0.0061474 -0.00235036 0.25215185] [-0.00615236 0.99997884 -0.00211259 -0.10639601] [ 0.00233732 0.002127 0.99999501 0.68358608] [ 0. 0. 0. 1. ]] SLAMing on 75.18255784399999 meters 0.2947027413670675 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 0.99999075 -0.0018189 -0.00389889 0.27338104] [ 0.00181394 0.99999754 -0.00127478 -0.10073367] [ 0.0039012 0.00126769 0.99999159 0.6842573 ] [ 0. 0. 0. 1. ]] SLAMing on 75.24255784399999 meters 0.29472086022034555 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 0.99999083 -0.00192705 -0.0038254 0.27298814] [ 0.00192114 0.99999696 -0.00154632 -0.09952131] [ 0.00382837 0.00153896 0.99999149 0.68466293] [ 0. 0. 0. 1. ]] SLAMing on 75.30255784399999 meters 0.2936947573211116 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 0.99999106 -0.00183681 -0.00380996 0.27291041] [ 0.00183178 0.99999744 -0.00132483 -0.10047397] [ 0.00381238 0.00131783 0.99999186 0.6847501 ] [ 0. 0. 0. 1. ]] SLAMing on 75.362557844 meters 0.29317772459733904 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.69 [[ 0.99999185 -0.00192726 -0.00354866 0.27211098] [ 0.00192159 0.99999687 -0.00160138 -0.0992452 ] [ 0.00355174 0.00159455 0.99999242 0.68503209] [ 0. 0. 0. 1. ]] SLAMing on 75.422557844 meters 0.29186366607607456 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.68 [[ 0.99996794 0.00597782 -0.0053271 0.25157184] [-0.00599202 0.99997853 -0.00265427 -0.10108286] [ 0.00531112 0.0026861 0.99998229 0.68437692] [ 0. 0. 0. 1. ]] SLAMing on 75.482557844 meters 0.2923847048250778 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.99999195 -0.00194218 -0.00350981 0.26975646] [ 0.00193496 0.99999601 -0.00205789 -0.09281219] [ 0.0035138 0.00205108 0.99999172 0.68526575] [ 0. 0. 0. 1. ]] SLAMing on 75.54255784399999 meters 0.29315058678256517 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.99999141 -0.00217592 -0.00352848 0.2698457 ] [ 0.00216642 0.99999402 -0.00269631 -0.09013621] [ 0.00353433 0.00268865 0.99999014 0.68514196] [ 0. 0. 0. 1. ]] SLAMing on 75.60255784399999 meters 0.2928431918889717 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 0.99999131 -0.00239157 -0.00341336 0.26973171] [ 0.00238045 0.99999185 -0.00325973 -0.08778036] [ 0.00342112 0.00325157 0.99998886 0.68467891] [ 0. 0. 0. 1. ]] SLAMing on 75.66255784399999 meters 0.29309081026789235 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.9999911 -0.00252488 -0.00337986 0.26948766] [ 0.0025126 0.99999025 -0.00363078 -0.08622838] [ 0.00338899 0.00362226 0.9999877 0.68503215] [ 0. 0. 0. 1. ]] SLAMing on 75.722557844 meters 0.29074365530166846 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 0.9999901 -0.00348078 -0.0027736 0.22999069] [ 0.00347275 0.99998978 -0.00289572 -0.09071912] [ 0.00278365 0.00288606 0.99999196 0.68296566] [ 0. 0. 0. 1. ]] SLAMing on 75.782557844 meters 0.29291361424235374 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.99998863 -0.0027664 -0.00388418 0.27098198] [ 0.0027538 0.99999094 -0.00324684 -0.09010495] [ 0.00389313 0.0032361 0.99998719 0.68537568] [ 0. 0. 0. 1. ]] SLAMing on 75.842557844 meters 0.2934958754455652 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.99998824 -0.00258174 -0.00410499 0.27162736] [ 0.00257066 0.99999304 -0.00270284 -0.09239108] [ 0.00411194 0.00269226 0.99998792 0.68518376] [ 0. 0. 0. 1. ]] SLAMing on 75.90255784399999 meters 0.2918202492519852 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.68 [[ 0.99997464 0.00506933 -0.00500307 0.25330667] [-0.00508782 0.99998024 -0.00369149 -0.09990108] [ 0.00498426 0.00371685 0.99998067 0.68265437] [ 0. 0. 0. 1. ]] SLAMing on 75.96255784399999 meters 0.293663102612453 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 0.99997679 -0.00322335 -0.00600226 0.27494646] [ 0.00320747 0.99999133 -0.00265443 -0.09732655] [ 0.00601077 0.00263511 0.99997846 0.68403295] [ 0. 0. 0. 1. ]] SLAMing on 76.02255784399999 meters 0.2925361721871408 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.68 [[ 0.99996764 0.00459337 -0.00660524 0.2546613 ] [-0.00461635 0.99998333 -0.003467 -0.10308294] [ 0.00658921 0.00349738 0.99997217 0.68241007] [ 0. 0. 0. 1. ]] SLAMing on 76.082557844 meters 0.2922383561393236 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:0.68 [[ 0.99996742 0.00474928 -0.00652683 0.25470705] [-0.00476955 0.99998384 -0.00309402 -0.10468979] [ 0.00651203 0.00312505 0.99997391 0.68190461] [ 0. 0. 0. 1. ]] SLAMing on 76.142557844 meters 0.29406306226920126 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99993051e-01 -7.08833493e-04 -3.66010840e-03 2.76071001e-01] [ 7.09950610e-04 9.99999702e-01 3.03924069e-04 -1.05643308e-01] [ 3.65989187e-03 -3.06520453e-04 9.99993256e-01 6.80542736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202557844 meters 0.291946737141877 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:0.68 [[ 0.99997662 0.0042502 -0.00535696 0.25197301] [-0.00426695 0.99998603 -0.00311969 -0.10775025] [ 0.00534363 0.00314247 0.99998079 0.68312549] [ 0. 0. 0. 1. ]] SLAMing on 76.26255784399999 meters 0.29363235852187325 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99999030e-01 -6.22302504e-04 -1.24629313e-03 2.72018643e-01] [ 6.22481636e-04 9.99999796e-01 1.43349469e-04 -1.07100338e-01] [ 1.24620367e-03 -1.44125125e-04 9.99999213e-01 6.82195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32255784399999 meters 0.2913884363356536 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.68 [[ 9.99999633e-01 -8.15988187e-04 2.62133526e-04 2.31369329e-01] [ 8.15587195e-04 9.99998503e-01 1.52620591e-03 -1.09127086e-01] [-2.63378499e-04 -1.52599155e-03 9.99998801e-01 6.80049219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38255784399999 meters 0.2927134706674469 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.68 [[ 9.99999689e-01 -7.41805604e-04 2.69437367e-04 2.31234229e-01] [ 7.41338607e-04 9.99998230e-01 1.72921282e-03 -1.09955867e-01] [-2.70719630e-04 -1.72901254e-03 9.99998469e-01 6.80354033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44255784399999 meters 0.29186631504962884 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.68 [[ 9.99999741e-01 -6.55729257e-04 2.96466115e-04 2.31120356e-01] [ 6.55146035e-04 9.99997859e-01 1.96308435e-03 -1.10928641e-01] [-2.97752732e-04 -1.96288961e-03 9.99998029e-01 6.80464420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502557844 meters 0.2930895756031398 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.11, Z:0.68 [[ 9.99999784e-01 -6.04899154e-04 2.57016199e-04 2.31303362e-01] [ 6.04359468e-04 9.99997623e-01 2.09472741e-03 -1.11497914e-01] [-2.58282687e-04 -2.09457162e-03 9.99997773e-01 6.80297316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562557844 meters 0.2920238142759869 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:0.68 [[ 0.99998294 0.00478929 -0.00334422 0.20987348] [-0.00479318 0.99998784 -0.0011576 -0.10847743] [ 0.00333864 0.00117361 0.99999374 0.68157754] [ 0. 0. 0. 1. ]] SLAMing on 76.62255784399999 meters 0.2922677375246769 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.11, Z:0.68 [[ 0.99998002 0.0046479 -0.00428363 0.21278832] [-0.00465614 0.99998733 -0.00191573 -0.1054484 ] [ 0.00427467 0.00193564 0.99998899 0.67933043] [ 0. 0. 0. 1. ]] SLAMing on 76.68255784399999 meters 0.29337661982925256 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.68 [[ 9.99997790e-01 7.36665126e-06 -2.10230706e-03 2.35026873e-01] [-4.52729010e-06 9.99999088e-01 1.35059455e-03 -9.98896151e-02] [ 2.10231509e-03 -1.35058205e-03 9.99996878e-01 6.78569771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74255784399999 meters 0.2924852216161934 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99998256e-01 -3.09812402e-04 -1.84186060e-03 2.34236336e-01] [ 3.10673013e-04 9.99999843e-01 4.66982784e-04 -9.61311832e-02] [ 1.84171563e-03 -4.67554186e-04 9.99998195e-01 6.78752436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80255784399999 meters 0.2925154163423085 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99998262e-01 -3.77750433e-04 -1.82598579e-03 2.34070996e-01] [ 3.78269335e-04 9.99999888e-01 2.83839290e-04 -9.53422510e-02] [ 1.82587837e-03 -2.84529511e-04 9.99998293e-01 6.79014842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862557844 meters 0.29238926268545234 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.68 [[ 9.99997337e-01 -4.07295289e-04 -2.27159896e-03 2.35230642e-01] [ 4.07806793e-04 9.99999892e-01 2.24714543e-04 -9.51764061e-02] [ 2.27150719e-03 -2.25640318e-04 9.99997395e-01 6.78805488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922557844 meters 0.29387488705083015 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.09, Z:0.68 [[ 9.99997030e-01 -4.30689907e-04 -2.39906066e-03 2.35568438e-01] [ 4.31077639e-04 9.99999894e-01 1.61103119e-04 -9.49294626e-02] [ 2.39899102e-03 -1.62136822e-04 9.99997109e-01 6.78757670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.982557844 meters 0.29192870328641823 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997641e-01 -3.31740219e-04 -2.14666279e-03 2.34516585e-01] [ 3.32675654e-04 9.99999850e-01 4.35419796e-04 -9.59684593e-02] [ 2.14651803e-03 -4.36132911e-04 9.99997601e-01 6.79917887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04255784399999 meters 0.29240620171604437 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997358e-01 -1.76311120e-04 -2.29170519e-03 2.34583208e-01] [ 1.78455104e-04 9.99999547e-01 9.35369943e-04 -9.79764426e-02] [ 2.29153924e-03 -9.35776438e-04 9.99996937e-01 6.80694134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10255784399999 meters 0.2922061182180987 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.68 [[ 9.99997000e-01 -4.15235705e-05 -2.44902740e-03 2.35445344e-01] [ 4.47732812e-05 9.99999119e-01 1.32689937e-03 -9.97816448e-02] [ 2.44897015e-03 -1.32700504e-03 9.99996121e-01 6.79533128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16255784399999 meters 0.29179884577243137 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997537e-01 -1.21408046e-04 -2.21607890e-03 2.34654562e-01] [ 1.23837160e-04 9.99999392e-01 1.09602696e-03 -9.87188508e-02] [ 2.21594449e-03 -1.09629870e-03 9.99996944e-01 6.79948638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222557844 meters 0.2926181022449941 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997709e-01 -2.81880053e-04 -2.12178529e-03 2.34245124e-01] [ 2.83098525e-04 9.99999795e-01 5.73988576e-04 -9.65762813e-02] [ 2.12162306e-03 -5.74587936e-04 9.99997584e-01 6.80348861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282557844 meters 0.2921020114559374 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997676e-01 -4.58222218e-04 -2.10683867e-03 2.34606592e-01] [ 4.58283928e-04 9.99999895e-01 2.88073676e-05 -9.43701889e-02] [ 2.10682525e-03 -2.97728309e-05 9.99997780e-01 6.79298963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342557844 meters 0.29214491412452964 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997683e-01 -6.74445567e-04 -2.04426493e-03 2.34329025e-01] [ 6.73330714e-04 9.99999624e-01 -5.45995768e-04 -9.19332150e-02] [ 2.04463240e-03 5.44618036e-04 9.99997761e-01 6.79512125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40255784399999 meters 0.29265325240924966 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997599e-01 -8.08921488e-04 -2.03642428e-03 2.34253154e-01] [ 8.07121106e-04 9.99999283e-01 -8.84756384e-04 -9.05005765e-02] [ 2.03713852e-03 8.83110619e-04 9.99997535e-01 6.79606039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46255784399999 meters 0.2920338620416136 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997760e-01 -8.66359019e-04 -1.93125752e-03 2.34136765e-01] [ 8.64384369e-04 9.99999103e-01 -1.02306882e-03 -8.99159941e-02] [ 1.93214214e-03 1.02139718e-03 9.99997612e-01 6.79242188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52255784399999 meters 0.2917070373362818 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997540e-01 -8.83443358e-04 -2.03441418e-03 2.34087196e-01] [ 8.81272080e-04 9.99999041e-01 -1.06792331e-03 -8.97064640e-02] [ 2.03535568e-03 1.06612781e-03 9.99997360e-01 6.79968517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582557844 meters 0.2915865965892081 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997441e-01 -9.18705281e-04 -2.06733457e-03 2.34185369e-01] [ 9.16312936e-04 9.99998910e-01 -1.15786187e-03 -8.93284681e-02] [ 2.06839605e-03 1.15596459e-03 9.99997193e-01 6.79935623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642557844 meters 0.29075675355053004 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997464e-01 -9.08024340e-04 -2.06108865e-03 2.34184115e-01] [ 9.05694717e-04 9.99998950e-01 -1.13093999e-03 -8.94461636e-02] [ 2.06211341e-03 1.12907040e-03 9.99997236e-01 6.79903144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702557844 meters 0.2919032295920441 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997192e-01 -7.28083545e-04 -2.25540158e-03 2.34614256e-01] [ 7.26707642e-04 9.99999549e-01 -6.10807234e-04 -9.16181629e-02] [ 2.25584528e-03 6.09166501e-04 9.99997270e-01 6.80130709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76255784399999 meters 0.2914607646971453 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.09, Z:0.68 [[ 9.99997346e-01 -5.20879004e-04 -2.24416169e-03 2.34624623e-01] [ 5.20789954e-04 9.99999864e-01 -4.02647969e-05 -9.39996350e-02] [ 2.24418236e-03 3.90959532e-05 9.99997481e-01 6.80028802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82255784399999 meters 0.2919488727124407 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997559e-01 -3.13369369e-04 -2.18713665e-03 2.34295446e-01] [ 3.14448640e-04 9.99999829e-01 4.93136553e-04 -9.62447164e-02] [ 2.18698174e-03 -4.93823091e-04 9.99997487e-01 6.80494534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88255784399999 meters 0.2915298546862158 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997148e-01 -3.54972917e-04 -2.36197424e-03 2.34975758e-01] [ 3.55871488e-04 9.99999864e-01 3.80022425e-04 -9.57872052e-02] [ 2.36183902e-03 -3.80861900e-04 9.99997138e-01 6.79823834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94255784399999 meters 0.2929853888972265 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.68 [[ 9.99996812e-01 -3.98923042e-04 -2.49342085e-03 2.35471125e-01] [ 3.99536028e-04 9.99999890e-01 2.45348424e-04 -9.52665952e-02] [ 2.49332270e-03 -2.46343853e-04 9.99996861e-01 6.79361818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002557844 meters 0.2928493353228263 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:0.68 [[ 9.99996762e-01 -3.68238361e-04 -2.51785263e-03 2.35415070e-01] [ 3.69056470e-04 9.99999879e-01 3.24466356e-04 -9.55893702e-02] [ 2.51773285e-03 -3.25394535e-04 9.99996778e-01 6.79639050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062557844 meters 0.2931407945316791 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99996945e-01 -2.47283137e-04 -2.45945061e-03 2.34907854e-01] [ 2.48960818e-04 9.99999737e-01 6.81853700e-04 -9.69085148e-02] [ 2.45928135e-03 -6.82463924e-04 9.99996743e-01 6.80568269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12255784399999 meters 0.29162299891740817 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997624e-01 -1.74581097e-04 -2.17305154e-03 2.33811184e-01] [ 1.76563081e-04 9.99999569e-01 9.11915548e-04 -9.78414898e-02] [ 2.17289140e-03 -9.12297061e-04 9.99997223e-01 6.81707938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18255784399999 meters 0.2914267032457074 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997512e-01 -2.82321556e-04 -2.21253341e-03 2.33960229e-01] [ 2.83761559e-04 9.99999748e-01 6.50551803e-04 -9.67350421e-02] [ 2.21234919e-03 -6.51178016e-04 9.99997341e-01 6.81590838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24255784399999 meters 0.292795315542856 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.68 [[ 9.99991388e-01 2.93605774e-04 -4.13984321e-03 2.75672797e-01] [-2.98966413e-04 9.99999118e-01 -1.29433013e-03 -8.93559647e-02] [ 4.13945954e-03 1.29555666e-03 9.99990593e-01 6.83136680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30255784399999 meters 0.2920528831909796 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.68 [[ 9.99991481e-01 2.17995091e-04 -4.12196082e-03 2.75214051e-01] [-2.24130813e-04 9.99998868e-01 -1.48814120e-03 -8.84265233e-02] [ 4.12163174e-03 1.48905238e-03 9.99990397e-01 6.84074069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362557844 meters 0.29291474036923865 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:0.68 [[ 9.99988013e-01 -4.89406688e-03 -1.45232555e-04 2.95255050e-01] [ 4.89433901e-03 9.99986147e-01 1.93662105e-03 -8.96426475e-02] [ 1.35752590e-04 -1.93730865e-03 9.99998114e-01 6.83347844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422557844 meters 0.2911247047594533 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997511e-01 4.63089198e-04 -2.18242535e-03 2.73775606e-01] [-4.66629135e-04 9.99998576e-01 -1.62178980e-03 -9.10459301e-02] [ 2.18167120e-03 1.62280415e-03 9.99996303e-01 6.83707800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482557844 meters 0.2922468640348168 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997476e-01 3.34418892e-04 -2.22163969e-03 2.73996797e-01] [-3.38864975e-04 9.99997940e-01 -2.00118675e-03 -8.94772063e-02] [ 2.22096588e-03 2.00193453e-03 9.99995530e-01 6.83400881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54255784399999 meters 0.29369092610598396 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997114e-01 3.46478038e-04 -2.37720586e-03 2.74307652e-01] [-3.51153055e-04 9.99998005e-01 -1.96646606e-03 -8.96245610e-02] [ 2.37651978e-03 1.96729514e-03 9.99995241e-01 6.83608409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60255784399999 meters 0.2937753785840173 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997542e-01 4.70357570e-04 -2.16675777e-03 2.73679820e-01] [-4.73933650e-04 9.99998526e-01 -1.65021133e-03 -9.09338839e-02] [ 2.16597839e-03 1.65123417e-03 9.99996291e-01 6.83852284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66255784399999 meters 0.2930568712481785 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997519e-01 5.68842076e-04 -2.15387234e-03 2.73669309e-01] [-5.71863778e-04 9.99998853e-01 -1.40255986e-03 -9.19829789e-02] [ 2.15307203e-03 1.40378810e-03 9.99996697e-01 6.83822713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722557844 meters 0.293345952915775 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997438e-01 5.12610150e-04 -2.20476563e-03 2.73877745e-01] [-5.16008611e-04 9.99998679e-01 -1.54112322e-03 -9.14001487e-02] [ 2.20397272e-03 1.54225695e-03 9.99996382e-01 6.83656570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782557844 meters 0.2930998573375305 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997388e-01 7.33029186e-04 -2.16470687e-03 2.73714278e-01] [-7.35174485e-04 9.99999239e-01 -9.90405113e-04 -9.37203879e-02] [ 2.16397922e-03 9.91993964e-04 9.99997167e-01 6.83801443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842557844 meters 0.29354683014469374 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 9.99997242e-01 7.77244723e-04 -2.21619608e-03 2.73828856e-01] [-7.79179008e-04 9.99999316e-01 -8.72065296e-04 -9.42143469e-02] [ 2.21551676e-03 8.73789704e-04 9.99997164e-01 6.83854139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90255784399999 meters 0.2932777365310461 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99996757e-01 8.71270226e-04 -2.39314443e-03 2.74307637e-01] [-8.72739878e-04 9.99999431e-01 -6.13133844e-04 -9.53146956e-02] [ 2.39260886e-03 6.15220448e-04 9.99996948e-01 6.83794970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96255784399999 meters 0.29283030830662093 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.68 [[ 9.99996653e-01 9.28947025e-04 -2.41465212e-03 2.74234842e-01] [-9.30099506e-04 9.99999454e-01 -4.76207438e-04 -9.58998885e-02] [ 2.41420843e-03 4.78451711e-04 9.99996971e-01 6.84073513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02255784399999 meters 0.29242021988513106 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.09, Z:0.68 [[ 0.99997308 -0.00516866 -0.00520883 0.25319829] [ 0.00518075 0.99998391 0.00230971 -0.09146635] [ 0.00519681 -0.00233663 0.99998377 0.68464992] [ 0. 0. 0. 1. ]] SLAMing on 79.082557844 meters 0.2923252290009879 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.68 [[ 0.99997905 0.00515659 -0.00391359 0.2756809 ] [-0.00514846 0.99998457 0.00208453 -0.08807753] [ 0.00392427 -0.00206434 0.99999017 0.68356937] [ 0. 0. 0. 1. ]] SLAMing on 79.142557844 meters 0.29315410003647063 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:0.68 [[ 0.99998005 0.00500411 -0.00385561 0.27550382] [-0.00499757 0.99998606 0.00170249 -0.08646921] [ 0.00386408 -0.00168319 0.99999112 0.68357699] [ 0. 0. 0. 1. ]] SLAMing on 79.202557844 meters 0.2932129629682964 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.68 [[ 0.99998096 0.00491801 -0.003728 0.27456521] [-0.00491276 0.99998693 0.00141431 -0.08541839] [ 0.00373491 -0.00139597 0.99999205 0.68499509] [ 0. 0. 0. 1. ]] SLAMing on 79.26255784399999 meters 0.2924154404395589 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.99998152 0.0050993 -0.00330877 0.27326465] [-0.00509296 0.99998519 0.00192127 -0.08724042] [ 0.00331852 -0.00190439 0.99999268 0.68568515] [ 0. 0. 0. 1. ]] SLAMing on 79.32255784399999 meters 0.2936571039185532 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.999981 0.00509214 -0.003473 0.27376451] [-0.00508502 0.99998496 0.00205463 -0.08800146] [ 0.00348341 -0.00203693 0.99999186 0.68548945] [ 0. 0. 0. 1. ]] SLAMing on 79.38255784399999 meters 0.29241372436275215 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 0.9999795 0.00522211 -0.00370478 0.27444599] [-0.00521307 0.99998342 0.00244702 -0.08962076] [ 0.00371749 -0.00242766 0.99999014 0.68519649] [ 0. 0. 0. 1. ]] SLAMing on 79.44255784399999 meters 0.29266225541513746 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.09, Z:0.69 [[ 9.99992422e-01 1.21590184e-03 -3.69839204e-03 2.73986438e-01] [-1.21910536e-03 9.99998884e-01 -8.64059908e-04 -9.37617423e-02] [ 3.69733729e-03 8.68562090e-04 9.99992788e-01 6.86229844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502557844 meters 0.2907474800663701 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.10, Z:0.68 [[ 9.99997793e-01 1.89183012e-04 -2.09235786e-03 2.33637909e-01] [-1.88429947e-04 9.99999917e-01 3.60103312e-04 -1.00252889e-01] [ 2.09242582e-03 -3.59708254e-04 9.99997746e-01 6.83849702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562557844 meters 0.2936666641025552 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.69 [[ 9.99998210e-01 2.89558243e-04 -1.86991363e-03 2.74148733e-01] [-2.90367799e-04 9.99999864e-01 -4.32680971e-04 -1.01836726e-01] [ 1.86978809e-03 4.33223160e-04 9.99998158e-01 6.85057569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62255784399999 meters 0.29265828200970717 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.69 [[ 9.99999044e-01 3.50041832e-04 -1.33783942e-03 2.72558250e-01] [-3.50477892e-04 9.99999886e-01 -3.25722502e-04 -1.02030729e-01] [ 1.33772525e-03 3.26191073e-04 9.99999052e-01 6.85949255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68255784399999 meters 0.2930561363387162 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:0.69 [[ 9.99998859e-01 4.17958636e-04 -1.45169632e-03 2.73030528e-01] [-4.18180668e-04 9.99999901e-01 -1.52645971e-04 -1.02800647e-01] [ 1.45163238e-03 1.53252868e-04 9.99998935e-01 6.85534747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74255784399999 meters 0.2932572428191961 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.69 [[ 9.99998739e-01 6.40894583e-04 -1.45293530e-03 2.73047775e-01] [-6.40259834e-04 9.99999699e-01 4.37296484e-04 -1.05249980e-01] [ 1.45321512e-03 -4.36365676e-04 9.99998849e-01 6.85527041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80255784399999 meters 0.29400014327938495 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.69 [[ 9.99998686e-01 7.73113154e-04 -1.42512202e-03 2.72883875e-01] [-7.71982806e-04 9.99999387e-01 7.93538361e-04 -1.06720838e-01] [ 1.42573464e-03 -7.92437148e-04 9.99998670e-01 6.85746645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862557844 meters 0.2935759990953391 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99998532e-01 8.62909845e-04 -1.48026014e-03 2.73366879e-01] [-8.61382093e-04 9.99999096e-01 1.03241073e-03 -1.07779047e-01] [ 1.48114968e-03 -1.03113414e-03 9.99998371e-01 6.84929577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922557844 meters 0.29268033805821386 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99998437e-01 8.42518340e-04 -1.55449817e-03 2.73745965e-01] [-8.40992705e-04 9.99999164e-01 9.81825021e-04 -1.07577848e-01] [ 1.55532408e-03 -9.80516165e-04 9.99998310e-01 6.84434277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.982557844 meters 0.29306794058564944 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99998390e-01 8.40363412e-04 -1.58551121e-03 2.73759271e-01] [-8.38811518e-04 9.99999169e-01 9.79208610e-04 -1.07560556e-01] [ 1.58633278e-03 -9.77877089e-04 9.99998264e-01 6.84592705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04255784399999 meters 0.2933250401934966 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99998396e-01 7.93587864e-04 -1.60554599e-03 2.74067085e-01] [-7.92211824e-04 9.99999319e-01 8.57509088e-04 -1.07089477e-01] [ 1.60622541e-03 -8.56235781e-04 9.99998343e-01 6.83980563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10255784399999 meters 0.29329884221855873 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99998868e-01 6.89854087e-04 -1.33739688e-03 2.73381002e-01] [-6.89205335e-04 9.99999645e-01 4.85485406e-04 -1.05578414e-01] [ 1.33773132e-03 -4.84563115e-04 9.99998988e-01 6.84054247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16255784399999 meters 0.2929265526900859 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.68 [[ 9.99999003e-01 6.46874449e-04 -1.25539616e-03 2.73125179e-01] [-6.46414929e-04 9.99999724e-01 3.66407229e-04 -1.05075415e-01] [ 1.25563283e-03 -3.65595356e-04 9.99999145e-01 6.84173060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222557844 meters 0.2950355184610653 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:0.69 [[ 9.99995070e-01 1.55978341e-03 -2.72530846e-03 3.13306407e-01] [-1.56073512e-03 9.99998722e-01 -3.47117075e-04 -1.02212054e-01] [ 2.72476355e-03 3.51368848e-04 9.99996226e-01 6.87193102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282557844 meters 0.29396898244691116 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:0.69 [[ 9.99994829e-01 1.63941488e-03 -2.76668747e-03 3.13199723e-01] [-1.63980119e-03 9.99998646e-01 -1.37368423e-04 -1.03058601e-01] [ 2.76645852e-03 1.41904530e-04 9.99996163e-01 6.87685444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342557844 meters 0.29399252899121064 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:0.69 [[ 9.99994886e-01 1.86074479e-03 -2.60094791e-03 3.12397630e-01] [-1.85938237e-03 9.99998133e-01 5.26137818e-04 -1.05796212e-01] [ 2.60192206e-03 -5.21298971e-04 9.99996479e-01 6.88761083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40255784399999 meters 0.29230408034009614 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.11, Z:0.69 [[ 9.99998537e-01 -6.87991338e-04 -1.56618892e-03 2.73258413e-01] [ 6.88676335e-04 9.99999667e-01 4.36868634e-04 -1.13505477e-01] [ 1.56588784e-03 -4.37946592e-04 9.99998678e-01 6.85808339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46255784399999 meters 0.2932237225282143 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:0.69 [[ 9.99998414e-01 -5.32850621e-04 -1.69938017e-03 2.73735167e-01] [ 5.34319125e-04 9.99999484e-01 8.63803688e-04 -1.15314612e-01] [ 1.69891902e-03 -8.64710329e-04 9.99998183e-01 6.85482775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52255784399999 meters 0.2930423693512462 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:0.69 [[ 9.99998522e-01 -1.34487523e-04 -1.71416311e-03 2.73467055e-01] [ 1.37573311e-04 9.99998370e-01 1.80018067e-03 -1.19207532e-01] [ 1.71391821e-03 -1.80041383e-03 9.99996910e-01 6.86056062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582557844 meters 0.2943214043997621 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.12, Z:0.68 [[ 9.99972186e-01 7.45826128e-03 3.15935146e-05 2.95488188e-01] [-7.45824326e-03 9.99972043e-01 -5.36610787e-04 -1.20620865e-01] [-3.55948148e-05 5.36360229e-04 9.99999856e-01 6.84457163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642557844 meters 0.29484879090400506 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.12, Z:0.68 [[ 9.99971733e-01 7.51587993e-03 2.12083198e-04 2.95074850e-01] [-7.51580019e-03 9.99971686e-01 -3.74315678e-04 -1.21266227e-01] [-2.14890505e-04 3.72711122e-04 9.99999907e-01 6.84355388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702557844 meters 0.2937897505162405 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:0.69 [[ 9.99992157e-01 -3.14789203e-03 -2.40347860e-03 2.73966899e-01] [ 3.14550260e-03 9.99994556e-01 -9.97288987e-04 -1.21017740e-01] [ 2.40660487e-03 9.89721017e-04 9.99996614e-01 6.86359290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76255784399999 meters 0.2930204589394748 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.12, Z:0.69 [[ 9.99991980e-01 -3.12685211e-03 -2.50251328e-03 2.74279227e-01] [ 3.12451644e-03 9.99994680e-01 -9.36694634e-04 -1.21279622e-01] [ 2.50542888e-03 9.28867977e-04 9.99996430e-01 6.86223087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82255784399999 meters 0.2946029194258924 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.12, Z:0.68 [[ 9.99989471e-01 4.56962482e-03 -4.19767727e-04 2.95878052e-01] [-4.57092223e-03 9.99984612e-01 -3.14365349e-03 -1.23325858e-01] [ 4.05395951e-04 3.14553912e-03 9.99994971e-01 6.84554169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88255784399999 meters 0.2928727273686014 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:0.69 [[ 9.99989654e-01 -2.50170328e-03 -3.79903869e-03 2.74111025e-01] [ 2.50189193e-03 9.99996869e-01 4.49071264e-05 -1.30983196e-01] [ 3.79891446e-03 -5.44114460e-05 9.99992783e-01 6.87441717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94255784399999 meters 0.2941104255765131 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.13, Z:0.69 [[ 9.99975288e-01 6.88553744e-03 -1.41862389e-03 2.94060788e-01] [-6.88615401e-03 9.99976198e-01 -4.30194415e-04 -1.33314427e-01] [ 1.41562801e-03 4.39952647e-04 9.99998901e-01 6.87489019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters 0.2933445429175732 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.13, Z:0.69 [[ 9.99988136e-01 -2.46710017e-03 -4.20010239e-03 2.75875185e-01] [ 2.46829590e-03 9.99996915e-01 2.79531778e-04 -1.31130237e-01] [ 4.19939980e-03 -2.89895557e-04 9.99991140e-01 6.86696483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062557844 meters 0.29172238155966607 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:0.68 [[ 0.9999912 -0.00236316 -0.00346597 0.23783371] [ 0.00237008 0.9999952 0.00199385 -0.13406061] [ 0.00346124 -0.00200205 0.99999201 0.68293899] [ 0. 0. 0. 1. ]] SLAMing on 81.12255784399999 meters 0.2930161456295254 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:0.68 [[ 9.99986252e-01 5.23980515e-03 -1.98581534e-04 2.58219483e-01] [-5.23990629e-03 9.99986140e-01 -5.12271925e-04 -1.30237662e-01] [ 1.95894576e-04 5.13305432e-04 9.99999849e-01 6.81764961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18255784399999 meters 0.2940229664641897 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.12, Z:0.68 [[ 9.99995850e-01 -2.39661485e-03 1.59912257e-03 2.77528753e-01] [ 2.39618520e-03 9.99997093e-01 2.70542559e-04 -1.24225441e-01] [-1.59976630e-03 -2.66709642e-04 9.99998685e-01 6.82184024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24255784399999 meters 0.2925699690002791 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.12, Z:0.68 [[ 9.99995066e-01 3.13474617e-03 -2.03702466e-04 2.53324445e-01] [-3.13536022e-03 9.99990318e-01 -3.08751069e-03 -1.21014302e-01] [ 1.94021932e-04 3.08813414e-03 9.99995213e-01 6.84816265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30255784399999 meters 0.29287980740773845 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99998345e-01 -1.54008193e-03 -9.68260049e-04 2.76894931e-01] [ 1.54022022e-03 9.99998804e-01 1.42094709e-04 -1.12518127e-01] [ 9.68040053e-04 -1.43585808e-04 9.99999521e-01 6.84011265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362557844 meters 0.29342620784207873 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99997982e-01 -1.79200240e-03 -9.08676835e-04 2.76919528e-01] [ 1.79153520e-03 9.99998263e-01 -5.14714668e-04 -1.09806609e-01] [ 9.09597626e-04 5.13085702e-04 9.99999455e-01 6.83564791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters 0.29282829624384216 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99997571e-01 -2.01954782e-03 -8.83350782e-04 2.76635464e-01] [ 2.01858460e-03 9.99997369e-01 -1.08995251e-03 -1.07367910e-01] [ 8.85549669e-04 1.08816674e-03 9.99999016e-01 6.84014518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters 0.293151125883957 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99997507e-01 -2.10355775e-03 -7.48626206e-04 2.76089022e-01] [ 2.10256952e-03 9.99996921e-01 -1.31840182e-03 -1.06377014e-01] [ 7.51397235e-04 1.31682449e-03 9.99998851e-01 6.84504232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54255784399999 meters 0.2906241730407183 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.11, Z:0.68 [[ 0.99997989 0.00528567 -0.00350581 0.25843144] [-0.00529524 0.99998226 -0.00272776 -0.1100453 ] [ 0.00349133 0.00274627 0.99999013 0.68277112] [ 0. 0. 0. 1. ]] SLAMing on 81.60255784399999 meters 0.29222972284300375 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99997616e-01 -9.29774100e-05 -2.18161757e-03 2.81583651e-01] [ 9.39209424e-05 9.99999902e-01 4.32393681e-04 -1.07265982e-01] [ 2.18157715e-03 -4.32597550e-04 9.99997527e-01 6.81284963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66255784399999 meters 0.29155990144904775 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:0.68 [[ 9.99997392e-01 -2.18548132e-04 -2.27320404e-03 2.81781828e-01] [ 2.18727374e-04 9.99999973e-01 7.86018515e-05 -1.05819963e-01] [ 2.27318680e-03 -7.90988585e-05 9.99997413e-01 6.81322309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722557844 meters 0.29454143161977925 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99988324e-01 2.97580178e-03 -3.80745335e-03 3.25143440e-01] [-2.97459734e-03 9.99995524e-01 3.21961471e-04 -9.58885661e-02] [ 3.80839441e-03 -3.10632071e-04 9.99992700e-01 6.80975222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782557844 meters 0.29394713672851525 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.68 [[ 9.99989638e-01 2.78234933e-03 -3.60316152e-03 3.24656418e-01] [-2.78321520e-03 9.99996099e-01 -2.35316461e-04 -9.35936782e-02] [ 3.60249273e-03 2.45342397e-04 9.99993481e-01 6.80848296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842557844 meters 0.29359775291300944 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.09, Z:0.68 [[ 9.99990582e-01 2.60670202e-03 -3.47003209e-03 3.24090584e-01] [-2.60918607e-03 9.99996343e-01 -7.11523594e-04 -9.15102495e-02] [ 3.46816467e-03 7.20570852e-04 9.99993726e-01 6.81348064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90255784399999 meters 0.2951341029915538 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:0.68 [[ 0.99999258 -0.0026851 -0.00276375 0.34735026] [ 0.00269127 0.99999389 0.00223059 -0.08413099] [ 0.00275774 -0.00223801 0.99999369 0.68048868] [ 0. 0. 0. 1. ]] SLAMing on 81.96255784399999 meters 0.2937359000559655 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99971811e-01 4.56708356e-03 -5.95984856e-03 3.29719150e-01] [-4.56449819e-03 9.99989483e-01 4.47329004e-04 -8.59579699e-02] [ 5.96182887e-03 -4.20112676e-04 9.99982140e-01 6.79231176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02255784399999 meters 0.2934265864801481 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99974364e-01 4.52903245e-03 -5.54607732e-03 3.28254463e-01] [-4.52744841e-03 9.99989707e-01 2.98136040e-04 -8.52374348e-02] [ 5.54737050e-03 -2.73018818e-04 9.99984576e-01 6.80449090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082557844 meters 0.2924001481253334 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99974966e-01 4.64667917e-03 -5.33629620e-03 3.27479278e-01] [-4.64316322e-03 9.99988995e-01 6.71073890e-04 -8.66607891e-02] [ 5.33935574e-03 -6.46279796e-04 9.99985537e-01 6.81195574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142557844 meters 0.292669493188229 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 0.99997052 0.00474422 -0.00603711 0.32942052] [-0.00473733 0.99998811 0.0011555 -0.08887817] [ 0.00604252 -0.00112687 0.99998111 0.68062095] [ 0. 0. 0. 1. ]] SLAMing on 82.202557844 meters 0.2921360030612941 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 0.99996969 0.004964 -0.00599773 0.32897642] [-0.00495335 0.99998613 0.00178952 -0.0914843 ] [ 0.00600653 -0.00175975 0.99998041 0.68145411] [ 0. 0. 0. 1. ]] SLAMing on 82.26255784399999 meters 0.29320271667176034 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 0.99999154 -0.00291461 -0.00290338 0.34838127] [ 0.00292251 0.99999203 0.00271977 -0.09086029] [ 0.00289543 -0.00272823 0.99999209 0.68184895] [ 0. 0. 0. 1. ]] SLAMing on 82.32255784399999 meters 0.2915362187317082 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99980076e-01 2.99217683e-03 -5.55831720e-03 3.26670977e-01] [-2.99163718e-03 9.99995519e-01 1.05400843e-04 -9.32973638e-02] [ 5.55860768e-03 -8.87702742e-05 9.99984547e-01 6.82964968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38255784399999 meters 0.29394057643108085 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99977692e-01 3.05294949e-03 -5.94102690e-03 3.27753115e-01] [-3.05133473e-03 9.99995305e-01 2.80844419e-04 -9.40373616e-02] [ 5.94185641e-03 -2.62710092e-04 9.99982313e-01 6.82572055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44255784399999 meters 0.2923029419295393 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 9.99977056e-01 3.09740839e-03 -6.02437530e-03 3.27987918e-01] [-3.09496229e-03 9.99995124e-01 4.15314505e-04 -9.45900003e-02] [ 6.02563233e-03 -3.96659762e-04 9.99981767e-01 6.82512328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502557844 meters 0.29294389470176635 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99978535e-01 3.16532144e-03 -5.73682463e-03 3.27085110e-01] [-3.16188945e-03 9.99994817e-01 6.07210936e-04 -9.53027847e-02] [ 5.73871692e-03 -5.89058697e-04 9.99983360e-01 6.83025408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562557844 meters 0.2936080077360113 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99977606e-01 3.25913578e-03 -5.84509544e-03 3.27350662e-01] [-3.25429378e-03 9.99994354e-01 8.37706631e-04 -9.62843793e-02] [ 5.84779264e-03 -8.18666214e-04 9.99982566e-01 6.83099587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62255784399999 meters 0.2941309917604309 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99977763e-01 3.31440469e-03 -5.78692710e-03 3.27232824e-01] [-3.30880938e-03 9.99994049e-01 9.76194194e-04 -9.68756744e-02] [ 5.79012817e-03 -9.57024648e-04 9.99982779e-01 6.83031720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68255784399999 meters 0.29243489744199685 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99978453e-01 3.31757963e-03 -5.66461024e-03 3.26627233e-01] [-3.31207231e-03 9.99994034e-01 9.81337958e-04 -9.68244643e-02] [ 5.66783210e-03 -9.62555214e-04 9.99983474e-01 6.83720438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74255784399999 meters 0.29208080948325105 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 0.99997804 0.0033721 -0.00570557 0.32664101] [-0.00336568 0.99999369 0.00113397 -0.0974384 ] [ 0.00570936 -0.00111474 0.99998308 0.68394796] [ 0. 0. 0. 1. ]] SLAMing on 82.80255784399999 meters 0.29199418267156724 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 0.99997757 0.00344302 -0.0057457 0.32680402] [-0.00343543 0.99999321 0.00132968 -0.09827347] [ 0.00575024 -0.00130991 0.99998261 0.68381677] [ 0. 0. 0. 1. ]] SLAMing on 82.862557844 meters 0.2935364730194867 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99999184 -0.00284917 -0.00286286 0.34950822] [ 0.00286011 0.99998859 0.00382532 -0.10126355] [ 0.00285193 -0.00383347 0.99998859 0.68194591] [ 0. 0. 0. 1. ]] SLAMing on 82.922557844 meters 0.29214934685478644 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.10, Z:0.68 [[ 9.99985948e-01 1.68596466e-03 -5.02597316e-03 3.26881157e-01] [-1.68447228e-03 9.99998536e-01 3.01150587e-04 -1.04554277e-01] [ 5.02647353e-03 -2.92680243e-04 9.99987324e-01 6.83159277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters 0.2918830043352875 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 9.99985553e-01 1.80849876e-03 -5.06200761e-03 3.27025093e-01] [-1.80540657e-03 9.99998181e-01 6.15364313e-04 -1.05896508e-01] [ 5.06311128e-03 -6.06216441e-04 9.99986999e-01 6.83057366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04255784399999 meters 0.2931896531848729 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 9.99985331e-01 1.76170322e-03 -5.12192352e-03 3.27405411e-01] [-1.75920490e-03 9.99998331e-01 4.92233496e-04 -1.05394652e-01] [ 5.12278215e-03 -4.83215763e-04 9.99986762e-01 6.82477338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10255784399999 meters 0.2926254261418371 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 9.99984785e-01 1.75430291e-03 -5.22992774e-03 3.27657539e-01] [-1.75182299e-03 9.99998351e-01 4.78722061e-04 -1.05336701e-01] [ 5.23075894e-03 -4.69552870e-04 9.99986209e-01 6.82546380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16255784399999 meters 0.2931246654763067 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 9.99984570e-01 1.90380930e-03 -5.21875548e-03 3.27419464e-01] [-1.89931802e-03 9.99997822e-01 8.65425379e-04 -1.06940622e-01] [ 5.22039171e-03 -8.55499949e-04 9.99986008e-01 6.83036918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222557844 meters 0.2930116743434925 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 0.99998406 0.00206759 -0.00525429 0.32753133] [-0.00206082 0.99999704 0.00129428 -0.10875817] [ 0.00525695 -0.00128343 0.99998536 0.68301097] [ 0. 0. 0. 1. ]] SLAMing on 83.282557844 meters 0.292919496548468 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 0.99998295 0.00218745 -0.00541422 0.32806795] [-0.00217868 0.99999631 0.00162494 -0.11021536] [ 0.00541775 -0.00161311 0.99998402 0.68272953] [ 0. 0. 0. 1. ]] SLAMing on 83.342557844 meters 0.29292150398675887 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 0.99998251 0.0022759 -0.0054593 0.32827272] [-0.00226577 0.9999957 0.00185971 -0.11122566] [ 0.00546351 -0.0018473 0.99998337 0.68253873] [ 0. 0. 0. 1. ]] SLAMing on 83.40255784399999 meters 0.2909843081281525 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 0.9999828 0.00233401 -0.00537995 0.32806961] [-0.00232322 0.99999528 0.00201136 -0.11185592] [ 0.00538462 -0.00199883 0.99998351 0.6825472 ] [ 0. 0. 0. 1. ]] SLAMing on 83.46255784399999 meters 0.29330676954090884 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.99999221 -0.00263992 -0.00293475 0.35129231] [ 0.00265533 0.99998265 0.0052581 -0.11169384] [ 0.00292082 -0.00526585 0.99998187 0.68075711] [ 0. 0. 0. 1. ]] SLAMing on 83.52255784399999 meters 0.29409905878762443 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.99999219 -0.00270103 -0.00288456 0.35122666] [ 0.0027157 0.99998332 0.00509699 -0.11101981] [ 0.00287075 -0.00510478 0.99998285 0.68059346] [ 0. 0. 0. 1. ]] SLAMing on 83.582557844 meters 0.2933781937520372 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.99999152 -0.00286723 -0.0029555 0.35148639] [ 0.00288099 0.99998499 0.00466014 -0.1091786 ] [ 0.0029421 -0.00466861 0.99998477 0.68038669] [ 0. 0. 0. 1. ]] SLAMing on 83.642557844 meters 0.2938690129770838 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.99999086 -0.00300364 -0.00304297 0.3519013 ] [ 0.00301676 0.99998614 0.00431458 -0.10774957] [ 0.00302996 -0.00432372 0.99998606 0.6799106 ] [ 0. 0. 0. 1. ]] SLAMing on 83.702557844 meters 0.29356503966592 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.99999049 -0.00320669 -0.00295485 0.3514682 ] [ 0.00321793 0.99998758 0.00380531 -0.10548571] [ 0.00294261 -0.00381478 0.99998839 0.68030034] [ 0. 0. 0. 1. ]] SLAMing on 83.76255784399999 meters 0.29304728630072235 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99998928 -0.00362601 -0.00288006 0.35079787] [ 0.00363385 0.9999897 0.0027211 -0.10068906] [ 0.00287017 -0.00273154 0.99999215 0.68115444] [ 0. 0. 0. 1. ]] SLAMing on 83.82255784399999 meters 0.29285730098395246 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99998858 -0.003842 -0.00284348 0.35065321] [ 0.00384818 0.99999024 0.00217066 -0.0983448 ] [ 0.00283511 -0.00218158 0.9999936 0.6812135 ] [ 0. 0. 0. 1. ]] SLAMing on 83.88255784399999 meters 0.2921586643875871 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99998863 -0.00399992 -0.00259559 0.34981927] [ 0.00400455 0.9999904 0.00177963 -0.09662427] [ 0.00258845 -0.00179 0.99999505 0.68162247] [ 0. 0. 0. 1. ]] SLAMing on 83.94255784399999 meters 0.2936750398490108 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.99997965 0.00597232 -0.00224257 0.37144777] [-0.00597002 0.99998165 0.0010291 -0.09690795] [ 0.00224867 -0.00101569 0.99999696 0.68132055] [ 0. 0. 0. 1. ]] SLAMing on 84.002557844 meters 0.2944131582972661 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99979946e-01 5.88024099e-03 -2.35148285e-03 3.71669641e-01] [-5.87838110e-03 9.99982404e-01 7.97074580e-04 -9.59235930e-02] [ 2.35612847e-03 -7.83235683e-04 9.99996918e-01 6.81454078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062557844 meters 0.2928634524367942 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 0.99999585 -0.00259136 -0.00126255 0.34733814] [ 0.00259426 0.99999399 0.00230004 -0.09143669] [ 0.00125658 -0.0023033 0.99999656 0.68252673] [ 0. 0. 0. 1. ]] SLAMing on 84.12255784399999 meters 0.2933441225079886 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 0.99999525 -0.00272558 -0.00143936 0.34810278] [ 0.00272824 0.99999456 0.0018516 -0.08964613] [ 0.0014343 -0.00185552 0.99999725 0.68160344] [ 0. 0. 0. 1. ]] SLAMing on 84.18255784399999 meters 0.2929225124046748 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 0.99999514 -0.00281849 -0.00133417 0.34793541] [ 0.0028206 0.99999478 0.00157801 -0.08854495] [ 0.00132972 -0.00158177 0.99999786 0.68135359] [ 0. 0. 0. 1. ]] SLAMing on 84.24255784399999 meters 0.2917004292347546 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.09, Z:0.68 [[ 0.99998442 0.00541743 -0.00134216 0.32639153] [-0.00541581 0.9999846 0.00121103 -0.09410668] [ 0.0013487 -0.00120374 0.99999837 0.68135214] [ 0. 0. 0. 1. ]] SLAMing on 84.30255784399999 meters 0.2922365806509689 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 9.99996628e-01 -2.57072044e-03 3.67490658e-04 3.47208998e-01] [ 2.56983184e-03 9.99993822e-01 2.39839485e-03 -9.33698473e-02] [-3.73653990e-04 -2.39744237e-03 9.99997056e-01 6.81306368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362557844 meters 0.29100771149119226 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:0.68 [[ 9.99997208e-01 2.36289130e-03 -3.57950052e-05 3.23549353e-01] [-2.36292685e-03 9.99996680e-01 -1.02798153e-03 -9.82764172e-02] [ 3.33658777e-05 1.02806324e-03 9.99999471e-01 6.82274067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422557844 meters 0.2919624482266074 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:0.68 [[ 9.99996983e-01 2.45554860e-03 -5.89142621e-05 3.23572841e-01] [-2.45559373e-03 9.99996682e-01 -7.78451799e-04 -9.93111215e-02] [ 5.70025404e-05 7.78594120e-04 9.99999695e-01 6.82381741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48255784399998 meters 0.2944673456658445 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.10, Z:0.68 [[ 9.99993549e-01 3.46947769e-03 -9.30309276e-04 3.63807903e-01] [-3.47080961e-03 9.99992949e-01 -1.43391784e-03 -9.62576692e-02] [ 9.25327770e-04 1.43713752e-03 9.99998539e-01 6.84756091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54255784399999 meters 0.29356687567487516 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 9.99978306e-01 -5.46409203e-03 -3.67841412e-03 3.45309266e-01] [ 5.46263701e-03 9.99984997e-01 -4.05486033e-04 -9.48650170e-02] [ 3.68057455e-03 3.85383395e-04 9.99993152e-01 6.83807246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60255784399999 meters 0.293846935190818 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 9.99978066e-01 -5.45048828e-03 -3.76282382e-03 3.45628264e-01] [ 5.44914813e-03 9.99985086e-01 -3.66314231e-04 -9.50598459e-02] [ 3.76476429e-03 3.45802012e-04 9.99992853e-01 6.83583356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66255784399999 meters 0.2942451751818991 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 9.99978169e-01 -5.32833562e-03 -3.90780447e-03 3.45827011e-01] [ 5.32837152e-03 9.99985804e-01 -1.22392607e-06 -9.65554680e-02] [ 3.90775552e-03 -1.95983347e-05 9.99992365e-01 6.84036998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722557844 meters 0.29307933117631607 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.10, Z:0.69 [[ 9.99980299e-01 -5.09581007e-03 -3.66529743e-03 3.44891053e-01] [ 5.09859348e-03 9.99986720e-01 7.50451935e-04 -9.95145451e-02] [ 3.66142460e-03 -7.69125012e-04 9.99993001e-01 6.85078524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782557844 meters 0.2934555126294616 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99997679 -0.00492737 -0.00470456 0.34763979] [ 0.00493596 0.99998617 0.00181566 -0.10421759] [ 0.00469555 -0.00183884 0.99998729 0.68423928] [ 0. 0. 0. 1. ]] SLAMing on 84.842557844 meters 0.2931293540169084 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.9999767 -0.0047536 -0.00489983 0.34820969] [ 0.00476493 0.999986 0.00230264 -0.10630447] [ 0.00488881 -0.00232594 0.99998534 0.684078 ] [ 0. 0. 0. 1. ]] SLAMing on 84.90255784399999 meters 0.29285712017528276 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:0.68 [[ 0.999979 -0.00457976 -0.00458466 0.34715865] [ 0.00459252 0.9999856 0.00277678 -0.1081964 ] [ 0.00457187 -0.00279778 0.99998564 0.68499749] [ 0. 0. 0. 1. ]] SLAMing on 84.96255784399999 meters 0.2948011839764566 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.11, Z:0.68 [[ 9.99993278e-01 2.71099026e-03 -2.46866132e-03 3.68813126e-01] [-2.71151171e-03 9.99996302e-01 -2.07907299e-04 -1.06569193e-01] [ 2.46808855e-03 2.14599705e-04 9.99996931e-01 6.83285225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02255784399999 meters 0.2947729711362336 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.99999322 0.00244791 -0.00275067 0.37012298] [-0.00245105 0.99999635 -0.00113725 -0.10253594] [ 0.00274787 0.00114398 0.99999557 0.68152479] [ 0. 0. 0. 1. ]] SLAMing on 85.082557844 meters 0.29431672643747275 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.99999418 0.0021979 -0.00260812 0.36941454] [-0.00220251 0.99999602 -0.00176442 -0.09970176] [ 0.00260423 0.00177015 0.99999504 0.68217966] [ 0. 0. 0. 1. ]] SLAMing on 85.142557844 meters 0.29171718463853424 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 9.99976636e-01 -5.50054601e-03 -4.05855333e-03 3.47003365e-01] [ 5.50338218e-03 9.99984620e-01 6.87974357e-04 -1.00346248e-01] [ 4.05470668e-03 -7.10294053e-04 9.99991527e-01 6.83748662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202557844 meters 0.29194702547463885 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 0.99998452 -0.00229451 -0.00506946 0.35055392] [ 0.00230921 0.99999314 0.00289596 -0.09529044] [ 0.00506278 -0.00290762 0.99998296 0.68198278] [ 0. 0. 0. 1. ]] SLAMing on 85.26255784399999 meters 0.2931015967988227 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988796e-01 4.04347306e-03 -2.46134327e-03 3.71146243e-01] [-4.04388943e-03 9.99991810e-01 -1.64209196e-04 -9.84717521e-02] [ 2.46065914e-03 1.74160756e-04 9.99996957e-01 6.81343636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32255784399999 meters 0.2927821300491829 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988654e-01 4.23216523e-03 -2.18663839e-03 3.70018009e-01] [-4.23108907e-03 9.99990926e-01 4.96546152e-04 -1.01209903e-01] [ 2.18872001e-03 -4.87288656e-04 9.99997486e-01 6.82406529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38255784399999 meters 0.29231725926445784 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988394e-01 4.30405731e-03 -2.16488762e-03 3.70050280e-01] [-4.30255326e-03 9.99990500e-01 6.98928866e-04 -1.02052393e-01] [ 2.16787528e-03 -6.89606211e-04 9.99997412e-01 6.82212193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44255784399999 meters 0.29308728816869833 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988549e-01 4.14995608e-03 -2.38332065e-03 3.70596135e-01] [-4.14929557e-03 9.99991352e-01 2.82014783e-04 -1.00419547e-01] [ 2.38447039e-03 -2.72122452e-04 9.99997120e-01 6.82195391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502557844 meters 0.2928964999864379 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.10, Z:0.68 [[ 9.99973402e-01 -5.53952571e-03 -4.74446202e-03 3.52761654e-01] [ 5.54293478e-03 9.99984389e-01 7.05689456e-04 -9.59508631e-02] [ 4.74047877e-03 -7.31968929e-04 9.99988496e-01 6.81665272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562557844 meters 0.29473160226968775 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:0.68 [[ 0.99997723 0.00531843 -0.00415473 0.37560849] [-0.00531401 0.9999853 0.00107437 -0.09549515] [ 0.00416038 -0.00105227 0.99999079 0.68085333] [ 0. 0. 0. 1. ]] SLAMing on 85.62255784399999 meters 0.2949830266931516 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99979182e-01 5.19070648e-03 -3.83307847e-03 3.74658454e-01] [-5.18816227e-03 9.99986315e-01 6.73396199e-04 -9.36849880e-02] [ 3.83652142e-03 -6.53495547e-04 9.99992427e-01 6.81162320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68255784399999 meters 0.29412613691799205 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99980533e-01 5.02493608e-03 -3.69916973e-03 3.74329791e-01] [-5.02417199e-03 9.99987355e-01 2.15823068e-04 -9.17757644e-02] [ 3.70020746e-03 -1.97233601e-04 9.99993135e-01 6.81097105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74255784399999 meters 0.2925682437078375 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.68 [[ 9.99977437e-01 -5.58956256e-03 -3.72583046e-03 3.50627521e-01] [ 5.58933242e-03 9.99984377e-01 -7.21781841e-05 -9.10451442e-02] [ 3.72617570e-03 5.13516505e-05 9.99993056e-01 6.82733569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80255784399999 meters 0.2939774426628149 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99989664e-01 4.21789330e-03 -1.69770231e-03 3.70126310e-01] [-4.21824603e-03 9.99991082e-01 -2.04240167e-04 -9.48430102e-02] [ 1.69682571e-03 2.11399382e-04 9.99998538e-01 6.82934649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862557844 meters 0.29360562749472296 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988745e-01 4.31489482e-03 -1.97261383e-03 3.70872522e-01] [-4.31460677e-03 9.99990681e-01 1.50253899e-04 -9.62816842e-02] [ 1.97324378e-03 -1.41741154e-04 9.99998043e-01 6.82706678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922557844 meters 0.29350075041946294 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987909e-01 4.49652121e-03 -1.99082912e-03 3.70658217e-01] [-4.49513186e-03 9.99989651e-01 7.01800043e-04 -9.85009030e-02] [ 1.99396418e-03 -6.92842518e-04 9.99997772e-01 6.83351521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98255784399998 meters 0.2936654333846086 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987689e-01 4.58642255e-03 -1.89363043e-03 3.70435920e-01] [-4.58466125e-03 9.99989055e-01 9.33413060e-04 -9.94664577e-02] [ 1.89789073e-03 -9.24719915e-04 9.99997771e-01 6.83294467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04255784399999 meters 0.29323801350693424 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987604e-01 4.57427599e-03 -1.96670918e-03 3.70941460e-01] [-4.57250985e-03 9.99989140e-01 9.01577565e-04 -9.94132013e-02] [ 1.97081188e-03 -8.92573592e-04 9.99997660e-01 6.82509329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10255784399999 meters 0.29437734627410195 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987635e-01 4.56100812e-03 -1.98147729e-03 3.70991590e-01] [-4.55929498e-03 9.99989229e-01 8.68234359e-04 -9.92729107e-02] [ 1.98541598e-03 -8.59189484e-04 9.99997660e-01 6.82468061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16255784399999 meters 0.294594017581169 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987537e-01 4.55906848e-03 -2.03477261e-03 3.71319990e-01] [-4.55731114e-03 9.99989239e-01 8.67456455e-04 -9.92946907e-02] [ 2.03870551e-03 -8.58172552e-04 9.99997554e-01 6.82011398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222557844 meters 0.29420813582398175 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.9999875 0.00461499 -0.001924 0.37117489] [-0.00461305 0.99998885 0.00101046 -0.09990796] [ 0.00192865 -0.00100157 0.99999764 0.6816913 ] [ 0. 0. 0. 1. ]] SLAMing on 86.282557844 meters 0.295338560674928 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.68 [[ 0.99999242 -0.0037023 -0.00120363 0.39287192] [ 0.00370394 0.99999221 0.00136542 -0.09616165] [ 0.00119857 -0.00136987 0.99999834 0.68153071] [ 0. 0. 0. 1. ]] SLAMing on 86.342557844 meters 0.29452398010547 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.99998986 0.00104915 -0.00437864 0.37005593] [-0.00105715 0.99999777 -0.00182631 -0.09549046] [ 0.00437672 0.00183092 0.99998875 0.68359519] [ 0. 0. 0. 1. ]] SLAMing on 86.40255784399999 meters 0.2943970344130055 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 0.99999063 0.00104651 -0.00420174 0.3695738 ] [-0.00105427 0.99999774 -0.00184382 -0.09540245] [ 0.0041998 0.00184824 0.99998947 0.68368845] [ 0. 0. 0. 1. ]] SLAMing on 86.46255784399999 meters 0.29456086543379556 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99990449e-01 9.84131952e-04 -4.25825481e-03 3.69813877e-01] [-9.92654281e-04 9.99997508e-01 -1.99971616e-03 -9.47795490e-02] [ 4.25627621e-03 2.00392403e-03 9.99988934e-01 6.83468460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52255784399999 meters 0.29369991438833026 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99990174e-01 8.88563759e-04 -4.34300340e-03 3.70075103e-01] [-8.98358766e-04 9.99997056e-01 -2.25392296e-03 -9.37454733e-02] [ 4.34098786e-03 2.25780238e-03 9.99988029e-01 6.83336275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582557844 meters 0.2942313015600901 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:0.68 [[ 9.99990847e-01 8.27182735e-04 -4.19771335e-03 3.69575774e-01] [-8.37429631e-04 9.99996673e-01 -2.43989572e-03 -9.29577637e-02] [ 4.19568114e-03 2.44338868e-03 9.99988213e-01 6.83711026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642557844 meters 0.294312738468233 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:0.68 [[ 9.99985717e-01 -5.14424164e-03 -1.45024039e-03 3.89957037e-01] [ 5.14478506e-03 9.99986697e-01 3.71223848e-04 -9.17607478e-02] [ 1.44831143e-03 -3.78679721e-04 9.99998879e-01 6.83699892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702557844 meters 0.29367217792741723 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988588e-01 2.90243421e-03 -3.79477002e-03 3.71938335e-01] [-2.90361793e-03 9.99995738e-01 -3.06461465e-04 -9.68690479e-02] [ 3.79386436e-03 3.17476530e-04 9.99992753e-01 6.82657524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76255784399999 meters 0.2933063611795221 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988729e-01 3.00425389e-03 -3.67658744e-03 3.71397951e-01] [-3.00417545e-03 9.99995487e-01 2.68571842e-05 -9.81900616e-02] [ 3.67665153e-03 -1.58117677e-05 9.99993241e-01 6.83306444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82255784399999 meters 0.29327190128120606 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988464e-01 3.18396824e-03 -3.59650587e-03 3.70839358e-01] [-3.18205031e-03 9.99994792e-01 5.38872555e-04 -1.00248668e-01] [ 3.59820289e-03 -5.27422076e-04 9.99993387e-01 6.84233255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88255784399999 meters 0.29242721405139277 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988335e-01 3.14379498e-03 -3.66700693e-03 3.71077741e-01] [-3.14219708e-03 9.99994966e-01 4.41428315e-04 -9.98575673e-02] [ 3.66837623e-03 -4.29900707e-04 9.99993179e-01 6.84093590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94255784399999 meters 0.29128997003744367 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988830e-01 3.12124577e-03 -3.54940006e-03 3.70759243e-01] [-3.11991705e-03 9.99995061e-01 3.79827095e-04 -9.95877279e-02] [ 3.55056806e-03 -3.68749019e-04 9.99993629e-01 6.84153680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002557844 meters 0.29209242943618324 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99988266e-01 3.08297668e-03 -3.73677207e-03 3.71039579e-01] [-3.08192932e-03 9.99995210e-01 2.86010159e-04 -9.92017276e-02] [ 3.73763593e-03 -2.74490335e-04 9.99992977e-01 6.84567265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062557844 meters 0.2920118902186594 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987650e-01 3.09280843e-03 -3.89039003e-03 3.71645226e-01] [-3.09161408e-03 9.99995172e-01 3.12977049e-04 -9.93586734e-02] [ 3.89133923e-03 -3.00945599e-04 9.99992383e-01 6.84042591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12255784399999 meters 0.29321665991803814 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987930e-01 3.14017047e-03 -3.77882637e-03 3.71472547e-01] [-3.13850417e-03 9.99994975e-01 4.46805969e-04 -9.99119215e-02] [ 3.78021043e-03 -4.34940713e-04 9.99992760e-01 6.83787629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18255784399999 meters 0.2925208035024429 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99987147e-01 3.31498073e-03 -3.83613065e-03 3.71765832e-01] [-3.31170400e-03 9.99994146e-01 8.60214762e-04 -1.01685978e-01] [ 3.83895979e-03 -8.47499577e-04 9.99992272e-01 6.83554792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24255784399999 meters 0.2935566789095701 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:0.68 [[ 0.99999556 -0.00272718 -0.0012007 0.39204409] [ 0.00273148 0.99998982 0.00359228 -0.10072062] [ 0.00119089 -0.00359554 0.99999283 0.68314945] [ 0. 0. 0. 1. ]] SLAMing on 87.30255784399999 meters 0.2925943401820012 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:0.68 [[ 9.99995789e-01 2.38918178e-03 -1.64755149e-03 3.68375895e-01] [-2.38854860e-03 9.99997073e-01 3.86173549e-04 -1.04936354e-01] [ 1.64846930e-03 -3.82236666e-04 9.99998568e-01 6.84701447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362557844 meters 0.2918911964863668 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.68 [[ 9.99999522e-01 3.81856183e-04 -9.00135398e-04 3.31460600e-01] [-3.80577881e-04 9.99998920e-01 1.41986545e-03 -1.14528595e-01] [ 9.00676610e-04 -1.41952220e-03 9.99998587e-01 6.80507605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422557844 meters 0.29344243414854504 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 0.99999573 0.00272157 0.0010603 0.37614789] [-0.0027241 0.99999342 0.00239487 -0.11416978] [-0.00105377 -0.00239775 0.99999657 0.67856465] [ 0. 0. 0. 1. ]] SLAMing on 87.48255784399998 meters 0.29375741592860266 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:0.68 [[ 9.99995504e-01 2.86133544e-03 8.97149527e-04 3.76400509e-01] [-2.86376367e-03 9.99992208e-01 2.71711139e-03 -1.15516000e-01] [-8.89367970e-04 -2.71966840e-03 9.99995906e-01 6.78963282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54255784399999 meters 0.29291710958297024 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:0.68 [[ 9.99995107e-01 2.97263897e-03 9.74161003e-04 3.75894266e-01] [-2.97555059e-03 9.99991070e-01 3.00115057e-03 -1.16648223e-01] [-9.65230966e-04 -3.00403455e-03 9.99995022e-01 6.79699789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60255784399999 meters 0.29232566216347444 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:0.68 [[ 9.99995317e-01 2.91143422e-03 9.43440876e-04 3.75994096e-01] [-2.91410496e-03 9.99991716e-01 2.84195013e-03 -1.15987002e-01] [-9.35158909e-04 -2.84468611e-03 9.99995517e-01 6.79639349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66255784399999 meters 0.29432256962816744 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.11, Z:0.68 [[ 0.99999548 0.00278926 0.00112531 0.41320387] [-0.00279049 0.99999552 0.00108608 -0.11330401] [-0.00112228 -0.00108921 0.99999878 0.68329942] [ 0. 0. 0. 1. ]] SLAMing on 87.722557844 meters 0.29255269193047995 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:0.68 [[ 0.99998225 -0.005763 -0.00151011 0.39346323] [ 0.00576799 0.99997785 0.00332008 -0.11690934] [ 0.00149095 -0.00332873 0.99999335 0.68392122] [ 0. 0. 0. 1. ]] SLAMing on 87.782557844 meters 0.29234499345350295 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 9.99980852e-01 -1.78051943e-03 -5.92663734e-03 3.75389113e-01] [ 1.78299690e-03 9.99998325e-01 4.12765024e-04 -1.26546606e-01] [ 5.92589247e-03 -4.23324297e-04 9.99982352e-01 6.83993160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842557844 meters 0.2921928042028787 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.13, Z:0.69 [[ 0.99998323 -0.00148994 -0.0055967 0.37413829] [ 0.00149762 0.99999794 0.00136797 -0.13039757] [ 0.00559465 -0.00137633 0.9999834 0.68517163] [ 0. 0. 0. 1. ]] SLAMing on 87.90255784399999 meters 0.2928300855822539 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:0.68 [[ 0.99998762 0.00443456 -0.00225762 0.3944788 ] [-0.00443904 0.99998817 -0.0019864 -0.13389017] [ 0.00224878 0.0019964 0.99999548 0.68418294] [ 0. 0. 0. 1. ]] SLAMing on 87.96255784399999 meters 0.2926691501494603 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.68 [[ 9.99985124e-01 4.81802293e-03 -2.55723082e-03 3.95558537e-01] [-4.82029524e-03 9.99987992e-01 -8.83162247e-04 -1.38815835e-01] [ 2.55294501e-03 8.95475716e-04 9.99996340e-01 6.83451499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02255784399999 meters 0.2937549728248005 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.69 [[ 9.99989921e-01 -3.04701056e-03 -3.29756982e-03 4.16140793e-01] [ 3.04788392e-03 9.99995321e-01 2.59857892e-04 -1.36656334e-01] [ 3.29676260e-03 -2.69905882e-04 9.99994529e-01 6.85196030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082557844 meters 0.2945842557082825 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.69 [[ 9.99990216e-01 -2.96051162e-03 -3.28682355e-03 4.16046196e-01] [ 2.96223143e-03 9.99995478e-01 5.18498835e-04 -1.37688957e-01] [ 3.28527367e-03 -5.28230094e-04 9.99994464e-01 6.85362458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142557844 meters 0.2931509460106828 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.69 [[ 9.99991244e-01 -2.82603852e-03 -3.08639262e-03 4.15289749e-01] [ 2.82869342e-03 9.99995633e-01 8.56171230e-04 -1.39059761e-01] [ 3.08395957e-03 -8.64894191e-04 9.99994871e-01 6.85944173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202557844 meters 0.2926761737043204 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:0.69 [[ 0.99998668 0.00178414 -0.00484227 0.39199422] [-0.00179552 0.99999563 -0.00234724 -0.14300176] [ 0.00483806 0.00235591 0.99998552 0.68744184] [ 0. 0. 0. 1. ]] SLAMing on 88.26255784399999 meters 0.2935722680002183 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:0.69 [[ 9.99988313e-01 -4.23801081e-03 -2.32653635e-03 4.14559393e-01] [ 4.23963524e-03 9.99990772e-01 6.93731006e-04 -1.49557534e-01] [ 2.32357484e-03 -7.03586564e-04 9.99997053e-01 6.85723553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32255784399999 meters 0.2929371615783766 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:0.69 [[ 9.99993351e-01 4.39912612e-04 -3.62012636e-03 3.90876675e-01] [-4.49072565e-04 9.99996699e-01 -2.52986152e-03 -1.53419762e-01] [ 3.61900149e-03 2.53147039e-03 9.99990247e-01 6.87275110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38255784399999 meters 0.2936030745493964 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.15, Z:0.69 [[ 9.99993151e-01 5.21409396e-04 -3.66409037e-03 3.90980651e-01] [-5.29888476e-04 9.99997183e-01 -2.31351289e-03 -1.54326482e-01] [ 3.66287377e-03 2.31543861e-03 9.99990611e-01 6.87292557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44255784399999 meters 0.2938917075571365 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992920e-01 6.51624386e-04 -3.70603332e-03 3.90927692e-01] [-6.58920298e-04 9.99997847e-01 -1.96777785e-03 -1.55739393e-01] [ 3.70474309e-03 1.97020590e-03 9.99991197e-01 6.87664789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502557844 meters 0.29311196340992784 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99993158e-01 8.24923070e-04 -3.60589710e-03 3.90045634e-01] [-8.30581636e-04 9.99998426e-01 -1.56803752e-03 -1.57386891e-01] [ 3.60459791e-03 1.57102179e-03 9.99992269e-01 6.89095558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562557844 meters 0.2934148335621041 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992911e-01 9.08621570e-04 -3.65407556e-03 3.90193967e-01] [-9.13550193e-04 9.99998675e-01 -1.34735874e-03 -1.58308528e-01] [ 3.65284648e-03 1.35068737e-03 9.99992416e-01 6.89037635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62255784399999 meters 0.2946971789155649 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992759e-01 9.83077752e-04 -3.67625683e-03 3.90268265e-01] [-9.87329451e-04 9.99998846e-01 -1.15489317e-03 -1.59113032e-01] [ 3.67511723e-03 1.15851448e-03 9.99992576e-01 6.89003703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68255784399999 meters 0.2935188079532825 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992852e-01 1.13538364e-03 -3.60657333e-03 3.89951275e-01] [-1.13815614e-03 9.99999058e-01 -7.66775582e-04 -1.60706891e-01] [ 3.60569935e-03 7.70874944e-04 9.99993202e-01 6.89316818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74255784399999 meters 0.293852293857936 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992946e-01 1.17492208e-03 -3.56763831e-03 3.89906343e-01] [-1.17730814e-03 9.99999085e-01 -6.66780203e-04 -1.61133045e-01] [ 3.56685163e-03 6.70975709e-04 9.99993414e-01 6.89191756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80255784399999 meters 0.2951955142742038 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99992645e-01 1.10122820e-03 -3.67388180e-03 3.90428274e-01] [-1.10439582e-03 9.99999020e-01 -8.60282417e-04 -1.60374880e-01] [ 3.67293083e-03 8.64333510e-04 9.99992881e-01 6.88575423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862557844 meters 0.29451944643821876 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99993351e-01 9.88857851e-04 -3.51008452e-03 3.89996226e-01] [-9.93067855e-04 9.99998789e-01 -1.19786223e-03 -1.58975453e-01] [ 3.50889575e-03 1.20134002e-03 9.99993122e-01 6.88607609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922557844 meters 0.2945640651160027 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99993837e-01 8.64792290e-04 -3.40267277e-03 3.89616543e-01] [-8.70037344e-04 9.99998435e-01 -1.54027312e-03 -1.57514776e-01] [ 3.40133543e-03 1.54322408e-03 9.99993025e-01 6.88854678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98255784399998 meters 0.29577785247753957 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.16, Z:0.69 [[ 9.99985718e-01 -5.00974087e-03 -1.86198688e-03 4.13955176e-01] [ 5.01118678e-03 9.99987145e-01 7.72689385e-04 -1.56288803e-01] [ 1.85809197e-03 -7.82009113e-04 9.99997968e-01 6.85583639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04255784399999 meters 0.29443242322173535 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99988523e-01 2.83664454e-03 -3.86107443e-03 3.93867739e-01] [-2.83614201e-03 9.99995969e-01 1.35621526e-04 -1.59381751e-01] [ 3.86144357e-03 -1.24669414e-04 9.99992537e-01 6.85772131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10255784399999 meters 0.2949399138443999 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99987922e-01 2.79397924e-03 -4.04348216e-03 3.94128006e-01] [-2.79386636e-03 9.99996097e-01 3.35633840e-05 -1.58916417e-01] [ 4.04356015e-03 -2.22660298e-05 9.99991825e-01 6.86250609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16255784399999 meters 0.29467549815529204 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99988142e-01 2.80134666e-03 -3.98345506e-03 3.94002129e-01] [-2.80117237e-03 9.99996075e-01 4.93302392e-05 -1.58985921e-01] [ 3.98357761e-03 -3.81713100e-05 9.99992065e-01 6.86185001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222557844 meters 0.29622575659608175 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.15, Z:0.69 [[ 0.99998852 -0.00455091 -0.00150031 0.4125994 ] [ 0.00455255 0.99998904 0.00108897 -0.15487825] [ 0.00149534 -0.00109579 0.99999828 0.68678581] [ 0. 0. 0. 1. ]] SLAMing on 89.282557844 meters 0.2962020120437247 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.68 [[ 9.99994453e-01 2.71476988e-03 -1.92953014e-03 3.93035881e-01] [-2.71445176e-03 9.99996302e-01 1.67466909e-04 -1.61146136e-01] [ 1.92997763e-03 -1.62228364e-04 9.99998124e-01 6.84993310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342557844 meters 0.2962824038654861 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.68 [[ 9.99993911e-01 2.82898654e-03 -2.04332511e-03 3.93539514e-01] [-2.82803414e-03 9.99995891e-01 4.68843236e-04 -1.62499888e-01] [ 2.04464307e-03 -4.63061787e-04 9.99997803e-01 6.84517244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40255784399999 meters 0.29536894912757644 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:0.69 [[ 0.9999934 0.00306256 -0.00195525 0.39296502] [-0.00306037 0.99999469 0.00111954 -0.16515566] [ 0.00195867 -0.00111354 0.99999746 0.68537242] [ 0. 0. 0. 1. ]] SLAMing on 89.46255784399999 meters 0.2944128606332151 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.17, Z:0.69 [[ 0.99999324 0.00310019 -0.00197534 0.39295358] [-0.00309778 0.99999446 0.00121979 -0.16556431] [ 0.00197911 -0.00121366 0.99999731 0.68551842] [ 0. 0. 0. 1. ]] SLAMing on 89.52255784399999 meters 0.29634696113763265 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.16, Z:0.69 [[ 9.99988719e-01 4.00362662e-03 -2.55589351e-03 4.31943849e-01] [-4.00483903e-03 9.99991870e-01 -4.69417190e-04 -1.61920399e-01] [ 2.55399336e-03 4.79647837e-04 9.99996624e-01 6.88042033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582557844 meters 0.2945015624128847 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.16, Z:0.69 [[ 9.99994376e-01 2.00927728e-03 -2.68527706e-03 3.93123067e-01] [-2.01061597e-03 9.99997856e-01 -4.95923255e-04 -1.62240198e-01] [ 2.68427486e-03 5.01319527e-04 9.99996272e-01 6.85921181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642557844 meters 0.2962418085644569 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:0.68 [[ 0.99999456 -0.0026122 -0.00201483 0.41743779] [ 0.00261795 0.9999925 0.00285507 -0.15907661] [ 0.00200736 -0.00286033 0.99999389 0.68436596] [ 0. 0. 0. 1. ]] SLAMing on 89.702557844 meters 0.29623208542377716 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:0.68 [[ 0.99999459 -0.00272865 -0.00183857 0.41684724] [ 0.00273327 0.9999931 0.00251442 -0.15760708] [ 0.00183169 -0.00251943 0.99999515 0.68472773] [ 0. 0. 0. 1. ]] SLAMing on 89.76255784399999 meters 0.29736184356016115 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.15, Z:0.69 [[ 9.99994785e-01 -8.18567758e-04 -3.12402933e-03 4.57263683e-01] [ 8.23200318e-04 9.99998563e-01 1.48188204e-03 -1.50589643e-01] [ 3.12281182e-03 -1.48444602e-03 9.99994022e-01 6.86323204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82255784399999 meters 0.296434405497435 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.15, Z:0.69 [[ 9.99994700e-01 -1.02879113e-03 -3.08891324e-03 4.57102211e-01] [ 1.03181219e-03 9.99998991e-01 9.76600664e-04 -1.48467128e-01] [ 3.08790540e-03 -9.79782666e-04 9.99994752e-01 6.86439220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88255784399999 meters 0.2947510523310559 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:0.69 [[ 9.99991729e-01 -3.65700148e-03 -1.78017187e-03 4.16000589e-01] [ 3.65830958e-03 9.99993040e-01 7.32114465e-04 -1.51353012e-01] [ 1.77748214e-03 -7.38620830e-04 9.99998147e-01 6.85063604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94255784399999 meters 0.2972547364637509 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:0.68 [[ 9.99972753e-01 7.37633169e-03 -2.88238493e-04 4.36887636e-01] [-7.37594494e-03 9.99971925e-01 1.32055911e-03 -1.53421842e-01] [ 2.97971282e-04 -1.31839709e-03 9.99999087e-01 6.84007385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002557844 meters 0.2957519165089554 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.15, Z:0.68 [[ 9.99989132e-01 -3.92107280e-03 -2.52210710e-03 4.16229121e-01] [ 3.92239413e-03 9.99992173e-01 5.19168051e-04 -1.54502483e-01] [ 2.52005166e-03 -5.29055106e-04 9.99996685e-01 6.84965730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062557844 meters 0.29698606731485405 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:0.69 [[ 9.99985719e-01 5.33868864e-03 -2.46447862e-04 4.35120015e-01] [-5.33880530e-03 9.99985636e-01 -4.75166249e-04 -1.55753855e-01] [ 2.43907557e-04 4.76475201e-04 9.99999857e-01 6.85808640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12255784399999 meters 0.29746236798397097 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:0.69 [[ 9.99986096e-01 5.26527116e-03 -2.90575947e-04 4.35386485e-01] [-5.26546803e-03 9.99985905e-01 -6.80981360e-04 -1.54932703e-01] [ 2.86986300e-04 6.82501911e-04 9.99999726e-01 6.85421832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18255784399999 meters 0.29785370226677077 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:0.68 [[ 9.99987452e-01 4.99538006e-03 -3.75970753e-04 4.35852870e-01] [-4.99593194e-03 9.99986423e-01 -1.48154436e-03 -1.51767566e-01] [ 3.68564771e-04 1.48340409e-03 9.99998832e-01 6.84729937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24255784399999 meters 0.29786895024158944 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.15, Z:0.68 [[ 9.99988483e-01 4.79668597e-03 -1.60092352e-04 4.35256602e-01] [-4.79701287e-03 9.99986272e-01 -2.10818719e-03 -1.49171392e-01] [ 1.49977842e-04 2.10893088e-03 9.99997765e-01 6.84843829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30255784399999 meters 0.29594488127574925 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99986753e-01 -5.08901792e-03 -7.71914401e-04 4.15317192e-01] [ 5.08773652e-03 9.99985691e-01 -1.65300845e-03 -1.44174431e-01] [ 7.80315545e-04 1.64905926e-03 9.99998336e-01 6.84587503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362557844 meters 0.29670571005459717 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99999144e-01 -1.09295659e-03 -7.18803655e-04 4.15391308e-01] [ 1.09427101e-03 9.99997725e-01 1.83077469e-03 -1.40704300e-01] [ 7.16801062e-04 -1.83155969e-03 9.99998066e-01 6.84032752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422557844 meters 0.2964692397433515 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:0.68 [[ 9.99998959e-01 -1.36962240e-03 -4.54094954e-04 4.14694351e-01] [ 1.37015643e-03 9.99998368e-01 1.17781775e-03 -1.37914886e-01] [ 4.52481048e-04 -1.17843871e-03 9.99999203e-01 6.84012453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48255784399998 meters 0.29728811770479013 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.14, Z:0.68 [[ 9.99962417e-01 8.32974760e-03 2.40424858e-03 4.32697247e-01] [-8.33062298e-03 9.99965237e-01 3.54313681e-04 -1.38225388e-01] [-2.40121366e-03 -3.74329253e-04 9.99997047e-01 6.84200858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54255784399999 meters 0.29525959250818906 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:0.69 [[ 9.99987710e-01 4.85951280e-03 -9.81980622e-04 3.90189423e-01] [-4.86057522e-03 9.99987601e-01 -1.08243649e-03 -1.36484815e-01] [ 9.76708333e-04 1.08719618e-03 9.99998932e-01 6.85841004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60255784399999 meters 0.29702533556488997 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:0.69 [[ 9.99996152e-01 -3.90677756e-04 2.74652377e-03 4.10445109e-01] [ 3.85635045e-04 9.99998240e-01 1.83632393e-03 -1.36308036e-01] [-2.74723635e-03 -1.83525771e-03 9.99994542e-01 6.85116195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66255784399999 meters 0.2968483452797773 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99996264e-01 -5.72333564e-04 2.67283107e-03 4.10750505e-01] [ 5.68838157e-04 9.99998982e-01 1.30833159e-03 -1.34150626e-01] [-2.67357715e-03 -1.30680629e-03 9.99995572e-01 6.84770005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722557844 meters 0.2961659873024984 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99996575e-01 -6.81770463e-04 2.52680046e-03 4.11273794e-01] [ 6.79242141e-04 9.99999268e-01 1.00132545e-03 -1.32893875e-01] [-2.52748128e-03 -9.99605712e-04 9.99996306e-01 6.84349625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782557844 meters 0.2972109226304937 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99996980e-01 -6.84403767e-04 2.36031333e-03 4.11799510e-01] [ 6.82045088e-04 9.99999267e-01 9.99967560e-04 -1.32911805e-01] [-2.36099598e-03 -9.98354700e-04 9.99996714e-01 6.84072554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842557844 meters 0.29811604079906034 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99997344e-01 -6.32703616e-04 2.21602012e-03 4.12252374e-01] [ 6.30167924e-04 9.99999146e-01 1.14476623e-03 -1.33552162e-01] [-2.21674252e-03 -1.14336673e-03 9.99996889e-01 6.83888331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90255784399999 meters 0.2983015273574048 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99997377e-01 -5.31414931e-04 2.22805584e-03 4.12155730e-01] [ 5.28270904e-04 9.99998864e-01 1.41145913e-03 -1.34658743e-01] [-2.22880338e-03 -1.41027841e-03 9.99996522e-01 6.84044113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96255784399999 meters 0.29955751376495815 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:0.68 [[ 9.99997194e-01 -4.95635013e-04 2.31673184e-03 4.11768122e-01] [ 4.92146504e-04 9.99998745e-01 1.50611638e-03 -1.35006609e-01] [-2.31747542e-03 -1.50497198e-03 9.99996182e-01 6.84462671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02255784399999 meters 0.2976903134147235 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:0.69 [[ 9.99988222e-01 4.82322421e-03 -5.40280716e-04 3.90690276e-01] [-4.82409182e-03 9.99987058e-01 -1.61622120e-03 -1.35513785e-01] [ 5.32478327e-04 1.61880853e-03 9.99998548e-01 6.85741294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082557844 meters 0.2978013493706191 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:0.69 [[ 9.99987890e-01 4.90454848e-03 -4.06135174e-04 3.90227000e-01] [-4.90511635e-03 9.99986977e-01 -1.40922466e-03 -1.36361530e-01] [ 3.99218274e-04 1.41119973e-03 9.99998925e-01 6.86026423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142557844 meters 0.2971529234505805 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.14, Z:0.69 [[ 9.99987751e-01 4.94181817e-03 -2.75929876e-04 3.89528399e-01] [-4.94217637e-03 9.99986925e-01 -1.31294968e-03 -1.36637681e-01] [ 2.69437910e-04 1.31429729e-03 9.99999100e-01 6.86987898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202557844 meters 0.29886903225232664 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:0.69 [[ 9.99992650e-01 -3.77819324e-03 6.52043743e-04 4.12669858e-01] [ 3.77904636e-03 9.99991999e-01 -1.31214744e-03 -1.37103625e-01] [-6.47080979e-04 1.31460190e-03 9.99998927e-01 6.86328160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26255784399999 meters 0.2969240451588962 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.14, Z:0.68 [[ 9.99991346e-01 -4.14805930e-03 3.18647907e-04 3.75823676e-01] [ 4.14801542e-03 9.99991387e-01 1.38238836e-04 -1.40189118e-01] [-3.19218585e-04 -1.36915883e-04 9.99999940e-01 6.82632829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32255784399999 meters 0.29851060903540766 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.68 [[ 0.99998596 0.00413424 0.00331347 0.39692905] [-0.00412782 0.9999896 -0.00194149 -0.13619041] [-0.00332147 0.00192778 0.99999263 0.68073248] [ 0. 0. 0. 1. ]] SLAMing on 91.38255784399999 meters 0.2979410078355562 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 0.99998425 -0.00535927 0.00166612 0.37843556] [ 0.00536114 0.999985 -0.00111756 -0.13225649] [-0.00166011 0.00112647 0.99999799 0.68001452] [ 0. 0. 0. 1. ]] SLAMing on 91.44255784399999 meters 0.29814462711332895 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 0.99998415 -0.00539349 0.0016181 0.37864328] [ 0.00539545 0.99998472 -0.00120763 -0.13189916] [-0.00161156 0.00121634 0.99999796 0.67980258] [ 0. 0. 0. 1. ]] SLAMing on 91.502557844 meters 0.2989746681158402 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.13, Z:0.68 [[ 0.99998947 0.00411967 0.00202304 0.39987514] [-0.00411508 0.99998896 -0.00226671 -0.1335311 ] [-0.00203235 0.00225836 0.99999538 0.67998353] [ 0. 0. 0. 1. ]] SLAMing on 91.562557844 meters 0.297945211834276 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 9.99988716e-01 -4.66879738e-03 8.77161076e-04 3.81583643e-01] [ 4.66923344e-03 9.99988976e-01 -4.95733273e-04 -1.30509860e-01] [-8.74836928e-04 4.99823349e-04 9.99999492e-01 6.78078330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62255784399999 meters 0.2975354270512629 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 9.99989307e-01 -4.53811973e-03 8.89071882e-04 3.81414540e-01] [ 4.53825382e-03 9.99989691e-01 -1.48864363e-04 -1.31943542e-01] [-8.88387153e-04 1.52897605e-04 9.99999594e-01 6.78398992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68255784399999 meters 0.2985940805874938 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 9.99997053e-01 -2.32502521e-03 6.99141903e-04 4.19023078e-01] [ 2.32494153e-03 9.99997290e-01 1.20482276e-04 -1.29899095e-01] [-6.99420133e-04 -1.18856457e-04 9.99999748e-01 6.81864920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74255784399999 meters 0.2970189364970328 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:0.68 [[ 0.99999482 -0.00268293 0.00177539 0.37894168] [ 0.00267969 0.99999475 0.00182438 -0.13331304] [-0.00178028 -0.00181961 0.99999676 0.67974668] [ 0. 0. 0. 1. ]] SLAMing on 91.80255784399999 meters 0.300029694517665 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 9.99999265e-01 -9.19990799e-04 7.90027326e-04 4.18169385e-01] [ 9.19155706e-04 9.99999019e-01 1.05675659e-03 -1.28072261e-01] [-7.90998758e-04 -1.05602965e-03 9.99999130e-01 6.82371527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862557844 meters 0.299181650685739 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 9.99998974e-01 -1.14630684e-03 8.59182902e-04 4.18074256e-01] [ 1.14594074e-03 9.99999252e-01 4.26468872e-04 -1.25478510e-01] [-8.59671124e-04 -4.25483862e-04 9.99999540e-01 6.82176048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922557844 meters 0.298281307367649 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998785e-01 -1.29090567e-03 8.73616056e-04 4.18030816e-01] [ 1.29086796e-03 9.99999166e-01 4.37279048e-05 -1.23881898e-01] [-8.73671776e-04 -4.26001287e-05 9.99999617e-01 6.82173995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98255784399998 meters 0.2987680006214734 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998583e-01 -1.48976541e-03 7.84596064e-04 4.18420304e-01] [ 1.49012075e-03 9.99998787e-01 -4.52515265e-04 -1.21828152e-01] [-7.83920971e-04 4.53683767e-04 9.99999590e-01 6.81829956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04255784399999 meters 0.29774260361891025 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998457e-01 -1.51563928e-03 8.87825262e-04 4.17859995e-01] [ 1.51610669e-03 9.99998712e-01 -5.26023502e-04 -1.21427591e-01] [-8.87026857e-04 5.27368728e-04 9.99999468e-01 6.82587582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10255784399999 meters 0.2962351667943959 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998465e-01 -1.44814372e-03 9.86374804e-04 4.17393348e-01] [ 1.44847859e-03 9.99998894e-01 -3.38858366e-04 -1.22178785e-01] [-9.85882997e-04 3.40286588e-04 9.99999456e-01 6.83156022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16255784399999 meters 0.2970589709686161 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:0.68 [[ 0.99996337 0.00812744 0.00268406 0.43711033] [-0.0081247 0.99996647 -0.00102811 -0.12492176] [-0.00269233 0.00100627 0.99999587 0.68289449] [ 0. 0. 0. 1. ]] SLAMing on 92.222557844 meters 0.2976855497778869 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:0.68 [[ 0.99996363 0.00810127 0.00266616 0.43722217] [-0.00809837 0.99996661 -0.00109571 -0.12465194] [-0.00267494 0.00107408 0.99999585 0.68274636] [ 0. 0. 0. 1. ]] SLAMing on 92.282557844 meters 0.298441003418534 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998801e-01 -8.87324025e-04 -1.26911710e-03 4.21006191e-01] [ 8.86887042e-04 9.99999547e-01 -3.44841553e-04 -1.21272094e-01] [ 1.26942251e-03 3.43715576e-04 9.99999135e-01 6.81508093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342557844 meters 0.29819238422675476 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998757e-01 -9.83811855e-04 -1.23215737e-03 4.21184788e-01] [ 9.83043070e-04 9.99999322e-01 -6.24384253e-04 -1.20164701e-01] [ 1.23277081e-03 6.23172213e-04 9.99999046e-01 6.80842297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40255784399999 meters 0.29844996630439835 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998921e-01 -1.09213748e-03 -9.82172379e-04 4.20404356e-01] [ 1.09118619e-03 9.99998936e-01 -9.68572814e-04 -1.18685134e-01] [ 9.83229149e-04 9.67500036e-04 9.99999049e-01 6.81286444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46255784399999 meters 0.2984247247516984 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998892e-01 -1.20856016e-03 -8.68979208e-04 4.20359660e-01] [ 1.20746581e-03 9.99998479e-01 -1.25877101e-03 -1.17505656e-01] [ 8.70499187e-04 1.25772036e-03 9.99998830e-01 6.80738557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52255784399999 meters 0.29969479740949817 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998849e-01 -1.30755122e-03 -7.69983158e-04 4.20488611e-01] [ 1.30638937e-03 9.99998010e-01 -1.50750457e-03 -1.16482931e-01] [ 7.71952765e-04 1.50649694e-03 9.99998567e-01 6.79869621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582557844 meters 0.29713736487977394 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:0.68 [[ 0.99999243 0.00358741 -0.00150693 0.3966635 ] [-0.00359565 0.99997839 -0.00550427 -0.1160192 ] [ 0.00148715 0.00550965 0.99998372 0.68148818] [ 0. 0. 0. 1. ]] SLAMing on 92.642557844 meters 0.29760829133850353 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:0.68 [[ 0.99999325 0.00338226 -0.00143365 0.39639419] [-0.00339083 0.99997613 -0.00602014 -0.11383839] [ 0.00141325 0.00602496 0.99998085 0.68164613] [ 0. 0. 0. 1. ]] SLAMing on 92.702557844 meters 0.29693947243642466 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:0.68 [[ 0.99999365 0.00331436 -0.00131203 0.39604335] [-0.00332244 0.9999752 -0.0062102 -0.11302838] [ 0.00129142 0.00621452 0.99997986 0.68174542] [ 0. 0. 0. 1. ]] SLAMing on 92.76255784399999 meters 0.29785272298326354 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99997950e-01 -1.86594680e-03 7.86667003e-04 4.18365801e-01] [ 1.86838148e-03 9.99993432e-01 -3.10564129e-03 -1.10509119e-01] [-7.80866875e-04 3.10710471e-03 9.99994868e-01 6.80250258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82255784399999 meters 0.2967172023891922 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99997917e-01 -1.90043198e-03 7.44434133e-04 4.18591646e-01] [ 1.90280055e-03 9.99993089e-01 -3.19402474e-03 -1.10167567e-01] [-7.38358962e-04 3.19543460e-03 9.99994622e-01 6.79974504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88255784399999 meters 0.294669501759112 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 0.99999363 -0.00226206 0.00276045 0.37684655] [ 0.00226559 0.99999662 -0.00127832 -0.11426082] [-0.00275755 0.00128456 0.99999537 0.67892162] [ 0. 0. 0. 1. ]] SLAMing on 92.94255784399999 meters 0.2973905079807112 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99994761e-01 -6.17666221e-04 3.17733798e-03 4.16819214e-01] [ 6.21880371e-04 9.99998928e-01 -1.32549752e-03 -1.12904962e-01] [-3.17651586e-03 1.32746650e-03 9.99994074e-01 6.80758429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002557844 meters 0.29591187410778474 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.12, Z:0.68 [[ 9.99974704e-01 -7.11069658e-03 -1.69858796e-04 3.97359969e-01] [ 7.11106817e-03 9.99972076e-01 2.29760286e-03 -1.15600870e-01] [ 1.53516496e-04 -2.29875262e-03 9.99997346e-01 6.81058665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062557844 meters 0.2973740471806832 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99997835e-01 2.02764322e-03 4.68272925e-04 4.17157253e-01] [-2.02806461e-03 9.99997537e-01 9.01162335e-04 -1.16792773e-01] [-4.66444536e-04 -9.02110071e-04 9.99999484e-01 6.82346703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12255784399999 meters 0.2969544358824895 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99998025e-01 1.91541845e-03 5.30388745e-04 4.16986455e-01] [-1.91573691e-03 9.99997985e-01 6.00570636e-04 -1.15542220e-01] [-5.29237332e-04 -6.01585535e-04 9.99999679e-01 6.82360505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18255784399999 meters 0.2973441218880628 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99998229e-01 1.78675330e-03 5.90539724e-04 4.17140071e-01] [-1.78691237e-03 9.99998367e-01 2.68958046e-04 -1.14188400e-01] [-5.90058198e-04 -2.70012812e-04 9.99999789e-01 6.81633406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24255784399999 meters 0.29724779198622303 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99998348e-01 1.76534425e-03 4.32073213e-04 4.17561204e-01] [-1.76543862e-03 9.99998418e-01 2.18117179e-04 -1.14001774e-01] [-4.31687477e-04 -2.18879617e-04 9.99999883e-01 6.81569555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30255784399999 meters 0.29490433140289285 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.12, Z:0.68 [[ 9.99999858e-01 3.06793845e-04 4.36845517e-04 3.81975316e-01] [-3.07219298e-04 9.99999478e-01 9.74187824e-04 -1.17385692e-01] [-4.36546414e-04 -9.74321893e-04 9.99999430e-01 6.77026206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362557844 meters 0.2980194465774041 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99999317e-01 7.72020434e-04 -8.77954088e-04 4.22798694e-01] [-7.72366682e-04 9.99999624e-01 -3.94110171e-04 -1.13319188e-01] [ 8.77649497e-04 3.94788004e-04 9.99999537e-01 6.78916573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422557844 meters 0.2960958376086194 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 9.99998043e-01 -7.68214888e-04 1.82317751e-03 3.79838921e-01] [ 7.68265727e-04 9.99999705e-01 -2.71844462e-05 -1.13642227e-01] [-1.82315609e-03 2.85850778e-05 9.99998338e-01 6.77657934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48255784399998 meters 0.296492234711902 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 9.99997474e-01 -9.17005478e-04 2.05221776e-03 3.79067681e-01] [ 9.18006530e-04 9.99999460e-01 -4.86901923e-04 -1.11596527e-01] [-2.05177016e-03 4.88784642e-04 9.99997776e-01 6.78221666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54255784399999 meters 0.29582216270119244 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 9.99997531e-01 -1.03125570e-03 1.96842469e-03 3.79498979e-01] [ 1.03283167e-03 9.99999147e-01 -7.99776328e-04 -1.10342758e-01] [-1.96759824e-03 8.01807405e-04 9.99997743e-01 6.77640959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60255784399999 meters 0.2958510989072153 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.11, Z:0.68 [[ 9.99997522e-01 -1.08801693e-03 1.94235385e-03 3.79711094e-01] [ 1.08986251e-03 9.99998955e-01 -9.49372188e-04 -1.09748540e-01] [-1.94131889e-03 9.51486734e-04 9.99997663e-01 6.77287883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66255784399999 meters 0.2977696430958372 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99999621e-01 -7.40562732e-05 8.66919012e-04 4.18823553e-01] [ 7.50040814e-05 9.99999400e-01 -1.09332504e-03 -1.10036620e-01] [-8.66837523e-04 1.09338965e-03 9.99999027e-01 6.80461207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722557844 meters 0.2975985502304145 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.11, Z:0.68 [[ 9.99999769e-01 2.16643026e-04 6.43930312e-04 4.19206787e-01] [-2.16541121e-04 9.99999964e-01 -1.58320288e-04 -1.13735740e-01] [-6.43964588e-04 1.58180814e-04 9.99999780e-01 6.80821667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782557844 meters 0.2969887569700676 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99999680e-01 4.48057252e-04 6.62777689e-04 4.19081263e-01] [-4.48347848e-04 9.99999803e-01 4.38367491e-04 -1.16192024e-01] [-6.62581145e-04 -4.38664506e-04 9.99999684e-01 6.81020709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842557844 meters 0.2967681169443686 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99999631e-01 6.32832198e-04 5.80597372e-04 4.19528064e-01] [-6.33409310e-04 9.99999305e-01 9.94353379e-04 -1.18407040e-01] [-5.79967710e-04 -9.94720768e-04 9.99999337e-01 6.80441107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90255784399999 meters 0.29573822210832446 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99999585e-01 6.10089538e-04 6.77024033e-04 4.19409320e-01] [-6.10721804e-04 9.99999377e-01 9.34077210e-04 -1.18168521e-01] [-6.76453741e-04 -9.34490295e-04 9.99999335e-01 6.80159929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96255784399999 meters 0.2959423664375668 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99999256e-01 6.34939741e-04 1.04134624e-03 4.18583060e-01] [-6.35928758e-04 9.99999347e-01 9.49692211e-04 -1.18090075e-01] [-1.04074256e-03 -9.50353727e-04 9.99999007e-01 6.80020721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02255784399999 meters 0.2977090523003593 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:0.68 [[ 9.99998559e-01 1.65983964e-03 -3.57547113e-04 4.57911256e-01] [-1.66025864e-03 9.99997932e-01 -1.17479915e-03 -1.09281974e-01] [ 3.55596395e-04 1.17539108e-03 9.99999246e-01 6.82838414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082557844 meters 0.295936493896566 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.11, Z:0.68 [[ 0.99997881 -0.00561628 -0.00329184 0.43781814] [ 0.0056216 0.9999829 0.00161069 -0.11035999] [ 0.00328274 -0.00162917 0.99999328 0.68348396] [ 0. 0. 0. 1. ]] SLAMing on 94.142557844 meters 0.2963203978175655 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 0.99999287 0.00338429 0.00167543 0.45345322] [-0.00338655 0.99999336 0.00134571 -0.11318304] [-0.00167086 -0.00135138 0.99999769 0.68467132] [ 0. 0. 0. 1. ]] SLAMing on 94.202557844 meters 0.29601945326836576 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.69 [[ 0.99999257 0.00345115 0.00171962 0.45321955] [-0.00345384 0.99999281 0.00156469 -0.11401383] [-0.00171421 -0.00157061 0.9999973 0.68500933] [ 0. 0. 0. 1. ]] SLAMing on 94.26255784399999 meters 0.295433785294713 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 0.99999281 0.00348906 0.00148333 0.4540501 ] [-0.00349157 0.99999247 0.00169422 -0.11461002] [-0.0014774 -0.00169939 0.99999746 0.6843556 ] [ 0. 0. 0. 1. ]] SLAMing on 94.32255784399999 meters 0.29511772788978624 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 0.99999326 0.00341257 0.00135578 0.45460249] [-0.0034146 0.99999304 0.00150229 -0.11383943] [-0.00135064 -0.00150691 0.99999795 0.68381174] [ 0. 0. 0. 1. ]] SLAMing on 94.38255784399999 meters 0.2939259223943436 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 0.99999331 0.00335008 0.00147178 0.45396638] [-0.00335202 0.99999351 0.00132152 -0.11298387] [-0.00146734 -0.00132645 0.99999804 0.68468218] [ 0. 0. 0. 1. ]] SLAMing on 94.44255784399999 meters 0.29365261895711964 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.69 [[ 0.99999336 0.0032672 0.00161644 0.45341585] [-0.00326896 0.99999407 0.00108483 -0.11194047] [-0.00161288 -0.0010901 0.99999811 0.68512879] [ 0. 0. 0. 1. ]] SLAMing on 94.502557844 meters 0.29412809058768824 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 9.99993638e-01 3.17466321e-03 1.62640700e-03 4.53828518e-01] [-3.17602451e-03 9.99994608e-01 8.35105810e-04 -1.10954620e-01] [-1.62374705e-03 -8.40266006e-04 9.99998329e-01 6.84085258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562557844 meters 0.2953731621832309 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:0.69 [[ 0.99998555 -0.00452723 0.00289798 0.47369065] [ 0.00452186 0.99998805 0.00185814 -0.10717084] [-0.00290635 -0.00184501 0.99999407 0.68511024] [ 0. 0. 0. 1. ]] SLAMing on 94.62255784399999 meters 0.2935781632704291 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 9.99991541e-01 3.07181176e-03 2.73526173e-03 4.54187307e-01] [-3.07446786e-03 9.99994806e-01 9.67381460e-04 -1.13635658e-01] [-2.73227591e-03 -9.75782751e-04 9.99995791e-01 6.83695555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68255784399999 meters 0.29443160934271173 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:0.68 [[ 0.99999162 0.00309206 0.00268136 0.45464841] [-0.00309482 0.99999469 0.00102215 -0.11393329] [-0.00267819 -0.00103044 0.99999588 0.68294795] [ 0. 0. 0. 1. ]] SLAMing on 94.74255784399999 meters 0.29494876458360736 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:0.68 [[ 9.99992611e-01 2.98608370e-03 2.42084349e-03 4.55765467e-01] [-2.98785844e-03 9.99995270e-01 7.29822082e-04 -1.12747681e-01] [-2.41865273e-03 -7.37049827e-04 9.99996803e-01 6.81671306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80255784399999 meters 0.2960175738211968 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.11, Z:0.68 [[ 9.99993335e-01 2.91319095e-03 2.20072705e-03 4.56683447e-01] [-2.91436304e-03 9.99995613e-01 5.29574980e-04 -1.11928382e-01] [-2.19917464e-03 -5.35985168e-04 9.99997438e-01 6.80682557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862557844 meters 0.2943130884279956 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99997821e-01 7.30707875e-04 1.95566848e-03 4.19085479e-01] [-7.31602402e-04 9.99999628e-01 4.56725833e-04 -1.15895369e-01] [-1.95533402e-03 -4.58155609e-04 9.99997983e-01 6.77716449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922557844 meters 0.2951240901221608 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:0.68 [[ 9.99997747e-01 8.34504120e-04 1.95161609e-03 4.19094776e-01] [-8.35996657e-04 9.99999359e-01 7.64078997e-04 -1.17149507e-01] [-1.95097721e-03 -7.65708821e-04 9.99997804e-01 6.77731309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98255784399998 meters 0.29548249073397925 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.12, Z:0.68 [[ 0.99997538 -0.00452663 0.00536232 0.44082395] [ 0.00450527 0.9999819 0.00398826 -0.12024502] [-0.00538028 -0.003964 0.99997767 0.67621599] [ 0. 0. 0. 1. ]] SLAMing on 95.04255784399999 meters 0.2959047114677083 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.12, Z:0.68 [[ 0.99996672 0.0050921 0.00637365 0.46052663] [-0.00511426 0.99998092 0.00346496 -0.12439262] [-0.00635589 -0.00349744 0.99997368 0.677331 ] [ 0. 0. 0. 1. ]] SLAMing on 95.10255784399999 meters 0.2930727755389845 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 0.99996598 0.0021769 0.00795637 0.4186523 ] [-0.00219916 0.99999369 0.00278983 -0.12904252] [-0.00795024 -0.00280723 0.99996446 0.67687457] [ 0. 0. 0. 1. ]] SLAMing on 95.16255784399999 meters 0.2933874806688462 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 0.999965 0.00226163 0.00805512 0.41832825] [-0.00228601 0.99999283 0.00301817 -0.12996417] [-0.00804824 -0.00303648 0.999963 0.67707728] [ 0. 0. 0. 1. ]] SLAMing on 95.222557844 meters 0.29240171224015316 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:0.68 [[ 9.99958040e-01 -1.08775658e-03 9.09585476e-03 4.14671347e-01] [ 1.08373285e-03 9.99999313e-01 4.47286678e-04 -1.34753579e-01] [-9.09633505e-03 -4.37410433e-04 9.99958532e-01 6.79071801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters 0.2935397967947587 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99959434e-01 -1.04855681e-03 8.94601645e-03 4.15317489e-01] [ 1.04348704e-03 9.99999292e-01 5.71355641e-04 -1.35284723e-01] [-8.94660922e-03 -5.61997411e-04 9.99959820e-01 6.78374782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342557844 meters 0.29483295731817827 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99961536e-01 -1.00368353e-03 8.71313593e-03 4.16114006e-01] [ 9.97593590e-04 9.99999255e-01 7.03255705e-04 -1.35843565e-01] [-8.71383529e-03 -6.94536486e-04 9.99961793e-01 6.77832643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40255784399999 meters 0.2931565795807166 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.68 [[ 0.99997424 0.00502268 0.00512661 0.39659491] [-0.00501526 0.99998636 -0.00145783 -0.13851163] [-0.00513386 0.00143208 0.9999858 0.67919153] [ 0. 0. 0. 1. ]] SLAMing on 95.46255784399999 meters 0.2960852608902847 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.13, Z:0.68 [[ 9.99952423e-01 7.87022469e-03 5.76291876e-03 4.36920675e-01] [-7.86748695e-03 9.99968927e-01 -4.97578554e-04 -1.33938990e-01] [-5.76665575e-03 4.52215192e-04 9.99983270e-01 6.79947847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52255784399999 meters 0.29206923341410584 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:0.68 [[ 0.99998214 0.00539184 0.00257775 0.39354615] [-0.00538818 0.99998447 -0.0014235 -0.13290341] [-0.00258539 0.00140958 0.99999566 0.68140796] [ 0. 0. 0. 1. ]] SLAMing on 95.582557844 meters 0.2933397461162879 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.13, Z:0.68 [[ 0.99998373 0.00521072 0.00232153 0.3943497 ] [-0.00520631 0.99998464 -0.00190035 -0.13099757] [-0.0023314 0.00188823 0.9999955 0.6809254 ] [ 0. 0. 0. 1. ]] SLAMing on 95.642557844 meters 0.2965240549897456 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:0.68 [[ 9.99997860e-01 1.63003111e-04 2.06240734e-03 4.55694426e-01] [-1.59709926e-04 9.99998712e-01 -1.59683127e-03 -1.26546211e-01] [-2.06266497e-03 1.59649847e-03 9.99996598e-01 6.82017321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702557844 meters 0.2944736709801457 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 0.99999165 -0.00354697 0.00203066 0.4185103 ] [ 0.00355221 0.99999035 -0.00258419 -0.13240802] [-0.00202148 0.00259138 0.9999946 0.67900034] [ 0. 0. 0. 1. ]] SLAMing on 95.76255784399999 meters 0.2935346048267058 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.14, Z:0.68 [[ 9.99990990e-01 4.24485921e-03 -1.47901244e-05 3.99758012e-01] [-4.24488492e-03 9.99985462e-01 -3.32516325e-03 -1.37932490e-01] [ 6.75059501e-07 3.32519607e-03 9.99994472e-01 6.78687127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82255784399999 meters 0.29427213072198183 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99997390e-01 -1.03946498e-03 2.03459847e-03 4.21900359e-01] [ 1.03922254e-03 9.99999453e-01 1.20209013e-04 -1.38660901e-01] [-2.03472231e-03 -1.18094299e-04 9.99997923e-01 6.77065232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88255784399999 meters 0.2935888414108555 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.14, Z:0.68 [[ 9.99997338e-01 -1.03028555e-03 2.06476923e-03 4.21723412e-01] [ 1.02997904e-03 9.99999458e-01 1.49506313e-04 -1.38757519e-01] [-2.06492215e-03 -1.47379246e-04 9.99997857e-01 6.77321861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94255784399999 meters 0.2947634965306763 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.14, Z:0.68 [[ 0.99996546 0.00673266 0.00487322 0.44251203] [-0.00672097 0.9999745 -0.00241254 -0.13702771] [-0.00488934 0.0023797 0.99998522 0.67580812] [ 0. 0. 0. 1. ]] SLAMing on 96.002557844 meters 0.29281636946514483 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.13, Z:0.68 [[ 0.99999094 -0.00284065 0.00317041 0.42270853] [ 0.00284572 0.99999468 -0.00159728 -0.13493824] [-0.00316586 0.00160629 0.9999937 0.67585376] [ 0. 0. 0. 1. ]] SLAMing on 96.062557844 meters 0.2947787181079425 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:0.68 [[ 9.99994595e-01 -9.26155365e-04 3.15461459e-03 4.59587686e-01] [ 9.31455631e-04 9.99998156e-01 -1.67910833e-03 -1.33730239e-01] [-3.15305366e-03 1.68203764e-03 9.99993614e-01 6.80085339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12255784399999 meters 0.29402284610239504 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.13, Z:0.68 [[ 9.99994771e-01 -8.09666094e-04 3.13072982e-03 4.59595700e-01] [ 8.13994034e-04 9.99998715e-01 -1.38137897e-03 -1.34980052e-01] [-3.12960734e-03 1.38392014e-03 9.99994145e-01 6.80219951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18255784399999 meters 0.29426593431810755 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:0.68 [[ 9.99994712e-01 -6.62020853e-04 3.18406745e-03 4.59170177e-01] [ 6.65209132e-04 9.99999278e-01 -1.00036776e-03 -1.36524733e-01] [-3.18340289e-03 1.00248054e-03 9.99994430e-01 6.80930906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24255784399999 meters 0.2936967667464548 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:0.68 [[ 9.99995281e-01 -5.56951551e-04 3.02120994e-03 4.59647387e-01] [ 5.59179628e-04 9.99999572e-01 -7.36683881e-04 -1.37667907e-01] [-3.02079835e-03 7.38369804e-04 9.99995165e-01 6.80840951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30255784399999 meters 0.29569897068821527 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:0.68 [[ 9.99996488e-01 1.26327093e-03 2.32971753e-03 4.98563667e-01] [-1.26121644e-03 9.99998815e-01 -8.83121379e-04 -1.34941336e-01] [-2.33083039e-03 8.80179999e-04 9.99996896e-01 6.83709469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362557844 meters 0.29185749186212573 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.14, Z:0.68 [[ 9.99993133e-01 -1.11231446e-03 3.53503793e-03 4.57288261e-01] [ 1.11514683e-03 9.99999059e-01 -7.99357524e-04 -1.41073342e-01] [-3.53414546e-03 8.03294121e-04 9.99993432e-01 6.82781755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters 0.29486445787468635 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.69 [[ 9.99996537e-01 4.96097194e-04 2.58456452e-03 4.97453833e-01] [-4.94747399e-04 9.99999741e-01 -5.22865673e-04 -1.42615136e-01] [-2.58482324e-03 5.21585156e-04 9.99996523e-01 6.85183220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48255784399998 meters 0.2940264687561049 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:0.68 [[ 0.99999238 0.00369392 -0.00126674 0.47845847] [-0.00370017 0.9999808 -0.0049703 -0.14532593] [ 0.00124835 0.00497495 0.99998685 0.68408496] [ 0. 0. 0. 1. ]] SLAMing on 96.54255784399999 meters 0.29489406002609353 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:0.68 [[ 0.99999107 0.00392824 -0.00156014 0.47916096] [-0.00393508 0.99998257 -0.00440184 -0.14778502] [ 0.00154282 0.00440793 0.99998909 0.68428669] [ 0. 0. 0. 1. ]] SLAMing on 96.60255784399999 meters 0.29499829198780875 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:0.68 [[ 0.99999084 0.00394918 -0.00165 0.47940891] [-0.00395631 0.99998275 -0.00434073 -0.1480418 ] [ 0.00163282 0.00434722 0.99998922 0.68424739] [ 0. 0. 0. 1. ]] SLAMing on 96.66255784399999 meters 0.29523456010479077 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:0.68 [[ 0.99999082 0.00394867 -0.00166558 0.47949498] [-0.00395587 0.99998275 -0.00434263 -0.14804699] [ 0.0016484 0.00434918 0.99998918 0.68415039] [ 0. 0. 0. 1. ]] SLAMing on 96.722557844 meters 0.2940721818079762 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:0.68 [[ 0.99999179 0.00380574 -0.00139237 0.47859644] [-0.00381234 0.99998137 -0.0047673 -0.14610701] [ 0.0013742 0.00477256 0.99998767 0.68455615] [ 0. 0. 0. 1. ]] SLAMing on 96.782557844 meters 0.29557054481245565 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999714e-01 -6.71038456e-04 -3.48982156e-04 5.01519131e-01] [ 6.70533194e-04 9.99998730e-01 -1.44592324e-03 -1.40095613e-01] [ 3.49951983e-04 1.44568882e-03 9.99998894e-01 6.83416100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters 0.29440971025248963 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999646e-01 -8.02738320e-04 -2.52505821e-04 5.01147864e-01] [ 8.02284289e-04 9.99998071e-01 -1.79308875e-03 -1.38597198e-01] [ 2.53944715e-04 1.79288553e-03 9.99998361e-01 6.83668900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90255784399999 meters 0.2945495141246962 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999632e-01 -8.50861295e-04 -1.06335936e-04 5.00814414e-01] [ 8.50656534e-04 9.99997812e-01 -1.91103697e-03 -1.38089688e-01] [ 1.07961731e-04 1.91094581e-03 9.99998168e-01 6.83556903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96255784399999 meters 0.29332623192531193 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999706e-01 -7.65229609e-04 5.76881818e-05 5.00268114e-01] [ 7.65326201e-04 9.99998273e-01 -1.69337949e-03 -1.38989231e-01] [-5.63922581e-05 1.69342314e-03 9.99998565e-01 6.83864132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02255784399999 meters 0.29416968697785484 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999701e-01 -7.71494129e-04 -5.85927124e-05 5.00861620e-01] [ 7.71393101e-04 9.99998249e-01 -1.70511453e-03 -1.39055704e-01] [ 5.99080957e-05 1.70506882e-03 9.99998545e-01 6.83131984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082557844 meters 0.2934370627307673 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999716e-01 -7.29779130e-04 -1.88102706e-04 5.01369003e-01] [ 7.29480199e-04 9.99998479e-01 -1.58439006e-03 -1.39620180e-01] [ 1.89258675e-04 1.58425239e-03 9.99998727e-01 6.82695983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142557844 meters 0.2934497256859394 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.14, Z:0.68 [[ 9.99999660e-01 -6.68640889e-04 -4.83232255e-04 5.02036286e-01] [ 6.67977526e-04 9.99998836e-01 -1.37162399e-03 -1.40486835e-01] [ 4.84148817e-04 1.37130074e-03 9.99998943e-01 6.82816604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202557844 meters 0.2946775986387901 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:0.68 [[ 0.9999799 -0.00621729 0.00124151 0.52505262] [ 0.00621515 0.99997921 0.00171919 -0.14067006] [-0.00125217 -0.00171144 0.99999775 0.68073002] [ 0. 0. 0. 1. ]] SLAMing on 97.26255784399999 meters 0.29506450353318925 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:0.68 [[ 0.99998053 -0.0061462 0.00108056 0.52549391] [ 0.00614411 0.99997928 0.00192162 -0.14153478] [-0.00109235 -0.00191494 0.99999757 0.68068709] [ 0. 0. 0. 1. ]] SLAMing on 97.32255784399999 meters 0.29581713563691264 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:0.68 [[ 9.99991375e-01 3.26563193e-03 2.56629472e-03 5.44210340e-01] [-3.26762772e-03 9.99994362e-01 7.73887582e-04 -1.43450943e-01] [-2.56375302e-03 -7.82266603e-04 9.99996408e-01 6.81858559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38255784399999 meters 0.2943760409124058 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:0.68 [[ 9.99992189e-01 -3.90637399e-03 -6.01746613e-04 5.23577433e-01] [ 3.90850647e-03 9.99985938e-01 3.58436782e-03 -1.44162168e-01] [ 5.87736270e-04 -3.58669175e-03 9.99993395e-01 6.83359659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44255784399999 meters 0.2934786089583874 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:0.68 [[ 9.99992555e-01 -3.83491059e-03 -4.27870069e-04 5.22834055e-01] [ 3.83650076e-03 9.99985497e-01 3.77971409e-03 -1.44932315e-01] [ 4.13368999e-04 -3.78132747e-03 9.99992765e-01 6.84173242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502557844 meters 0.2930663743327785 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:0.68 [[ 9.99992506e-01 -3.84673739e-03 -4.35875316e-04 5.22763966e-01] [ 3.84834545e-03 9.99985562e-01 3.75053902e-03 -1.44788678e-01] [ 4.21441684e-04 -3.75218832e-03 9.99992872e-01 6.84381797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562557844 meters 0.2924960852625602 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:0.68 [[ 9.99992058e-01 -3.97905236e-03 -2.26137471e-04 5.22395095e-01] [ 3.97978465e-03 9.99986517e-01 3.33574791e-03 -1.43112274e-01] [ 2.12861306e-04 -3.33662140e-03 9.99994411e-01 6.83999841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62255784399999 meters 0.29375115672414165 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:0.69 [[ 0.99998319 0.00527675 0.00240134 0.54000072] [-0.00528111 0.99998441 0.00181194 -0.14123659] [-0.00239174 -0.00182459 0.99999548 0.68530428] [ 0. 0. 0. 1. ]] SLAMing on 97.68255784399999 meters 0.2939515457945846 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:0.69 [[ 0.99999448 -0.00234155 0.00235719 0.55950601] [ 0.00233508 0.99999351 0.00274349 -0.13540131] [-0.0023636 -0.00273797 0.99999346 0.68680955] [ 0. 0. 0. 1. ]] SLAMing on 97.74255784399999 meters 0.29462628657026885 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:0.69 [[ 0.99999477 -0.00233 0.00224452 0.55982925] [ 0.00232376 0.99999344 0.00277949 -0.1355676 ] [-0.00225098 -0.00277426 0.99999362 0.68673205] [ 0. 0. 0. 1. ]] SLAMing on 97.80255784399999 meters 0.29384862916797927 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:0.69 [[ 0.99997604 0.0061391 0.00319705 0.53680588] [-0.00614786 0.99997735 0.00273788 -0.13969654] [-0.00318017 -0.00275747 0.99999114 0.68719465] [ 0. 0. 0. 1. ]] SLAMing on 97.862557844 meters 0.2949144755549422 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:0.69 [[ 0.99998522 -0.00201196 0.00505006 0.55661162] [ 0.00199623 0.99999315 0.00311699 -0.13529825] [-0.0050563 -0.00310687 0.99998239 0.68700627] [ 0. 0. 0. 1. ]] SLAMing on 97.922557844 meters 0.29255287398009966 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:0.69 [[ 9.99994626e-01 2.65595871e-03 1.92194258e-03 5.35096580e-01] [-2.65511189e-03 9.99996377e-01 -4.43022209e-04 -1.35001773e-01] [-1.92311226e-03 4.37916856e-04 9.99998055e-01 6.88274728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98255784399998 meters 0.2930883443256621 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:0.69 [[ 9.99994596e-01 2.65797684e-03 1.93480687e-03 5.35283000e-01] [-2.65714678e-03 9.99996377e-01 -4.31456197e-04 -1.35074934e-01] [-1.93594666e-03 4.26312800e-04 9.99998035e-01 6.87743064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04255784399999 meters 0.2957904553395646 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:0.69 [[ 9.99994693e-01 3.16058426e-03 7.90783960e-04 5.77824499e-01] [-3.15863189e-03 9.99991990e-01 -2.45809382e-03 -1.30206427e-01] [-7.98546639e-04 2.45558298e-03 9.99996666e-01 6.88277895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10255784399999 meters 0.2942250314130426 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:0.69 [[ 9.99983562e-01 -5.69449449e-03 -6.69413202e-04 5.59539671e-01] [ 5.69408708e-03 9.99983603e-01 -6.08949952e-04 -1.28579933e-01] [ 6.72869887e-04 6.05128245e-04 9.99999591e-01 6.86433898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16255784399999 meters 0.29418675130023203 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:0.68 [[ 0.99999646 0.00162348 -0.00210966 0.54090561] [-0.00162719 0.99999713 -0.0017588 -0.13381703] [ 0.0021068 0.00176223 0.99999623 0.68460705] [ 0. 0. 0. 1. ]] SLAMing on 98.222557844 meters 0.29228340253929325 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:0.68 [[ 9.99966895e-01 -7.58901081e-03 -2.93539667e-03 5.21500253e-01] [ 7.58756085e-03 9.99971087e-01 -5.04780521e-04 -1.30680355e-01] [ 2.93914259e-03 4.82491310e-04 9.99995564e-01 6.83346692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282557844 meters 0.2948090303226463 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:0.68 [[ 9.99999246e-01 7.85359991e-04 9.43819237e-04 5.39989009e-01] [-7.83261616e-04 9.99997225e-01 -2.22159723e-03 -1.27436652e-01] [-9.45561372e-04 2.22085630e-03 9.99997087e-01 6.83201928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342557844 meters 0.2944237162693168 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:0.68 [[ 9.99999363e-01 3.81263297e-04 1.06243913e-03 5.40030820e-01] [-3.77555217e-04 9.99993845e-01 -3.48817516e-03 -1.22320636e-01] [-1.06376250e-03 3.48777181e-03 9.99993352e-01 6.82404421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40255784399999 meters 0.2934947362765481 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:0.68 [[ 0.99999014 -0.00367213 -0.00249871 0.51863853] [ 0.00367551 0.99999234 0.00134674 -0.11764461] [ 0.00249374 -0.00135591 0.99999597 0.68459134] [ 0. 0. 0. 1. ]] SLAMing on 98.46255784399999 meters 0.29433888069743847 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.11, Z:0.68 [[ 9.99985682e-01 5.31726042e-03 6.01412087e-04 5.37631711e-01] [-5.31688392e-03 9.99985669e-01 -6.25886904e-04 -1.10105975e-01] [-6.04731472e-04 6.22680304e-04 9.99999623e-01 6.84071618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52255784399999 meters 0.29476998418327094 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.10, Z:0.68 [[ 9.99989471e-01 4.53495789e-03 7.01771429e-04 5.38078498e-01] [-4.53310707e-03 9.99986301e-01 -2.61684871e-03 -1.01179662e-01] [-7.13629115e-04 2.61363995e-03 9.99996330e-01 6.82885617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582557844 meters 0.2934621585407168 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.10, Z:0.68 [[ 9.99991113e-01 4.15030652e-03 7.40450794e-04 5.37918243e-01] [-4.14765400e-03 9.99985102e-01 -3.54858406e-03 -9.71705911e-02] [-7.55167475e-04 3.54548139e-03 9.99993430e-01 6.82960192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642557844 meters 0.2946061004990808 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.69 [[ 0.99999277 -0.00327057 0.00193981 0.55509587] [ 0.00327631 0.99999024 -0.00296261 -0.08407798] [-0.00193011 0.00296894 0.99999373 0.68579929] [ 0. 0. 0. 1. ]] SLAMing on 98.702557844 meters 0.29396193344283666 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.08, Z:0.69 [[ 9.99997623e-01 7.82837358e-04 2.03477930e-03 5.54936368e-01] [-7.84008796e-04 9.99999527e-01 5.74974084e-04 -8.08588201e-02] [-2.03432822e-03 -5.76568002e-04 9.99997765e-01 6.85738070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76255784399999 meters 0.29436590774916 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.69 [[ 9.99997789e-01 3.27764116e-04 2.07704188e-03 5.55058848e-01] [-3.26663978e-04 9.99999806e-01 -5.29983070e-04 -7.61493243e-02] [-2.07721519e-03 5.29303403e-04 9.99997703e-01 6.85160657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82255784399999 meters 0.2938102324101188 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:0.68 [[ 9.99998238e-01 -2.86630632e-04 1.85525188e-03 5.56073945e-01] [ 2.90491468e-04 9.99997792e-01 -2.08109586e-03 -6.94247805e-02] [-1.85465128e-03 2.08163113e-03 9.99996114e-01 6.84299339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88255784399999 meters 0.2940313883729214 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:0.68 [[ 9.99998232e-01 -6.45083867e-04 1.76650971e-03 5.56486255e-01] [ 6.50302012e-04 9.99995423e-01 -2.95495023e-03 -6.57161124e-02] [-1.76459543e-03 2.95609377e-03 9.99994074e-01 6.83915223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94255784399999 meters 0.29413868741077265 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:0.68 [[ 9.99997640e-01 -9.55264639e-04 1.95149810e-03 5.55833108e-01] [ 9.62555606e-04 9.99992548e-01 -3.73857026e-03 -6.23193932e-02] [-1.94791224e-03 3.74043986e-03 9.99991107e-01 6.84254256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002557844 meters 0.2921814150578685 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:0.68 [[ 0.99999717 -0.00113064 0.00209311 0.55536423] [ 0.00113935 0.99999068 -0.00416418 -0.06046754] [-0.00208838 0.00416655 0.99998914 0.68444362] [ 0. 0. 0. 1. ]] SLAMing on 99.062557844 meters 0.29201220541421163 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:0.68 [[ 0.99999675 -0.0014516 0.00209606 0.55544515] [ 0.00146187 0.9999869 -0.00490634 -0.05731777] [-0.00208891 0.00490939 0.99998577 0.68419602] [ 0. 0. 0. 1. ]] SLAMing on 99.12255784399999 meters 0.29352111012631155 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.68 [[ 9.99993682e-01 2.74261993e-03 2.26162766e-03 5.54818672e-01] [-2.74037535e-03 9.99995750e-01 -9.94962435e-04 -5.55453409e-02] [-2.26434685e-03 9.88758439e-04 9.99996948e-01 6.84846363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18255784399999 meters 0.2938624152927131 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.68 [[ 0.99997825 -0.0026163 0.00605503 0.57629516] [ 0.00260442 0.99999467 0.00196855 -0.05630883] [-0.00606015 -0.00195274 0.99997973 0.68273503] [ 0. 0. 0. 1. ]] SLAMing on 99.24255784399999 meters 0.29328835419738136 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:0.68 [[ 0.99997756 -0.00269877 0.00613214 0.57600569] [ 0.00268806 0.99999485 0.00175462 -0.05536709] [-0.00613684 -0.0017381 0.99997966 0.68290895] [ 0. 0. 0. 1. ]] SLAMing on 99.30255784399999 meters 0.2907862535009806 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:0.68 [[ 0.99999106 0.00232671 0.00353053 0.55375018] [-0.00232001 0.9999955 -0.00190261 -0.05483571] [-0.00353494 0.0018944 0.99999196 0.68436141] [ 0. 0. 0. 1. ]] SLAMing on 99.362557844 meters 0.2916389468031044 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:0.68 [[ 0.99999098 0.00241324 0.00349496 0.55433117] [-0.00240746 0.99999573 -0.00165807 -0.0560696 ] [-0.00349895 0.00164964 0.99999252 0.68313563] [ 0. 0. 0. 1. ]] SLAMing on 99.422557844 meters 0.2955392888185838 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.68 [[ 0.99998871 0.00435415 0.00190293 0.59895242] [-0.00435195 0.99998986 -0.00115583 -0.05291229] [-0.00190795 0.00114754 0.99999752 0.68286705] [ 0. 0. 0. 1. ]] SLAMing on 99.48255784399998 meters 0.295398114108386 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:0.68 [[ 0.99998834 0.004292 0.00221325 0.59807868] [-0.00428903 0.9999899 -0.00134559 -0.05204711] [-0.002219 0.00133608 0.99999665 0.68307049] [ 0. 0. 0. 1. ]] SLAMing on 99.54255784399999 meters 0.2933366689029903 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.68 [[ 0.99998375 -0.0054809 0.00156629 0.57725689] [ 0.00548278 0.99998425 -0.00120088 -0.04711456] [-0.00155968 0.00120945 0.99999805 0.68270925] [ 0. 0. 0. 1. ]] SLAMing on 99.60255784399999 meters 0.2925224716997095 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.68 [[ 9.99995713e-01 2.87185880e-03 -5.71560492e-04 5.56911756e-01] [-2.87309753e-03 9.99993500e-01 -2.17838857e-03 -4.52560062e-02] [ 5.65300752e-04 2.18002138e-03 9.99997464e-01 6.81848870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66255784399999 meters 0.2932662702127446 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.68 [[ 0.99999517 -0.00261362 0.00168454 0.57842829] [ 0.00261149 0.99999579 0.00126416 -0.04446085] [-0.00168784 -0.00125976 0.99999778 0.68092854] [ 0. 0. 0. 1. ]] SLAMing on 99.722557844 meters 0.2926839081910403 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.68 [[ 0.9999963 -0.00249235 0.00108705 0.58006464] [ 0.00249047 0.9999954 0.00172886 -0.04655367] [-0.00109136 -0.00172614 0.99999791 0.68050492] [ 0. 0. 0. 1. ]] SLAMing on 99.782557844 meters 0.2932778621988064 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.05, Z:0.68 [[ 0.99999643 -0.00243364 0.00110665 0.58005663] [ 0.00243156 0.99999527 0.00188412 -0.04721049] [-0.00111123 -0.00188143 0.99999761 0.6804134 ] [ 0. 0. 0. 1. ]] SLAMing on 99.842557844 meters 0.2933295905767921 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:0.68 [[ 9.99992672e-01 3.81081666e-03 3.64659915e-04 5.57037078e-01] [-3.81047169e-03 9.99992296e-01 -9.42046628e-04 -4.84431051e-02] [-3.68247072e-04 9.40650199e-04 9.99999490e-01 6.81836583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90255784399999 meters 0.2936600296934662 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:0.69 [[ 9.99990574e-01 4.33778279e-03 1.90121007e-04 5.94709679e-01] [-4.33742861e-03 9.99988927e-01 -1.82529676e-03 -4.48100050e-02] [-1.98036643e-04 1.82445492e-03 9.99998316e-01 6.85613821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96255784399999 meters 0.29436274367263326 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:0.68 [[ 9.99991350e-01 4.15847208e-03 -7.96737605e-05 5.95929819e-01] [-4.15864896e-03 9.99988554e-01 -2.36601073e-03 -4.25586515e-02] [ 6.98338590e-05 2.36632160e-03 9.99997198e-01 6.84098630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02255784399999 meters 0.2926910342475896 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.69 [[ 9.99990170e-01 -2.76560086e-03 -3.46586608e-03 5.73445366e-01] [ 2.76548337e-03 9.99996175e-01 -3.86909048e-05 -4.39509183e-02] [ 3.46595982e-03 2.91057295e-05 9.99993993e-01 6.87242063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082557844 meters 0.29173324169037146 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.69 [[ 9.99990081e-01 -2.99143719e-03 -3.29995138e-03 5.72715681e-01] [ 2.98955234e-03 9.99995365e-01 -5.75959564e-04 -4.15371624e-02] [ 3.30165903e-03 5.66088474e-04 9.99994389e-01 6.87813072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142557844 meters 0.29166096518251783 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.69 [[ 9.99989833e-01 -3.01683165e-03 -3.35154159e-03 5.73010357e-01] [ 3.01468301e-03 9.99995247e-01 -6.45958184e-04 -4.12833254e-02] [ 3.35347440e-03 6.35847781e-04 9.99994175e-01 6.87415920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202557844 meters 0.2922891945783729 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.69 [[ 9.99989823e-01 -2.93932069e-03 -3.42251115e-03 5.73114205e-01] [ 2.93784345e-03 9.99995589e-01 -4.36571997e-04 -4.21582019e-02] [ 3.42377928e-03 4.26512752e-04 9.99994048e-01 6.87615129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26255784399999 meters 0.29178321918812283 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:0.69 [[ 9.99991091e-01 -2.72323672e-03 -3.22509060e-03 5.72382299e-01] [ 2.72415133e-03 9.99996251e-01 2.79231702e-04 -4.49999744e-02] [ 3.22431809e-03 -2.88014850e-04 9.99994760e-01 6.88340149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32255784399999 meters 0.2919255345977156 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:0.69 [[ 9.99990782e-01 -2.50384811e-03 -3.48811674e-03 5.73243264e-01] [ 2.50720931e-03 9.99996397e-01 9.59574021e-04 -4.78746972e-02] [ 3.48570154e-03 -9.68310615e-04 9.99993456e-01 6.87889994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38255784399999 meters 0.2908710972866806 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:0.69 [[ 0.99999079 -0.00226235 -0.00364777 0.57399771] [ 0.00226814 0.99999617 0.00158512 -0.05068835] [ 0.00364417 -0.00159338 0.99999209 0.68706984] [ 0. 0. 0. 1. ]] SLAMing on 100.44255784399999 meters 0.2916966737159805 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:0.69 [[ 0.9999868 0.00502087 -0.0010955 0.59424357] [-0.00502209 0.99998677 -0.00111453 -0.05053315] [ 0.00108988 0.00112002 0.99999878 0.68707412] [ 0. 0. 0. 1. ]] SLAMing on 100.502557844 meters 0.2940313000736886 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:0.68 [[ 9.99992146e-01 -3.64831941e-04 -3.94643780e-03 6.20632806e-01] [ 3.70990508e-04 9.99998715e-01 1.55991877e-03 -4.21253476e-02] [ 3.94586362e-03 -1.56137061e-03 9.99990996e-01 6.84296358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562557844 meters 0.29377158702920586 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:0.68 [[ 9.99992489e-01 -5.78200138e-04 -3.83235400e-03 6.20395987e-01] [ 5.81590019e-04 9.99999441e-01 8.83487351e-04 -3.93970369e-02] [ 3.83184102e-03 -8.85709574e-04 9.99992266e-01 6.84149647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62255784399999 meters 0.2939583061942991 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.68 [[ 9.99992951e-01 -1.00655286e-03 -3.61730886e-03 6.19403726e-01] [ 1.00570456e-03 9.99999466e-01 -2.36323893e-04 -3.42738294e-02] [ 3.61754480e-03 2.32684283e-04 9.99993430e-01 6.84897370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68255784399999 meters 0.29351194733164765 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.69 [[ 9.99993194e-01 -1.14968786e-03 -3.50577339e-03 6.19024298e-01] [ 1.14759661e-03 9.99999162e-01 -5.98467422e-04 -3.27382308e-02] [ 3.50645850e-03 5.94440135e-04 9.99993676e-01 6.85054466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74255784399999 meters 0.29232924882889355 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.69 [[ 9.99993734e-01 -1.20904428e-03 -3.32733399e-03 6.18344848e-01] [ 1.20647833e-03 9.99998973e-01 -7.73070568e-04 -3.20111198e-02] [ 3.32826525e-03 7.69051368e-04 9.99994166e-01 6.85664236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80255784399999 meters 0.2922652687465167 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.69 [[ 9.99994045e-01 -1.19320351e-03 -3.23809368e-03 6.18091100e-01] [ 1.19083393e-03 9.99999022e-01 -7.33610130e-04 -3.21673512e-02] [ 3.23896586e-03 7.29749730e-04 9.99994488e-01 6.85721945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862557844 meters 0.2901685630231358 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:0.68 [[ 9.99991084e-01 -1.60036663e-03 -3.90767145e-03 5.81812242e-01] [ 1.59985962e-03 9.99998711e-01 -1.32868522e-04 -3.52751873e-02] [ 3.90787905e-03 1.26615612e-04 9.99992356e-01 6.81580036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922557844 meters 0.29066129858514983 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:0.68 [[ 9.99990968e-01 -1.72876074e-03 -3.88265545e-03 5.81677196e-01] [ 1.72678171e-03 9.99998378e-01 -5.13005541e-04 -3.37005038e-02] [ 3.88353601e-03 5.06296409e-04 9.99992331e-01 6.81733416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98255784399998 meters 0.2930817158540862 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997742e-01 7.26451149e-04 -1.99693312e-03 6.19293378e-01] [-7.26328691e-04 9.99999734e-01 6.20476818e-05 -2.43931210e-02] [ 1.99697767e-03 -6.05971119e-05 9.99998004e-01 6.83824512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04255784399999 meters 0.2921223842175401 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997867e-01 5.00568039e-04 -2.00407034e-03 6.19374659e-01] [-5.01759478e-04 9.99999698e-01 -5.94050660e-04 -2.16871713e-02] [ 2.00377237e-03 5.95054954e-04 9.99997815e-01 6.83651720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10255784399999 meters 0.2924405282574533 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997906e-01 1.96707763e-05 -2.04613301e-03 6.20010394e-01] [-2.36106163e-05 9.99998146e-01 -1.92549898e-03 -1.56199794e-02] [ 2.04609134e-03 1.92554326e-03 9.99996053e-01 6.82525021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16255784399999 meters 0.2921453450952369 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:0.68 [[ 9.99998000e-01 -1.15911462e-04 -1.99654881e-03 6.19751889e-01] [ 1.11370663e-04 9.99997408e-01 -2.27428523e-03 -1.41322212e-02] [ 1.99680725e-03 2.27405833e-03 9.99995421e-01 6.82777160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222557844 meters 0.2926906770635109 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:0.68 [[ 9.99998078e-01 -1.13936858e-04 -1.95744862e-03 6.19237545e-01] [ 1.09492785e-04 9.99997417e-01 -2.27029681e-03 -1.42342267e-02] [ 1.95770223e-03 2.27007812e-03 9.99995507e-01 6.83854235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282557844 meters 0.29273316325443566 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997867e-01 7.37050796e-06 -2.06528699e-03 6.19584492e-01] [-1.12790299e-05 9.99998209e-01 -1.89247846e-03 -1.57887697e-02] [ 2.06526934e-03 1.89249771e-03 9.99996077e-01 6.83668468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34255784399998 meters 0.29190532790779455 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997690e-01 2.05169470e-04 -2.13973953e-03 6.19597195e-01] [-2.07937241e-04 9.99999142e-01 -1.29336610e-03 -1.82471929e-02] [ 2.13947234e-03 1.29380804e-03 9.99996874e-01 6.84091292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40255784399999 meters 0.29163869947216225 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997606e-01 3.66833279e-04 -2.15734327e-03 6.19681317e-01] [-3.68698975e-04 9.99999558e-01 -8.64477923e-04 -2.00677962e-02] [ 2.15702520e-03 8.65271263e-04 9.99997299e-01 6.84014820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46255784399999 meters 0.29250139135626013 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997357e-01 5.42494637e-04 -2.23417683e-03 6.19683160e-01] [-5.43496126e-04 9.99999752e-01 -4.47675840e-04 -2.18182466e-02] [ 2.23393342e-03 4.48888923e-04 9.99997404e-01 6.84466994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52255784399999 meters 0.2924426233223109 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997059e-01 5.63850303e-04 -2.35886864e-03 6.20266103e-01] [-5.64731135e-04 9.99999771e-01 -3.72763426e-04 -2.21562215e-02] [ 2.35865792e-03 3.74094456e-04 9.99997148e-01 6.83727917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582557844 meters 0.29126650802276643 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:0.68 [[ 0.99997387 -0.00508939 -0.00513414 0.59882403] [ 0.00510734 0.99998087 0.00348828 -0.02315903] [ 0.00511629 -0.00351441 0.99998074 0.68469266] [ 0. 0. 0. 1. ]] SLAMing on 101.642557844 meters 0.29327330346756353 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 9.99997000e-01 1.63944264e-03 -1.82019612e-03 6.18505246e-01] [-1.63842103e-03 9.99998500e-01 5.62610390e-04 -2.24880477e-02] [ 1.82111576e-03 -5.59626455e-04 9.99998185e-01 6.84994493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702557844 meters 0.29221896413640575 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.69 [[ 9.99996969e-01 1.68015162e-03 -1.79999093e-03 6.18381815e-01] [-1.67894928e-03 9.99998367e-01 6.69270181e-04 -2.29193428e-02] [ 1.80111247e-03 -6.66246059e-04 9.99998156e-01 6.85168295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76255784399999 meters 0.29308026424331474 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.02, Z:0.68 [[ 0.99999672 0.00182035 -0.00180056 0.61847637] [-0.00181837 0.99999774 0.00110115 -0.02470201] [ 0.00180256 -0.00109787 0.99999777 0.68496835] [ 0. 0. 0. 1. ]] SLAMing on 101.82255784399999 meters 0.29343033919539824 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.68 [[ 0.99999615 0.00190867 -0.00201542 0.61904462] [-0.00190589 0.99999723 0.00137936 -0.0258504 ] [ 0.00201805 -0.00137552 0.99999702 0.68490767] [ 0. 0. 0. 1. ]] SLAMing on 101.88255784399999 meters 0.29346679244289947 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.68 [[ 0.99999576 0.00196407 -0.00215055 0.61939265] [-0.00196077 0.99999691 0.00153135 -0.02649826] [ 0.00215355 -0.00152713 0.99999652 0.68491901] [ 0. 0. 0. 1. ]] SLAMing on 101.94255784399999 meters 0.2924765068138976 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:0.69 [[ 0.99997071 0.00673853 -0.00362998 0.59680206] [-0.00674665 0.99997476 -0.00222918 -0.03005893] [ 0.00361487 0.0022536 0.99999093 0.68606747] [ 0. 0. 0. 1. ]] SLAMing on 102.002557844 meters 0.2921586191760844 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:0.69 [[ 0.99996961 0.0068629 -0.00369734 0.59688682] [-0.00686989 0.99997463 -0.00188031 -0.03149159] [ 0.00368434 0.00190565 0.9999914 0.68627068] [ 0. 0. 0. 1. ]] SLAMing on 102.062557844 meters 0.2934147215756078 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.69 [[ 9.99998159e-01 -9.02306736e-04 -1.69317867e-03 6.16597883e-01] [ 9.01090739e-04 9.99999336e-01 -7.18799856e-04 -2.84451371e-02] [ 1.69382612e-03 7.17272826e-04 9.99998308e-01 6.87062031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12255784399999 meters 0.29225026330372217 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.69 [[ 9.99998177e-01 -9.97156198e-04 -1.62809980e-03 6.16319077e-01] [ 9.95587558e-04 9.99999040e-01 -9.64005894e-04 -2.73816075e-02] [ 1.62905950e-03 9.62383221e-04 9.99998210e-01 6.87293322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18255784399999 meters 0.29385428661569224 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996648e-01 3.32589070e-04 -2.56769962e-03 6.56142884e-01] [-3.36406086e-04 9.99998839e-01 -1.48626195e-03 -2.02087992e-02] [ 2.56720233e-03 1.48712075e-03 9.99995599e-01 6.89839219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24255784399999 meters 0.29339417200084883 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996444e-01 1.15867333e-04 -2.66436603e-03 6.56426482e-01] [-1.21421853e-04 9.99997820e-01 -2.08467610e-03 -1.77175227e-02] [ 2.66411868e-03 2.08499220e-03 9.99994278e-01 6.89743241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30255784399999 meters 0.29349999340304944 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996373e-01 -5.80823260e-05 -2.69277083e-03 6.56467341e-01] [ 5.12656176e-05 9.99996794e-01 -2.53148471e-03 -1.58458266e-02] [ 2.69290924e-03 2.53133749e-03 9.99993170e-01 6.89813813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362557844 meters 0.29324187291461695 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996908e-01 1.05154186e-04 -2.48469544e-03 6.55668169e-01] [-1.10224174e-04 9.99997912e-01 -2.04043781e-03 -1.78787591e-02] [ 2.48447569e-03 2.04070538e-03 9.99994831e-01 6.90515838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422557844 meters 0.2921735205138933 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996944e-01 3.20540414e-04 -2.45133636e-03 6.55284518e-01] [-3.23874821e-04 9.99999023e-01 -1.35996484e-03 -2.06023264e-02] [ 2.45089804e-03 1.36075461e-03 9.99996071e-01 6.91307766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48255784399998 meters 0.29240906896067526 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.69 [[ 9.99996630e-01 5.27922650e-04 -2.54187692e-03 6.55590134e-01] [-5.29910547e-04 9.99999554e-01 -7.81448612e-04 -2.30302148e-02] [ 2.54146324e-03 7.82792945e-04 9.99996464e-01 6.91146577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54255784399999 meters 0.29239801127991855 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.69 [[ 9.99996206e-01 9.07413489e-04 -2.60088434e-03 6.55780706e-01] [-9.07082140e-04 9.99999580e-01 1.28575409e-04 -2.68579737e-02] [ 2.60099992e-03 -1.26215705e-04 9.99996609e-01 6.91109015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60255784399999 meters 0.2924406439578191 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.69 [[ 9.99995704e-01 1.13479769e-03 -2.70273363e-03 6.55771087e-01] [-1.13294163e-03 9.99999121e-01 6.88165028e-04 -2.92071853e-02] [ 2.70351219e-03 -6.85100032e-04 9.99996111e-01 6.91749918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66255784399999 meters 0.2921176659711953 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.69 [[ 0.99999565 0.0014626 -0.00255986 0.6554292 ] [-0.00145885 0.99999786 0.001465 -0.03245767] [ 0.002562 -0.00146126 0.99999565 0.69173222] [ 0. 0. 0. 1. ]] SLAMing on 102.722557844 meters 0.2930101702880784 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.69 [[ 0.99999538 0.0015676 -0.00260543 0.65571789] [-0.00156313 0.9999973 0.00171778 -0.03353561] [ 0.00260812 -0.0017137 0.99999513 0.69139708] [ 0. 0. 0. 1. ]] SLAMing on 102.782557844 meters 0.29273912540950087 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:0.69 [[ 9.99955728e-01 7.44781722e-03 -5.75085248e-03 6.35450996e-01] [-7.45355920e-03 9.99971744e-01 -9.77671324e-04 -3.54856146e-02] [ 5.74340846e-03 1.02049236e-03 9.99982986e-01 6.91927705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84255784399998 meters 0.29417398728507227 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:0.69 [[ 9.99996819e-01 -4.01594132e-04 -2.49029177e-03 6.55221137e-01] [ 4.01413700e-04 9.99999917e-01 -7.29536060e-05 -3.62680592e-02] [ 2.49032087e-03 7.19537367e-05 9.99996897e-01 6.92475221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90255784399999 meters 0.29325413584171145 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:0.69 [[ 9.99997050e-01 -6.93561146e-05 -2.42798083e-03 6.55108121e-01] [ 7.12665832e-05 9.99999688e-01 7.86777203e-04 -3.98558698e-02] [ 2.42792550e-03 -7.86947916e-04 9.99996743e-01 6.92419890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96255784399999 meters 0.29266796912585324 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:0.69 [[ 9.99996511e-01 1.92087354e-04 -2.63468319e-03 6.55761145e-01] [-1.87878166e-04 9.99998706e-01 1.59776124e-03 -4.32271220e-02] [ 2.63498669e-03 -1.59726067e-03 9.99995253e-01 6.92157413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02255784399999 meters 0.2934817874710754 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:0.69 [[ 9.99996486e-01 4.49065821e-04 -2.61271689e-03 6.55468355e-01] [-4.42828377e-04 9.99997052e-01 2.38742901e-03 -4.64111580e-02] [ 2.61378130e-03 -2.38626363e-03 9.99993737e-01 6.92789380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082557844 meters 0.29395756314266075 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:0.69 [[ 9.99995280e-01 8.29624434e-04 -2.95824613e-03 6.56222984e-01] [-8.18694650e-04 9.99992842e-01 3.69398270e-03 -5.15979981e-02] [ 2.96128958e-03 -3.69154336e-03 9.99988802e-01 6.93124405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142557844 meters 0.29254114462011815 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:0.70 [[ 0.99997338 0.00331556 -0.006499 0.63346011] [-0.00332526 0.99999337 -0.00148372 -0.05495887] [ 0.00649404 0.0015053 0.99997778 0.69622332] [ 0. 0. 0. 1. ]] SLAMing on 103.202557844 meters 0.29280954548635074 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:0.70 [[ 9.99971822e-01 3.76943942e-03 -6.49197630e-03 6.33235742e-01] [-3.77170772e-03 9.99992830e-01 -3.37192986e-04 -5.97136020e-02] [ 6.49065872e-03 3.61669322e-04 9.99978870e-01 6.96652156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26255784399999 meters 0.29480344907102485 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:0.69 [[ 0.99996807 0.00210218 -0.00770917 0.63952365] [-0.0021178 0.99999572 -0.00201878 -0.0606271 ] [ 0.0077049 0.00203504 0.99996825 0.69244126] [ 0. 0. 0. 1. ]] SLAMing on 103.32255784399999 meters 0.293988097176025 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:0.69 [[ 0.99996744 0.00231965 -0.00772859 0.63986247] [-0.00233093 0.99999623 -0.00145024 -0.06310206] [ 0.00772519 0.00146821 0.99996908 0.69170759] [ 0. 0. 0. 1. ]] SLAMing on 103.38255784399999 meters 0.2931748959998699 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:0.69 [[ 9.99966987e-01 2.67107492e-03 -7.67397458e-03 6.39244774e-01] [-2.67553468e-03 9.99996258e-01 -5.70945337e-04 -6.67813249e-02] [ 7.67242082e-03 5.91458474e-04 9.99970392e-01 6.92646138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44255784399999 meters 0.2940264627394055 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:0.69 [[ 0.9999845 -0.00330492 -0.00448007 0.66021824] [ 0.00331513 0.99999192 0.0022721 -0.06948638] [ 0.00447252 -0.00228691 0.99998738 0.69091874] [ 0. 0. 0. 1. ]] SLAMing on 103.502557844 meters 0.2941691500307903 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:0.69 [[ 0.99997268 0.00436006 -0.00596976 0.6405028 ] [-0.00435252 0.99998971 0.00127593 -0.07356128] [ 0.00597526 -0.00124991 0.99998137 0.68935087] [ 0. 0. 0. 1. ]] SLAMing on 103.562557844 meters 0.294222117237916 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:0.69 [[ 9.99972727e-01 4.22891786e-03 -6.05487109e-03 6.40594256e-01] [-4.22369356e-03 9.99990697e-01 8.75353082e-04 -7.19275132e-02] [ 6.05851656e-03 -8.49755288e-04 9.99981286e-01 6.89629581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62255784399999 meters 0.2939395904241676 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:0.69 [[ 9.99973670e-01 4.14195249e-03 -5.95855489e-03 6.40452688e-01] [-4.13817507e-03 9.99991229e-01 6.46138499e-04 -7.09811264e-02] [ 5.96117890e-03 -6.21463943e-04 9.99982039e-01 6.89377083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68255784399999 meters 0.2962591763327243 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:0.69 [[ 0.99999552 -0.00187232 -0.00233727 0.66216317] [ 0.0018788 0.99999438 0.00277706 -0.07002067] [ 0.00233206 -0.00278143 0.99999341 0.68685019] [ 0. 0. 0. 1. ]] SLAMing on 103.74255784399999 meters 0.29384385032949056 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:0.69 [[ 0.99999661 -0.00176768 -0.00190948 0.66070027] [ 0.00177354 0.99999371 0.00307292 -0.07103864] [ 0.00190404 -0.0030763 0.99999346 0.6879983 ] [ 0. 0. 0. 1. ]] SLAMing on 103.80255784399999 meters 0.29343974048238747 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:0.69 [[ 0.99999678 -0.00160278 -0.00196896 0.66075388] [ 0.0016099 0.99999215 0.00362151 -0.07319005] [ 0.00196314 -0.00362467 0.9999915 0.68829046] [ 0. 0. 0. 1. ]] SLAMing on 103.862557844 meters 0.2942680829437237 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.69 [[ 0.99999723 -0.0012406 -0.00200205 0.66081681] [ 0.00125031 0.99998742 0.0048579 -0.07816963] [ 0.001996 -0.00486039 0.9999862 0.68829259] [ 0. 0. 0. 1. ]] SLAMing on 103.922557844 meters 0.294035811250214 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:0.69 [[ 0.9999976 -0.00104888 -0.00192496 0.66046527] [ 0.00105915 0.99998515 0.00534607 -0.08019332] [ 0.00191932 -0.00534809 0.99998386 0.68869173] [ 0. 0. 0. 1. ]] SLAMing on 103.98255784399998 meters 0.29239145635062896 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.08, Z:0.69 [[ 9.99982667e-01 1.40799221e-03 -5.71693417e-03 6.37363225e-01] [-1.40870336e-03 9.99999001e-01 -1.20369499e-04 -7.95926447e-02] [ 5.71675898e-03 1.28420877e-04 9.99983651e-01 6.92194902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04255784399999 meters 0.2934841416363484 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.69 [[ 0.99999116 -0.00356805 -0.00222594 0.65922685] [ 0.00357597 0.99998725 0.00356432 -0.08507774] [ 0.0022132 -0.00357225 0.99999117 0.69015069] [ 0. 0. 0. 1. ]] SLAMing on 104.10255784399999 meters 0.29423237027679905 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.69 [[ 0.99999205 -0.00319679 -0.00238518 0.6597409 ] [ 0.00320769 0.99998438 0.00457703 -0.08928126] [ 0.00237051 -0.00458465 0.99998668 0.69003778] [ 0. 0. 0. 1. ]] SLAMing on 104.16255784399999 meters 0.2937372811719362 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.69 [[ 0.99999219 -0.00305491 -0.00250734 0.66024096] [ 0.00306734 0.99998295 0.00496987 -0.09099165] [ 0.00249211 -0.00497752 0.99998451 0.68954123] [ 0. 0. 0. 1. ]] SLAMing on 104.222557844 meters 0.29288182892071185 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:0.69 [[ 0.99999273 -0.00281659 -0.00257214 0.66034604] [ 0.00283082 0.99998062 0.0055452 -0.09339353] [ 0.00255647 -0.00555244 0.99998132 0.68971671] [ 0. 0. 0. 1. ]] SLAMing on 104.282557844 meters 0.29266841808588634 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.69 [[ 0.99999362 -0.00249628 -0.00255408 0.65989693] [ 0.00251236 0.99997693 0.00631084 -0.09658372] [ 0.00253827 -0.00631722 0.99997682 0.69067771] [ 0. 0. 0. 1. ]] SLAMing on 104.34255784399998 meters 0.29190469200059604 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.69 [[ 0.99999377 -0.00235856 -0.00262547 0.66028032] [ 0.00237606 0.99997484 0.00668448 -0.09817836] [ 0.00260964 -0.00669067 0.99997421 0.69019474] [ 0. 0. 0. 1. ]] SLAMing on 104.40255784399999 meters 0.2930993838498343 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 9.99987564e-01 4.96493072e-03 4.69502520e-04 6.79604906e-01] [-4.96677350e-03 9.99979630e-01 4.00883372e-03 -9.97445031e-02] [-4.49589375e-04 -4.01111578e-03 9.99991854e-01 6.89977858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46255784399999 meters 0.2935903370697528 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 9.99987296e-01 5.01247567e-03 5.31568064e-04 6.79231631e-01] [-5.01463036e-03 9.99978887e-01 4.13270607e-03 -1.00214579e-01] [-5.10841753e-04 -4.13531918e-03 9.99991319e-01 6.90495437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52255784399999 meters 0.292804834817703 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 9.99999586e-01 7.62660903e-04 4.95553903e-04 6.79552394e-01] [-7.62680983e-04 9.99999708e-01 4.03327371e-05 -1.01230106e-01] [-4.95522999e-04 -4.07106699e-05 9.99999876e-01 6.89866063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582557844 meters 0.2946899853155525 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:0.69 [[ 9.99997976e-01 1.96891558e-03 4.14056175e-04 7.16510520e-01] [-1.96876238e-03 9.99997994e-01 -3.70088231e-04 -1.00661448e-01] [-4.14784016e-04 3.69272303e-04 9.99999846e-01 6.93724457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642557844 meters 0.293066854719378 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99999425e-01 4.55989909e-04 9.70414581e-04 6.79603472e-01] [-4.56936335e-04 9.99999420e-01 9.75281821e-04 -1.05013212e-01] [-9.69969299e-04 -9.75724678e-04 9.99999054e-01 6.89685609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702557844 meters 0.2938042763227679 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.10, Z:0.69 [[ 9.99999017e-01 1.34637394e-03 -3.90719808e-04 7.20121732e-01] [-1.34643190e-03 9.99999083e-01 -1.48112780e-04 -1.03340989e-01] [ 3.90520035e-04 1.48638712e-04 9.99999913e-01 6.91700690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76255784399999 meters 0.2925632344687709 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99999477e-01 -1.00528471e-03 1.88704695e-04 6.82483299e-01] [ 1.00520761e-03 9.99999411e-01 4.08229888e-04 -1.10291587e-01] [-1.89114971e-04 -4.08039987e-04 9.99999899e-01 6.88672911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82255784399999 meters 0.2927479987125255 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99999553e-01 -8.90646032e-04 3.18475268e-04 6.82098482e-01] [ 8.90414950e-04 9.99999341e-01 7.24996153e-04 -1.11593199e-01] [-3.19120773e-04 -7.24712254e-04 9.99999686e-01 6.88833186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88255784399999 meters 0.2924330670966883 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99999584e-01 -8.11676938e-04 4.15965490e-04 6.81808150e-01] [ 8.11286783e-04 9.99999232e-01 9.37260975e-04 -1.12466000e-01] [-4.16725923e-04 -9.36923117e-04 9.99999474e-01 6.88923768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94255784399999 meters 0.29243030773988665 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99999625e-01 -8.00582439e-04 3.31659382e-04 6.82000379e-01] [ 8.00259329e-04 9.99999206e-01 9.73211851e-04 -1.12612648e-01] [-3.32438255e-04 -9.72946072e-04 9.99999471e-01 6.88978551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002557844 meters 0.2929559074078236 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:0.69 [[ 9.99999802e-01 -5.63924865e-04 2.78945573e-04 6.81781581e-01] [ 5.63466741e-04 9.99998497e-01 1.63969983e-03 -1.15281536e-01] [-2.79869821e-04 -1.63954232e-03 9.99998617e-01 6.89833730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062557844 meters 0.2925959865464624 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:0.69 [[ 9.99999932e-01 -3.24975819e-04 1.73133366e-04 6.81913526e-01] [ 3.24572838e-04 9.99997250e-01 2.32254130e-03 -1.18056272e-01] [-1.73887660e-04 -2.32248495e-03 9.99997288e-01 6.90161624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12255784399999 meters 0.2923104272999216 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:0.69 [[ 9.99999990e-01 -9.09908181e-05 1.06048467e-04 6.81976941e-01] [ 9.06800644e-05 9.99995713e-01 2.92662855e-03 -1.20552239e-01] [-1.06314308e-04 -2.92661890e-03 9.99995712e-01 6.90416535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18255784399999 meters 0.2939074789888957 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99997693e-01 2.01061990e-03 -7.55375163e-04 7.20446658e-01] [-2.00848179e-03 9.99994005e-01 2.82070122e-03 -1.18297550e-01] [ 7.61041992e-04 -2.81917756e-03 9.99995737e-01 6.93896562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24255784399999 meters 0.293763605215816 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 9.99966465e-01 6.95150367e-03 -4.32953543e-03 7.01142208e-01] [-6.95312591e-03 9.99975762e-01 -3.59752065e-04 -1.20438470e-01] [ 4.32692967e-03 3.89843805e-04 9.99990563e-01 6.93513618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30255784399999 meters 0.2927784952478187 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 9.99965430e-01 7.14353925e-03 -4.25549837e-03 7.00852266e-01] [-7.14301002e-03 9.99974479e-01 1.39548325e-04 -1.22495302e-01] [ 4.25638663e-03 -1.09146433e-04 9.99990936e-01 6.93745225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362557844 meters 0.2944904380458682 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99995485e-01 -6.98858046e-04 -2.92245724e-03 7.22387215e-01] [ 7.02012477e-04 9.99999172e-01 1.07848990e-03 -1.22825531e-01] [ 2.92170111e-03 -1.08053663e-03 9.99995148e-01 6.93886475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422557844 meters 0.29376075453038863 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99995707e-01 -6.04908887e-04 -2.86702034e-03 7.22425184e-01] [ 6.08700625e-04 9.99998941e-01 1.32184811e-03 -1.23876653e-01] [ 2.86621770e-03 -1.32358759e-03 9.99995016e-01 6.93489338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48255784399998 meters 0.29416142775819715 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99996008e-01 -5.55978347e-04 -2.77023412e-03 7.22454956e-01] [ 5.60046278e-04 9.99998766e-01 1.46788349e-03 -1.24530819e-01] [ 2.76941459e-03 -1.46942909e-03 9.99995086e-01 6.92800961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54255784399999 meters 0.2940166759572364 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99995831e-01 -5.61541481e-04 -2.83255801e-03 7.22721845e-01] [ 5.65671886e-04 9.99998778e-01 1.45759843e-03 -1.24518830e-01] [ 2.83173604e-03 -1.45919465e-03 9.99994926e-01 6.92551871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60255784399999 meters 0.29367091507532056 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 0.99997436 0.00391046 -0.00599878 0.70168981] [-0.00392381 0.99998985 -0.00221408 -0.12392645] [ 0.00599006 0.00223756 0.99997956 0.69313549] [ 0. 0. 0. 1. ]] SLAMing on 105.66255784399999 meters 0.2934822461095835 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99996855e-01 -1.34561331e-03 -2.11629892e-03 7.21221550e-01] [ 1.34696474e-03 9.99998890e-01 6.37286305e-04 -1.23349297e-01] [ 2.11543903e-03 -6.40134881e-04 9.99997558e-01 6.92223934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722557844 meters 0.29344701902829934 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99997073e-01 -1.41895902e-03 -1.95970488e-03 7.20552440e-01] [ 1.41981647e-03 9.99998897e-01 4.36222790e-04 -1.22393389e-01] [ 1.95908373e-03 -4.39003934e-04 9.99997985e-01 6.92904087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782557844 meters 0.2922799754640762 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 0.99998223 0.00340762 -0.00489233 0.69948524] [-0.00342302 0.9999892 -0.00314365 -0.12073559] [ 0.00488156 0.00316035 0.99998309 0.69356374] [ 0. 0. 0. 1. ]] SLAMing on 105.84255784399998 meters 0.29375747728982265 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99986889e-01 -1.39990361e-03 -4.92575378e-03 7.24835243e-01] [ 1.39883854e-03 9.99998997e-01 -2.19663391e-04 -1.15555838e-01] [ 4.92605635e-03 2.12770176e-04 9.99987844e-01 6.91351148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90255784399999 meters 0.29328985734910834 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:0.69 [[ 9.99987296e-01 -1.67393325e-03 -4.75460347e-03 7.24204505e-01] [ 1.66948630e-03 9.99998165e-01 -9.39107974e-04 -1.12499782e-01] [ 4.75616676e-03 9.31158298e-04 9.99988256e-01 6.91709614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96255784399999 meters 0.29261887110102286 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:0.69 [[ 0.99998697 -0.00174979 -0.00479543 0.72421157] [ 0.0017443 0.99999782 -0.00114782 -0.11163024] [ 0.00479743 0.00113944 0.99998784 0.6919344 ] [ 0. 0. 0. 1. ]] SLAMing on 106.02255784399999 meters 0.2924612771322657 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:0.69 [[ 0.99998704 -0.00177795 -0.00477086 0.72409334] [ 0.00177206 0.99999766 -0.00123941 -0.11125313] [ 0.00477305 0.00123094 0.99998785 0.69208937] [ 0. 0. 0. 1. ]] SLAMing on 106.082557844 meters 0.29178231681978756 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:0.69 [[ 9.99986899e-01 -1.68549400e-03 -4.83328920e-03 7.24070819e-01] [ 1.68085650e-03 9.99998123e-01 -9.63393353e-04 -1.12325938e-01] [ 4.83490393e-03 9.55256666e-04 9.99987856e-01 6.92536988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142557844 meters 0.2932389327766071 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.12, Z:0.69 [[ 0.99997211 -0.00700633 -0.00258565 0.74739991] [ 0.00701239 0.99997267 0.00234341 -0.11569368] [ 0.00256916 -0.00236148 0.99999391 0.69008761] [ 0. 0. 0. 1. ]] SLAMing on 106.202557844 meters 0.2918879982412415 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99998339e-01 7.84033406e-04 -1.64546764e-03 7.24595521e-01] [-7.80461477e-04 9.99997340e-01 2.17028881e-03 -1.22474701e-01] [ 1.64716485e-03 -2.16900098e-03 9.99996291e-01 6.90144750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26255784399999 meters 0.2915424863849932 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:0.69 [[ 9.99998629e-01 7.41485930e-04 -1.48090034e-03 7.24297964e-01] [-7.38480286e-04 9.99997669e-01 2.02912216e-03 -1.21928421e-01] [ 1.48240145e-03 -2.02802576e-03 9.99996845e-01 6.89854040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32255784399999 meters 0.2933286278383338 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:0.69 [[ 9.99998115e-01 6.01405969e-04 -1.84620730e-03 7.25726079e-01] [-5.98446090e-04 9.99998536e-01 1.60335545e-03 -1.20356129e-01] [ 1.84716886e-03 -1.60224757e-03 9.99997010e-01 6.88324816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38255784399999 meters 0.2909781552722731 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:0.69 [[ 0.99999716 -0.00106718 -0.00212945 0.68876475] [ 0.00107038 0.9999983 0.00150111 -0.12034506] [ 0.00212784 -0.00150339 0.99999661 0.68563465] [ 0. 0. 0. 1. ]] SLAMing on 106.44255784399999 meters 0.2923403499282362 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:0.69 [[ 9.99999344e-01 7.93959287e-04 8.25184131e-04 7.29656471e-01] [-7.95109485e-04 9.99998712e-01 1.39447659e-03 -1.16372029e-01] [-8.24075910e-04 -1.39513179e-03 9.99998687e-01 6.85297064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502557844 meters 0.29081283893295506 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 9.99977353e-01 6.30059433e-03 2.36579273e-03 7.04713488e-01] [-6.29835580e-03 9.99979712e-01 -9.52465560e-04 -1.23269571e-01] [-2.37174583e-03 9.37543385e-04 9.99996748e-01 6.86112558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562557844 meters 0.2911414672721577 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 9.99976368e-01 6.36152745e-03 2.60671048e-03 7.03742433e-01] [-6.36009756e-03 9.99979620e-01 -5.56462747e-04 -1.24831185e-01] [-2.61019731e-03 5.39870664e-04 9.99996448e-01 6.87226982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62255784399999 meters 0.29336076654366033 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:0.69 [[ 9.99992393e-01 -2.38279540e-03 3.08810054e-03 7.27805205e-01] [ 2.38383161e-03 9.99997104e-01 -3.31909549e-04 -1.26905901e-01] [-3.08730073e-03 3.39268536e-04 9.99995177e-01 6.86153602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68255784399999 meters 0.2906069478914323 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99997577e-01 2.04156933e-03 8.22940249e-04 7.04395172e-01] [-2.03877907e-03 9.99992219e-01 -3.37729585e-03 -1.30498166e-01] [-8.29828829e-04 3.37560988e-03 9.99993958e-01 6.88255001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74255784399999 meters 0.2927466591822258 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 0.99997964 -0.00500642 0.00395551 0.72346602] [ 0.00501348 0.99998585 -0.00177678 -0.13222108] [-0.00394656 0.00179658 0.9999906 0.68900728] [ 0. 0. 0. 1. ]] SLAMing on 106.80255784399999 meters 0.29211823402819886 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 0.9999814 -0.00478028 0.00378718 0.7240783 ] [ 0.00478504 0.99998777 -0.00124824 -0.13449946] [-0.00378117 0.00126634 0.99999205 0.68870165] [ 0. 0. 0. 1. ]] SLAMing on 106.862557844 meters 0.2933133442645558 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:0.69 [[ 9.99984420e-01 -4.45844223e-03 3.35879583e-03 7.25144655e-01] [ 4.45958964e-03 9.99990000e-01 -3.34201905e-04 -1.38170723e-01] [-3.35727222e-03 3.49175549e-04 9.99994303e-01 6.88619321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922557844 meters 0.291019593883843 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:0.69 [[ 9.99984594e-01 -5.54663946e-03 -2.17100982e-04 6.81091795e-01] [ 5.54689566e-03 9.99983898e-01 1.19786042e-03 -1.49978560e-01] [ 2.10453386e-04 -1.19904620e-03 9.99999259e-01 6.93597018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98255784399998 meters 0.29213728912470505 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:0.69 [[ 9.99997327e-01 1.85971530e-03 1.37388206e-03 7.03667812e-01] [-1.85873555e-03 9.99998018e-01 -7.14063471e-04 -1.58858190e-01] [-1.37520729e-03 7.11507878e-04 9.99998801e-01 6.92075280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04255784399999 meters 0.29323084331950866 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:0.69 [[ 9.99975334e-01 -6.21093405e-03 3.27971675e-03 7.25793951e-01] [ 6.21059795e-03 9.99980708e-01 1.12653376e-04 -1.62977373e-01] [-3.28035316e-03 -9.22815954e-05 9.99994615e-01 6.91275574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10255784399999 meters 0.29487161414908775 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:0.69 [[ 0.99998074 -0.00548664 0.00289963 0.72640619] [ 0.00548037 0.99998264 0.00216464 -0.17142834] [-0.00291146 -0.0021487 0.99999345 0.69211842] [ 0. 0. 0. 1. ]] SLAMing on 107.16255784399999 meters 0.294157759742129 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 9.99998331e-01 1.60143733e-03 8.79632043e-04 7.08175650e-01] [-1.60290088e-03 9.99997328e-01 1.66564311e-03 -1.80267684e-01] [-8.76962270e-04 -1.66705029e-03 9.99998226e-01 6.90501802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222557844 meters 0.29497331266624177 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 9.99998113e-01 1.80088939e-03 7.27928508e-04 7.08724915e-01] [-1.80243000e-03 9.99996126e-01 2.12134145e-03 -1.82181559e-01] [-7.24105386e-04 -2.12264949e-03 9.99997485e-01 6.90228885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282557844 meters 0.2942553487566982 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 9.99998042e-01 1.81399288e-03 7.91431563e-04 7.08628970e-01] [-1.81569646e-03 9.99996025e-01 2.15714039e-03 -1.82336613e-01] [-7.87515380e-04 -2.15857317e-03 9.99997360e-01 6.90075381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34255784399998 meters 0.29402081926798523 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 9.99997742e-01 2.02359977e-03 6.48319834e-04 7.08649771e-01] [-2.02530454e-03 9.99994465e-01 2.63974922e-03 -1.84314952e-01] [-6.42974450e-04 -2.64105631e-03 9.99996306e-01 6.90810894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40255784399999 meters 0.2947160035750957 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:0.69 [[ 0.99998337 -0.00520823 0.00247553 0.72853251] [ 0.00519946 0.99998023 0.00353634 -0.18077176] [-0.0024939 -0.00352341 0.99999068 0.69115563] [ 0. 0. 0. 1. ]] SLAMing on 107.46255784399999 meters 0.29424939852019855 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 0.99999693 0.00211255 0.00129488 0.70855198] [-0.00211599 0.99999423 0.0026568 -0.18409523] [-0.00128926 -0.00265953 0.99999563 0.69056876] [ 0. 0. 0. 1. ]] SLAMing on 107.52255784399999 meters 0.2949671602568911 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 0.99999729 0.00203574 0.00112978 0.70908304] [-0.00203851 0.9999949 0.00245917 -0.18332284] [-0.00112477 -0.00246146 0.99999634 0.69027771] [ 0. 0. 0. 1. ]] SLAMing on 107.582557844 meters 0.2951304445031663 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 0.99999738 0.00197078 0.00116275 0.70937597] [-0.00197343 0.99999545 0.00228158 -0.18269787] [-0.00115825 -0.00228387 0.99999672 0.68937599] [ 0. 0. 0. 1. ]] SLAMing on 107.642557844 meters 0.2934547008304088 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:0.69 [[ 0.99999685 0.00209395 0.00138294 0.70832119] [-0.00209759 0.99999432 0.00263636 -0.18395574] [-0.00137742 -0.00263925 0.99999557 0.69076686] [ 0. 0. 0. 1. ]] SLAMing on 107.702557844 meters 0.2944516870076925 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:0.69 [[ 0.99999587 0.00234044 0.00167092 0.70721535] [-0.00234622 0.99999125 0.00346312 -0.18697958] [-0.0016628 -0.00346702 0.99999261 0.69182065] [ 0. 0. 0. 1. ]] SLAMing on 107.76255784399999 meters 0.2943824208766679 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:0.69 [[ 0.99999576 0.00243377 0.00159943 0.70755338] [-0.0024397 0.99999012 0.00371649 -0.18809196] [-0.00159037 -0.00372038 0.99999181 0.69147345] [ 0. 0. 0. 1. ]] SLAMing on 107.82255784399999 meters 0.29333318043597373 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:0.69 [[ 0.99999673 0.00224153 0.00122895 0.70883815] [-0.00224534 0.99999263 0.00311334 -0.18584425] [-0.00122196 -0.00311609 0.9999944 0.69030238] [ 0. 0. 0. 1. ]] SLAMing on 107.88255784399999 meters 0.2961940341805523 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.18, Z:0.69 [[ 9.99988607e-01 4.75446645e-03 4.25852087e-04 7.47004376e-01] [-4.75527156e-03 9.99986870e-01 1.90994933e-03 -1.78136091e-01] [-4.16765706e-04 -1.91195262e-03 9.99998085e-01 6.92623525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94255784399999 meters 0.294729995365293 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 0.99997934 -0.00598511 0.00234496 0.72455666] [ 0.00598111 0.99998065 0.00170858 -0.17134933] [-0.00235514 -0.00169452 0.99999579 0.69265783] [ 0. 0. 0. 1. ]] SLAMing on 108.002557844 meters 0.2954878001316307 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 0.99999535 -0.00184886 0.0024269 0.7241549 ] [ 0.00183547 0.99998315 0.00550741 -0.16909609] [-0.00243704 -0.00550293 0.99998189 0.69306186] [ 0. 0. 0. 1. ]] SLAMing on 108.062557844 meters 0.2948611474413437 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 0.99999465 -0.00214022 0.00247235 0.72415711] [ 0.00212832 0.99998619 0.00480602 -0.16621204] [-0.0024826 -0.00480073 0.99998539 0.69272406] [ 0. 0. 0. 1. ]] SLAMing on 108.12255784399999 meters 0.29435638647676293 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 0.99999441 -0.0021482 0.00256111 0.72375438] [ 0.00213596 0.99998634 0.00477144 -0.16603056] [-0.00257133 -0.00476594 0.99998534 0.69320746] [ 0. 0. 0. 1. ]] SLAMing on 108.18255784399999 meters 0.29371598217537453 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 0.99999482 -0.00210832 0.00243036 0.72430385] [ 0.00209641 0.99998583 0.0048929 -0.16657564] [-0.00244064 -0.00488778 0.99998508 0.69266097] [ 0. 0. 0. 1. ]] SLAMing on 108.24255784399999 meters 0.2916617442311511 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:0.70 [[ 9.99999135e-01 1.27085573e-05 -1.31556539e-03 7.00318994e-01] [-1.31140160e-05 9.99999952e-01 -3.08192965e-04 -1.66471070e-01] [ 1.31556141e-03 3.08209950e-04 9.99999087e-01 6.97815394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30255784399999 meters 0.29550705702660923 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.17, Z:0.70 [[ 9.99995768e-01 -2.27083886e-03 -1.81885679e-03 7.59350725e-01] [ 2.27095881e-03 9.99997419e-01 6.38870347e-05 -1.66015796e-01] [ 1.81870702e-03 -6.80173131e-05 9.99998344e-01 6.98593398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362557844 meters 0.295088067043532 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.17, Z:0.70 [[ 0.99998727 0.00163495 -0.00477338 0.73838505] [-0.00165124 0.99999281 -0.00341235 -0.17037138] [ 0.00476777 0.00342019 0.99998279 0.69937202] [ 0. 0. 0. 1. ]] SLAMing on 108.422557844 meters 0.2941716545485434 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.70 [[ 0.99995291 -0.00814083 -0.0052825 0.71869192] [ 0.00813107 0.9999652 -0.00186641 -0.17015616] [ 0.00529751 0.00182337 0.99998431 0.69908266] [ 0. 0. 0. 1. ]] SLAMing on 108.48255784399998 meters 0.2964177712115381 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.9999921 0.00174572 -0.0035702 0.73782276] [-0.00175469 0.99999531 -0.00251122 -0.17507153] [ 0.0035658 0.00251746 0.99999047 0.69923548] [ 0. 0. 0. 1. ]] SLAMing on 108.54255784399999 meters 0.2955572914804489 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.99999169 0.0018778 -0.00361854 0.7379468 ] [-0.00188563 0.99999589 -0.00216093 -0.17652906] [ 0.00361447 0.00216773 0.99999112 0.69923426] [ 0. 0. 0. 1. ]] SLAMing on 108.60255784399999 meters 0.2940897098253822 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99996696e-01 -5.49476086e-04 -2.51123517e-03 6.99439605e-01] [ 5.47078310e-04 9.99999394e-01 -9.55406342e-04 -1.84493633e-01] [ 2.51175862e-03 9.54029343e-04 9.99996390e-01 6.97245252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66255784399999 meters 0.29356768899842833 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:0.70 [[ 9.99997062e-01 -3.88361213e-04 -2.39279900e-03 6.99159750e-01] [ 3.87099819e-04 9.99999786e-01 -5.27603278e-04 -1.86247801e-01] [ 2.39300339e-03 5.26675476e-04 9.99996998e-01 6.97209348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722557844 meters 0.2970241116810296 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:0.70 [[ 0.99999572 0.00109992 -0.00271247 0.73987432] [-0.00110407 0.99999822 -0.00153166 -0.18712007] [ 0.00271078 0.00153465 0.99999515 0.69816823] [ 0. 0. 0. 1. ]] SLAMing on 108.782557844 meters 0.29623620143730295 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:0.70 [[ 9.99946266e-01 -8.68982919e-03 -5.65260341e-03 7.22129858e-01] [ 8.68516050e-03 9.99961922e-01 -8.49960934e-04 -1.83660111e-01] [ 5.65977419e-03 8.00821495e-04 9.99983663e-01 6.97921653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84255784399998 meters 0.2951077636572521 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99979954e-01 -2.90804051e-04 -6.32515881e-03 6.98855701e-01] [ 2.85340074e-04 9.99999585e-01 -8.64733521e-04 -1.83263871e-01] [ 6.32540766e-03 8.62911365e-04 9.99979622e-01 6.98569551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90255784399999 meters 0.2956013557571135 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99984379e-01 -5.22702119e-04 -5.56494749e-03 6.97031666e-01] [ 5.12255075e-04 9.99998104e-01 -1.87855421e-03 -1.79104805e-01] [ 5.56591887e-03 1.87567419e-03 9.99982751e-01 6.98695293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96255784399999 meters 0.29665274565757266 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99984231e-01 -8.47389818e-04 -5.55157108e-03 6.97341024e-01] [ 8.31950840e-04 9.99995782e-01 -2.78272989e-03 -1.75519922e-01] [ 5.55390572e-03 2.77806738e-03 9.99980718e-01 6.97996462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02255784399999 meters 0.29615758326741864 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99984529e-01 -8.71171812e-04 -5.49380417e-03 6.97118629e-01] [ 8.55513555e-04 9.99995567e-01 -2.85187281e-03 -1.75217877e-01] [ 5.49626428e-03 2.84712867e-03 9.99980842e-01 6.98161379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082557844 meters 0.29536462042842054 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:0.70 [[ 9.99983918e-01 -9.94360458e-04 -5.58340071e-03 6.97476260e-01] [ 9.76787573e-04 9.99994564e-01 -3.14918969e-03 -1.74020399e-01] [ 5.58650179e-03 3.14368525e-03 9.99979454e-01 6.97883826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142557844 meters 0.2968283449388295 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.69 [[ 9.99981903e-01 -5.61547879e-03 -2.15883062e-03 7.20305324e-01] [ 5.61517556e-03 9.99984224e-01 -1.46497187e-04 -1.74953681e-01] [ 2.15961922e-03 1.34372323e-04 9.99997659e-01 6.94811950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202557844 meters 0.2940779955410491 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99995061e-01 3.09883803e-03 -5.24878310e-04 6.95290675e-01] [-3.09854246e-03 9.99995041e-01 5.62994033e-04 -1.79224634e-01] [ 5.26620335e-04 -5.61364895e-04 9.99999704e-01 6.97378582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26255784399999 meters 0.2942338568833829 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99994683e-01 3.21519346e-03 -5.44817691e-04 6.95174516e-01] [-3.21471037e-03 9.99994441e-01 8.85272306e-04 -1.80512502e-01] [ 5.47660984e-04 -8.83516168e-04 9.99999460e-01 6.97758057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32255784399999 meters 0.29388302814898126 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99994737e-01 3.19558857e-03 -5.60036021e-04 6.95469030e-01] [-3.19511850e-03 9.99994544e-01 8.38245113e-04 -1.80393681e-01] [ 5.62711652e-04 -8.36451321e-04 9.99999492e-01 6.97168277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38255784399999 meters 0.2939794306018688 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:0.70 [[ 9.99995006e-01 3.13574358e-03 -3.93775044e-04 6.95090046e-01] [-3.13549106e-03 9.99994879e-01 6.40267751e-04 -1.79596474e-01] [ 3.95780743e-04 -6.39029875e-04 9.99999717e-01 6.97105416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44255784399999 meters 0.29816787477549916 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.99997294 0.00672069 -0.00299341 0.73814371] [-0.00671765 0.99997691 0.00102427 -0.17715393] [ 0.00300022 -0.00100414 0.999995 0.69787638] [ 0. 0. 0. 1. ]] SLAMing on 109.502557844 meters 0.2972977717505063 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.99997149 0.00686937 -0.00313409 0.73858226] [-0.00686495 0.99997543 0.0014208 -0.17884186] [ 0.00314377 -0.00139924 0.99999408 0.69772755] [ 0. 0. 0. 1. ]] SLAMing on 109.562557844 meters 0.2969566591100735 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.99997154 0.00691988 -0.00300607 0.73807721] [-0.00691523 0.99997488 0.00155571 -0.17935083] [ 0.00301676 -0.00153488 0.99999427 0.69816375] [ 0. 0. 0. 1. ]] SLAMing on 109.62255784399999 meters 0.29757404300487605 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 0.9999731 0.0067782 -0.00280225 0.73762781] [-0.00677482 0.99997632 0.00121284 -0.17789859] [ 0.00281041 -0.00119382 0.99999534 0.69795153] [ 0. 0. 0. 1. ]] SLAMing on 109.68255784399999 meters 0.29823543133037295 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99974454e-01 6.53241773e-03 -2.90142790e-03 7.38065935e-01] [-6.53075430e-03 9.99978505e-01 5.82421002e-04 -1.75320738e-01] [ 2.90517015e-03 -5.63457611e-04 9.99995621e-01 6.97537979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74255784399999 meters 0.2968796026105237 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.70 [[ 0.99998278 -0.00237269 -0.00536782 0.72022946] [ 0.00238487 0.99999459 0.00226457 -0.17178574] [ 0.00536242 -0.00227733 0.99998303 0.69622404] [ 0. 0. 0. 1. ]] SLAMing on 109.80255784399999 meters 0.29649244273327985 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.70 [[ 0.99998017 -0.00248399 -0.00578775 0.72112366] [ 0.0024954 0.99999495 0.00196625 -0.1707273 ] [ 0.00578284 -0.00198065 0.99998132 0.69653242] [ 0. 0. 0. 1. ]] SLAMing on 109.862557844 meters 0.29670973104093396 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.17, Z:0.70 [[ 0.99999292 0.00362167 -0.00102097 0.73947217] [-0.00362301 0.99999257 -0.0013157 -0.17174155] [ 0.0010162 0.00131939 0.99999861 0.69542524] [ 0. 0. 0. 1. ]] SLAMing on 109.922557844 meters 0.2969838587996217 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99991818e-01 3.97259492e-03 -7.63021147e-04 7.38159410e-01] [-3.97270049e-03 9.99992099e-01 -1.36881977e-04 -1.76351230e-01] [ 7.62471342e-04 1.39912112e-04 9.99999700e-01 6.96991143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98255784399998 meters 0.29688372633248133 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99990580e-01 4.23523841e-03 -9.49934105e-04 7.38780791e-01] [-4.23472759e-03 9.99990888e-01 5.39102387e-04 -1.79229003e-01] [ 9.52208676e-04 -5.35074597e-04 9.99999403e-01 6.96661853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04255784399999 meters 0.2965981447787129 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99989514e-01 4.55221292e-03 -4.99446247e-04 7.37349970e-01] [-4.55158187e-03 9.99988851e-01 1.25743852e-03 -1.81949101e-01] [ 5.05164807e-04 -1.25515206e-03 9.99999085e-01 6.97358758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10255784399999 meters 0.2974886563683934 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99988850e-01 4.69986169e-03 -4.58721785e-04 7.37387121e-01] [-4.69911835e-03 9.99987666e-01 1.60832055e-03 -1.83038349e-01] [ 4.66275011e-04 -1.60614703e-03 9.99998601e-01 6.97081587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16255784399999 meters 0.2972688569325661 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.70 [[ 9.99989780e-01 4.47606456e-03 -6.36397412e-04 7.38383485e-01] [-4.47548623e-03 9.99989573e-01 9.07290430e-04 -1.80621488e-01] [ 6.40451867e-04 -9.04432969e-04 9.99999386e-01 6.95831653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222557844 meters 0.2985357346160073 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.18, Z:0.69 [[ 9.99991329e-01 4.15664882e-03 -2.51559256e-04 7.37976150e-01] [-4.15675261e-03 9.99991275e-01 -4.13485995e-04 -1.75687827e-01] [ 2.49838345e-04 4.14528079e-04 9.99999883e-01 6.94566636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282557844 meters 0.29845133953442593 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.17, Z:0.69 [[ 9.99992604e-01 3.82157244e-03 -4.34106491e-04 7.38592396e-01] [-3.82210299e-03 9.99991942e-01 -1.22798763e-03 -1.72320609e-01] [ 4.29410149e-04 1.22963775e-03 9.99999152e-01 6.94241615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34255784399998 meters 0.2985127167385793 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.17, Z:0.69 [[ 9.99992995e-01 3.74276642e-03 -4.24985817e-05 7.37153778e-01] [-3.74282573e-03 9.99991880e-01 -1.49375507e-03 -1.70886698e-01] [ 3.69074602e-05 1.49390367e-03 9.99998883e-01 6.94991977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40255784399999 meters 0.29635591997473243 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.70 [[ 9.99988413e-01 -4.32741096e-03 -2.10867929e-03 7.16773654e-01] [ 4.32903986e-03 9.99990334e-01 7.68519443e-04 -1.67758263e-01] [ 2.10533321e-03 -7.77639096e-04 9.99997481e-01 6.95500663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46255784399999 meters 0.2976564652754179 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:0.70 [[ 9.99987276e-01 -4.57589390e-03 -2.12349951e-03 7.16846947e-01] [ 4.57625351e-03 9.99989515e-01 1.64517924e-04 -1.65336743e-01] [ 2.12272443e-03 -1.74233503e-04 9.99997732e-01 6.95403587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52255784399999 meters 0.2954732337960675 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:0.70 [[ 9.99989491e-01 3.68578475e-03 -2.72615936e-03 6.95891663e-01] [-3.68680042e-03 9.99993136e-01 -3.67634167e-04 -1.67094623e-01] [ 2.72478563e-03 3.77681110e-04 9.99996216e-01 6.95835626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582557844 meters 0.29745519530973835 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:0.69 [[ 9.99989404e-01 3.52705462e-03 -2.95849126e-03 6.96817479e-01] [-3.52944089e-03 9.99993450e-01 -8.01750535e-04 -1.65461431e-01] [ 2.95564406e-03 8.12183860e-04 9.99995302e-01 6.94903557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642557844 meters 0.297075509376199 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:0.69 [[ 0.9999901 0.00339614 -0.00287478 0.69661542] [-0.0033995 0.99999355 -0.00116327 -0.16396281] [ 0.00287081 0.00117303 0.99999519 0.69486845] [ 0. 0. 0. 1. ]] SLAMing on 110.702557844 meters 0.2960468882655254 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:0.70 [[ 0.99999162 0.00328949 -0.00243645 0.69520014] [-0.00329348 0.99999324 -0.00163523 -0.16179766] [ 0.00243106 0.00164324 0.99999569 0.69583283] [ 0. 0. 0. 1. ]] SLAMing on 110.76255784399999 meters 0.29724134125518237 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:0.70 [[ 0.99999224 0.00311168 -0.00241679 0.69527363] [-0.00311696 0.99999275 -0.00218719 -0.15962028] [ 0.00240997 0.0021947 0.99999469 0.69552141] [ 0. 0. 0. 1. ]] SLAMing on 110.82255784399999 meters 0.29637769814756976 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:0.70 [[ 0.99999425 0.00292016 -0.0017252 0.69367373] [-0.00292524 0.99999137 -0.00294994 -0.15652004] [ 0.00171657 0.00295497 0.99999416 0.69527252] [ 0. 0. 0. 1. ]] SLAMing on 110.88255784399999 meters 0.29468549027258734 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 0.9999709 -0.00747742 -0.00151547 0.67169954] [ 0.00747333 0.99996845 -0.00269114 -0.15265683] [ 0.00153554 0.00267973 0.99999523 0.69613211] [ 0. 0. 0. 1. ]] SLAMing on 110.94255784399999 meters 0.29549944465342237 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:0.70 [[ 0.9999963 0.00242932 -0.00122585 0.69146627] [-0.00243387 0.99999012 -0.00372014 -0.15559871] [ 0.0012168 0.00372311 0.99999233 0.69670909] [ 0. 0. 0. 1. ]] SLAMing on 111.002557844 meters 0.2948588848867906 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:0.70 [[ 0.99999605 0.00247211 -0.00133917 0.69196955] [-0.00247691 0.99999048 -0.00359354 -0.15618458] [ 0.00133027 0.00359685 0.99999265 0.69617316] [ 0. 0. 0. 1. ]] SLAMing on 111.062557844 meters 0.29525057028626017 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:0.70 [[ 0.99999571 0.00248515 -0.00154746 0.69258736] [-0.00249062 0.99999061 -0.0035452 -0.15641209] [ 0.00153864 0.00354904 0.99999252 0.69596302] [ 0. 0. 0. 1. ]] SLAMing on 111.12255784399999 meters 0.29673730447398206 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:0.70 [[ 0.99999584 0.00238826 -0.00161687 0.6929425 ] [-0.00239446 0.99998972 -0.00384923 -0.15525332] [ 0.00160766 0.00385308 0.99999128 0.69548659] [ 0. 0. 0. 1. ]] SLAMing on 111.18255784399999 meters 0.2957661642127668 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99983428e-01 -4.44232252e-03 -3.66191705e-03 6.72072205e-01] [ 4.43925528e-03 9.99989789e-01 -8.45307129e-04 -1.50571492e-01] [ 3.66563479e-03 8.29036936e-04 9.99992938e-01 6.96188243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24255784399999 meters 0.297331455139146 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:0.70 [[ 0.99998255 0.00549537 -0.00216806 0.69202924] [-0.00549957 0.99998301 -0.00193391 -0.14943919] [ 0.00215739 0.0019458 0.99999578 0.69619163] [ 0. 0. 0. 1. ]] SLAMing on 111.30255784399999 meters 0.29591992755425506 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:0.70 [[ 0.99998587 0.00320429 -0.00424223 0.6508855 ] [-0.00321557 0.99999131 -0.00265299 -0.14255528] [ 0.00423369 0.0026666 0.99998748 0.6958785 ] [ 0. 0. 0. 1. ]] SLAMing on 111.362557844 meters 0.29639020446327935 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 9.99996814e-01 -1.99706375e-03 -1.54361422e-03 6.73161991e-01] [ 1.99712886e-03 9.99998005e-01 4.06447201e-05 -1.39728692e-01] [ 1.54352997e-03 -4.37273872e-05 9.99998808e-01 6.94341950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters 0.29640228566204463 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 9.99997360e-01 -1.89378882e-03 -1.30144400e-03 6.72551239e-01] [ 1.89418233e-03 9.99998161e-01 3.01194012e-04 -1.40600364e-01] [ 1.30087120e-03 -3.03658389e-04 9.99999108e-01 6.94284717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48255784399998 meters 0.2960235855425693 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 9.99997565e-01 -1.83089224e-03 -1.23163413e-03 6.72259048e-01] [ 1.83148575e-03 9.99998207e-01 4.80933606e-04 -1.41302820e-01] [ 1.23075138e-03 -4.83188155e-04 9.99999126e-01 6.94570115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54255784399999 meters 0.2943130587759105 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:0.69 [[ 9.99980954e-01 5.97295641e-03 -1.55409734e-03 6.51376164e-01] [-5.97308479e-03 9.99982158e-01 -7.79779316e-05 -1.45922144e-01] [ 1.55360385e-03 8.72592016e-05 9.99998789e-01 6.94577617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60255784399999 meters 0.2949946337572769 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 9.99997685e-01 -2.15170531e-03 3.45835028e-07 6.71627228e-01] [ 2.15170495e-03 9.99997586e-01 4.44137971e-04 -1.43973515e-01] [-1.30148823e-06 -4.44136199e-04 9.99999901e-01 6.94593844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66255784399999 meters 0.2943408342809438 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.69 [[ 9.99997885e-01 -2.05672120e-03 -3.46507737e-06 6.71584596e-01] [ 2.05672313e-03 9.99997638e-01 7.02557080e-04 -1.45018963e-01] [ 2.02010515e-06 -7.02562720e-04 9.99999753e-01 6.94727434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722557844 meters 0.2951272662169133 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99998056e-01 -1.97076585e-03 6.01113964e-05 6.71198150e-01] [ 1.97070925e-03 9.99997628e-01 9.27439665e-04 -1.45896844e-01] [-6.19390202e-05 -9.27319401e-04 9.99999568e-01 6.95255269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782557844 meters 0.2951149191893862 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99998522e-01 -1.70789500e-03 1.95476352e-04 6.70561515e-01] [ 1.70757934e-03 9.99997256e-01 1.60376737e-03 -1.48665919e-01] [-1.98214882e-04 -1.60343121e-03 9.99998695e-01 6.95903272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84255784399998 meters 0.29405109374849897 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99998739e-01 -1.57387716e-03 2.10119922e-04 6.70350957e-01] [ 1.57346210e-03 9.99996839e-01 1.96111454e-03 -1.50104063e-01] [-2.13205811e-04 -1.96078145e-03 9.99998055e-01 6.96293701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90255784399999 meters 0.29494488430204874 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99998915e-01 -1.46665357e-03 1.38522118e-04 6.70589610e-01] [ 1.46633897e-03 9.99996406e-01 2.24454974e-03 -1.51294061e-01] [-1.41813597e-04 -2.24434418e-03 9.99997471e-01 6.96176733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96255784399999 meters 0.2952640023132812 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 9.99998953e-01 -1.44305091e-03 1.06992626e-04 6.70826595e-01] [ 1.44279989e-03 9.99996291e-01 2.31024252e-03 -1.51594120e-01] [-1.10326027e-04 -2.31008574e-03 9.99997326e-01 6.95811721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02255784399999 meters 0.295011746321082 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:0.70 [[ 0.99998529 0.00293591 -0.00456126 0.6524195 ] [-0.00294219 0.99999473 -0.00137038 -0.1483526 ] [ 0.00455721 0.00138378 0.99998866 0.69527547] [ 0. 0. 0. 1. ]] SLAMing on 112.082557844 meters 0.29602131292199646 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.69 [[ 0.99999575 -0.00162106 -0.00242406 0.67559699] [ 0.00162508 0.99999731 0.00165676 -0.14423948] [ 0.00242137 -0.0016607 0.99999569 0.69362343] [ 0. 0. 0. 1. ]] SLAMing on 112.142557844 meters 0.2955029193531875 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.69 [[ 0.9999955 -0.00180579 -0.00239492 0.67560265] [ 0.00180864 0.99999766 0.00118878 -0.1423085 ] [ 0.00239276 -0.00119311 0.99999643 0.69343182] [ 0. 0. 0. 1. ]] SLAMing on 112.202557844 meters 0.2949422888880902 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.69 [[ 9.99994955e-01 -1.95774333e-03 -2.50131547e-03 6.76242336e-01] [ 1.95968210e-03 9.99997781e-01 7.72886686e-04 -1.40660427e-01] [ 2.49979681e-03 -7.77784570e-04 9.99996573e-01 6.92444203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26255784399999 meters 0.29449585263060213 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:0.70 [[ 0.99998092 0.00282454 -0.00549389 0.65290852] [-0.00283836 0.99999282 -0.00250921 -0.13710525] [ 0.00548677 0.00252476 0.99998176 0.69523995] [ 0. 0. 0. 1. ]] SLAMing on 112.32255784399999 meters 0.29505254240580436 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.69 [[ 9.99994074e-01 -1.67203632e-03 -3.00933188e-03 6.76105006e-01] [ 1.67418351e-03 9.99998346e-01 7.11134209e-04 -1.35445707e-01] [ 3.00813786e-03 -7.16168169e-04 9.99995219e-01 6.93365665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38255784399999 meters 0.29390180473984356 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:0.69 [[ 9.99971406e-01 5.85658037e-03 -4.78418529e-03 6.55843398e-01] [-5.85921230e-03 9.99982691e-01 -5.36300122e-04 -1.34491801e-01] [ 4.78096159e-03 5.64316344e-04 9.99988412e-01 6.92079002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44255784399999 meters 0.29636203769513986 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:0.69 [[ 0.99997192 0.00547662 -0.00511491 0.65716188] [-0.00548675 0.99998301 -0.00196758 -0.12914853] [ 0.00510405 0.00199559 0.99998498 0.69075565] [ 0. 0. 0. 1. ]] SLAMing on 112.502557844 meters 0.29524635639947777 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:0.69 [[ 0.99999831 -0.00119902 -0.00139048 0.67133559] [ 0.00119752 0.99999871 -0.00107253 -0.11661819] [ 0.00139176 0.00107086 0.99999846 0.69375216] [ 0. 0. 0. 1. ]] SLAMing on 112.562557844 meters 0.29476442884517523 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.99999822 -0.0013694 -0.00129992 0.67108797] [ 0.00136742 0.9999979 -0.0015241 -0.11472992] [ 0.001302 0.00152232 0.99999799 0.69379215] [ 0. 0. 0. 1. ]] SLAMing on 112.62255784399999 meters 0.2933067451033082 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.9999982 -0.00150693 -0.00115005 0.67054157] [ 0.00150477 0.9999971 -0.00187788 -0.1132503 ] [ 0.00115288 0.00187615 0.99999758 0.69414813] [ 0. 0. 0. 1. ]] SLAMing on 112.68255784399999 meters 0.2940636519134053 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.99999827 -0.00154049 -0.00104397 0.67004886] [ 0.00153843 0.99999687 -0.00197193 -0.11280329] [ 0.001047 0.00197032 0.99999751 0.69471161] [ 0. 0. 0. 1. ]] SLAMing on 112.74255784399999 meters 0.29264891480605254 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.99999801 -0.00164077 -0.00113087 0.67045944] [ 0.00163824 0.99999615 -0.0022408 -0.11173661] [ 0.00113454 0.00223894 0.99999685 0.69424752] [ 0. 0. 0. 1. ]] SLAMing on 112.80255784399999 meters 0.29280534368421385 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.99999812 -0.00159345 -0.00110593 0.67030586] [ 0.00159111 0.9999965 -0.00211451 -0.1122371 ] [ 0.0011093 0.00211275 0.99999715 0.69446225] [ 0. 0. 0. 1. ]] SLAMing on 112.862557844 meters 0.29281693999686026 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:0.69 [[ 0.99999825 -0.0015455 -0.00105461 0.67010779] [ 0.0015434 0.99999683 -0.00198888 -0.11274202] [ 0.00105768 0.00198724 0.99999747 0.69461565] [ 0. 0. 0. 1. ]] SLAMing on 112.922557844 meters 0.29230414424088413 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:0.69 [[ 0.99998083 0.00550837 -0.00282836 0.65215515] [-0.00551814 0.99997879 -0.00345943 -0.11793204] [ 0.00280925 0.00347497 0.99999002 0.69235404] [ 0. 0. 0. 1. ]] SLAMing on 112.98255784399998 meters 0.2930706820605566 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99990230e-01 8.94882005e-04 -4.32891647e-03 6.76813318e-01] [-8.95571785e-04 9.99999587e-01 -1.57406591e-04 -1.11642498e-01] [ 4.32877382e-03 1.61281909e-04 9.99990618e-01 6.91006475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04255784399999 meters 0.2934480219920894 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99990895e-01 7.27502863e-04 -4.20489998e-03 6.76461801e-01] [-7.30098287e-04 9.99999544e-01 -6.15735726e-04 -1.09726083e-01] [ 4.20445011e-03 6.18800110e-04 9.99990970e-01 6.91061092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10255784399999 meters 0.2914364190192465 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:0.69 [[ 9.99993900e-01 -6.96145908e-04 -3.42267111e-03 6.37567511e-01] [ 6.95174419e-04 9.99999718e-01 -2.85020725e-04 -1.09942790e-01] [ 3.42286856e-03 2.82639633e-04 9.99994102e-01 6.87927420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16255784399999 meters 0.2931570090921846 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:0.69 [[ 9.99993794e-01 -7.63528025e-04 -3.43943915e-03 6.37747231e-01] [ 7.61933471e-04 9.99999602e-01 -4.64895366e-04 -1.09220905e-01] [ 3.43979274e-03 4.62271857e-04 9.99993977e-01 6.87599370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222557844 meters 0.2931310555504667 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.69 [[ 0.99998049 -0.00612852 -0.00120714 0.66052483] [ 0.00613142 0.99997831 0.00240683 -0.10732668] [ 0.00119236 -0.00241418 0.99999637 0.68578352] [ 0. 0. 0. 1. ]] SLAMing on 113.282557844 meters 0.2929877735310308 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.69 [[ 0.99997988 -0.00620908 -0.00129506 0.66046458] [ 0.00621187 0.99997838 0.00215569 -0.10630282] [ 0.00128164 -0.00216369 0.99999684 0.68649586] [ 0. 0. 0. 1. ]] SLAMing on 113.34255784399998 meters 0.2928432042360069 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.69 [[ 0.99997936 -0.00629562 -0.00128153 0.66061833] [ 0.0062981 0.99997827 0.00194614 -0.10544166] [ 0.00126925 -0.00195417 0.99999729 0.68607901] [ 0. 0. 0. 1. ]] SLAMing on 113.40255784399999 meters 0.29334326199271155 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.69 [[ 9.99996778e-01 2.28121855e-03 1.11336994e-03 6.78123619e-01] [-2.28119798e-03 9.99997398e-01 -1.97429864e-05 -1.06719805e-01] [-1.11341208e-03 1.72031056e-05 9.99999380e-01 6.88004036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46255784399999 meters 0.2916100733312672 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:0.69 [[ 9.99966811e-01 -7.87118596e-03 2.10279947e-03 6.55424232e-01] [ 7.87053620e-03 9.99968977e-01 3.17095855e-04 -1.02782321e-01] [-2.10523016e-03 -3.00535171e-04 9.99997739e-01 6.88268529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52255784399999 meters 0.29122169331981307 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:0.69 [[ 9.99966166e-01 -7.89347589e-03 2.31509692e-03 6.54802578e-01] [ 7.89294381e-03 9.99968822e-01 2.38879545e-04 -1.02421959e-01] [-2.31691033e-03 -2.20598533e-04 9.99997292e-01 6.88542770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582557844 meters 0.29285448406442477 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 9.99992898e-01 1.87740404e-03 3.26781852e-03 6.75360963e-01] [-1.87553476e-03 9.99998076e-01 -5.74998642e-04 -1.03421032e-01] [-3.26889174e-03 5.68865651e-04 9.99994495e-01 6.88851992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642557844 meters 0.29439128357222116 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 9.99993904e-01 1.74877648e-03 3.02215567e-03 6.76140077e-01] [-1.74583360e-03 9.99998000e-01 -9.76133625e-04 -1.01914753e-01] [-3.02385666e-03 9.70851493e-04 9.99994957e-01 6.88359822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702557844 meters 0.2940229024977414 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.69 [[ 0.99999367 0.0015221 0.00321459 0.67588139] [-0.00151641 0.99999728 -0.00177386 -0.09883727] [-0.00321728 0.00176897 0.99999326 0.6878087 ] [ 0. 0. 0. 1. ]] SLAMing on 113.76255784399999 meters 0.2931607724187859 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.69 [[ 0.99999363 0.00108766 0.00339977 0.67575269] [-0.00107679 0.99999431 -0.00319813 -0.09325222] [-0.00340323 0.00319445 0.99998911 0.68706032] [ 0. 0. 0. 1. ]] SLAMing on 113.82255784399999 meters 0.293582013724763 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.69 [[ 9.99994388e-01 8.56956994e-04 3.23885105e-03 6.76394517e-01] [-8.44552396e-04 9.99992311e-01 -3.82936680e-03 -9.07107541e-02] [-3.24210775e-03 3.82660993e-03 9.99987423e-01 6.86395805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88255784399999 meters 0.2929647873860072 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.69 [[ 9.99995590e-01 6.99540574e-04 2.88639636e-03 6.77466035e-01] [-6.87400765e-04 9.99990924e-01 -4.20472115e-03 -8.92016192e-02] [-2.88931154e-03 4.20271849e-03 9.99986994e-01 6.85896508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94255784399999 meters 0.2932940226909579 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.69 [[ 9.99995275e-01 5.96053002e-04 3.01584099e-03 6.77154647e-01] [-5.82461719e-04 9.99989681e-01 -4.50550431e-03 -8.79883933e-02] [-3.01849539e-03 4.50372641e-03 9.99985302e-01 6.85863734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002557844 meters 0.2931256421573734 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.69 [[ 9.99995430e-01 4.37090770e-04 2.99136315e-03 6.77193636e-01] [-4.22296859e-04 9.99987687e-01 -4.94438767e-03 -8.61794935e-02] [-2.99348747e-03 4.94310183e-03 9.99983302e-01 6.85895767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062557844 meters 0.29373919939655646 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:0.69 [[ 9.99994051e-01 1.13226880e-04 3.44735724e-03 6.76004393e-01] [-9.18481964e-05 9.99980769e-01 -6.20099713e-03 -8.12183306e-02] [-3.44799307e-03 6.20064361e-03 9.99974831e-01 6.86053004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12255784399999 meters 0.2920809135841468 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:0.69 [[ 0.99996906 -0.00644972 0.00450368 0.65264858] [ 0.00646334 0.99997457 -0.00301547 -0.07502106] [-0.00448412 0.00304449 0.99998531 0.6870321 ] [ 0. 0. 0. 1. ]] SLAMing on 114.18255784399999 meters 0.2914884266397847 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:0.69 [[ 9.99988573e-01 -2.45936102e-03 4.09939952e-03 6.53595697e-01] [ 2.45766717e-03 9.99996892e-01 4.18180704e-04 -7.19554278e-02] [-4.10041523e-03 -4.08100966e-04 9.99991510e-01 6.86787030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24255784399999 meters 0.2913017848907369 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:0.69 [[ 9.99988650e-01 -2.53489505e-03 4.03410632e-03 6.53696251e-01] [ 2.53411414e-03 9.99996769e-01 1.98677157e-04 -7.10672596e-02] [-4.03459692e-03 -1.88452016e-04 9.99991843e-01 6.86930438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30255784399999 meters 0.2921513877307661 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 9.99960415e-01 6.96763700e-03 5.53357397e-03 6.72790090e-01] [-6.96272241e-03 9.99975349e-01 -9.06909467e-04 -7.18918397e-02] [-5.53975657e-03 8.68344828e-04 9.99984278e-01 6.87651658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362557844 meters 0.2914962362605937 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 0.9999616 0.00679503 0.00553438 0.67259808] [-0.00678753 0.99997602 -0.00137306 -0.06991179] [-0.00554358 0.00133544 0.99998374 0.68811355] [ 0. 0. 0. 1. ]] SLAMing on 114.422557844 meters 0.2910829122938367 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 0.99996148 0.00677066 0.00558488 0.67251881] [-0.0067627 0.99997609 -0.00144312 -0.06963059] [-0.00559451 0.0014053 0.99998336 0.68799649] [ 0. 0. 0. 1. ]] SLAMing on 114.48255784399998 meters 0.2921372645082209 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 0.99996195 0.00673509 0.00554333 0.67257184] [-0.00672665 0.99997619 -0.00153849 -0.06922856] [-0.00555356 0.00150114 0.99998345 0.68812564] [ 0. 0. 0. 1. ]] SLAMing on 114.54255784399999 meters 0.29276904755227956 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 0.99996351 0.0065878 0.00543842 0.67304308] [-0.00657704 0.99997638 -0.00199321 -0.0674455 ] [-0.00545142 0.00195736 0.99998323 0.68755859] [ 0. 0. 0. 1. ]] SLAMing on 114.60255784399999 meters 0.2930983587404724 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.69 [[ 0.99996375 0.00641699 0.00559665 0.67289768] [-0.00640193 0.99997585 -0.0027043 -0.06479477] [-0.00561387 0.00266837 0.99998068 0.68692944] [ 0. 0. 0. 1. ]] SLAMing on 114.66255784399999 meters 0.29254155924841074 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99995519e-01 -3.19546607e-04 2.97669147e-03 6.50324434e-01] [ 3.20295015e-04 9.99999917e-01 -2.50949166e-04 -6.29212720e-02] [-2.97661103e-03 2.51901461e-04 9.99995538e-01 6.88980296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722557844 meters 0.29310225270779583 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99996107e-01 -7.39989633e-04 2.69025812e-03 6.51401561e-01] [ 7.44261064e-04 9.99998464e-01 -1.58708588e-03 -5.74812760e-02] [-2.68907956e-03 1.58908196e-03 9.99995122e-01 6.88084691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782557844 meters 0.292286287233534 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99995868e-01 -9.84357160e-04 2.70104331e-03 6.51273214e-01] [ 9.90249169e-04 9.99997132e-01 -2.18091297e-03 -5.50082237e-02] [-2.69888876e-03 2.18357866e-03 9.99993974e-01 6.88287504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84255784399998 meters 0.2935550699935548 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:0.69 [[ 9.99968453e-01 -6.37305810e-03 4.74095996e-03 6.73004171e-01] [ 6.36955654e-03 9.99979430e-01 7.53309771e-04 -4.93828914e-02] [-4.74566332e-03 -7.23088194e-04 9.99988478e-01 6.87548944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90255784399999 meters 0.2921257960061551 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99989803e-01 2.41065436e-03 3.81875853e-03 6.51766772e-01] [-2.41231255e-03 9.99996998e-01 4.29675286e-04 -5.24904702e-02] [-3.81771127e-03 -4.38882944e-04 9.99992616e-01 6.88500536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96255784399999 meters 0.29224117250376136 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99989676e-01 2.42059133e-03 3.84570015e-03 6.51545263e-01] [-2.42235737e-03 9.99996963e-01 4.54631731e-04 -5.25720606e-02] [-3.84458799e-03 -4.63942697e-04 9.99992502e-01 6.88884015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02255784399999 meters 0.2924005930084961 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99989599e-01 2.40851915e-03 3.87299714e-03 6.51022593e-01] [-2.41012407e-03 9.99997012e-01 4.09772815e-04 -5.22685350e-02] [-3.87199862e-03 -4.19102957e-04 9.99992416e-01 6.90207047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082557844 meters 0.29184772101686196 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99989344e-01 2.39575515e-03 3.94616014e-03 6.50709241e-01] [-2.39724735e-03 9.99997057e-01 3.73453395e-04 -5.21015670e-02] [-3.94525383e-03 -3.82909338e-04 9.99992144e-01 6.90520877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142557844 meters 0.29258415000450894 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99991277e-01 2.29545616e-03 3.48947849e-03 6.52282229e-01] [-2.29561993e-03 9.99997364e-01 4.29284515e-05 -5.08338480e-02] [-3.48937075e-03 -5.09385934e-05 9.99993911e-01 6.88971976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20255784399998 meters 0.292595921952358 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99992042e-01 2.21177217e-03 3.32009571e-03 6.52877540e-01] [-2.21105875e-03 9.99997532e-01 -2.18533486e-04 -4.98134373e-02] [-3.32057086e-03 2.11190821e-04 9.99994465e-01 6.88479968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26255784399999 meters 0.291527050712768 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99991868e-01 2.06639160e-03 3.46309620e-03 6.52431242e-01] [-2.06410266e-03 9.99997649e-01 -6.64396448e-04 -4.79878769e-02] [-3.46446096e-03 6.57242859e-04 9.99993783e-01 6.88697925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32255784399999 meters 0.2909785592144858 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99991872e-01 1.96437339e-03 3.52107582e-03 6.52487250e-01] [-1.96107197e-03 9.99997635e-01 -9.40823156e-04 -4.68589594e-02] [-3.52291562e-03 9.33910426e-04 9.99993358e-01 6.88216881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38255784399999 meters 0.2923220519850117 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 0.99999252 0.00191661 0.00336032 0.65293507] [-0.00191305 0.9999976 -0.00106336 -0.04637641] [-0.00336235 0.00105693 0.99999379 0.68810961] [ 0. 0. 0. 1. ]] SLAMing on 115.44255784399999 meters 0.2931200667171598 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:0.69 [[ 9.99972458e-01 -5.63460912e-03 4.83050986e-03 6.72128652e-01] [ 5.63393835e-03 9.99984118e-01 1.52457566e-04 -4.15762486e-02] [-4.83129218e-03 -1.25238572e-04 9.99988321e-01 6.89463575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502557844 meters 0.2919996839445706 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 0.99999375 0.00194807 0.00295178 0.65428185] [-0.00194458 0.99999741 -0.00118423 -0.04672002] [-0.00295408 0.00117848 0.99999494 0.68805252] [ 0. 0. 0. 1. ]] SLAMing on 115.562557844 meters 0.2928164468458367 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 0.9999942 0.00191772 0.00281596 0.65489486] [-0.00191418 0.99999737 -0.00125978 -0.046439 ] [-0.00281837 0.00125438 0.99999524 0.68737483] [ 0. 0. 0. 1. ]] SLAMing on 115.62255784399999 meters 0.29152467685191985 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.05, Z:0.69 [[ 9.99987083e-01 -5.07971860e-03 -1.75745853e-04 6.33156041e-01] [ 5.08000125e-03 9.99985740e-01 1.64705270e-03 -4.97556487e-02] [ 1.67376783e-04 -1.64792422e-03 9.99998628e-01 6.89756462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68255784399999 meters 0.29200175431397923 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 9.99990610e-01 4.06439016e-03 1.50349360e-03 6.51725017e-01] [-4.06548573e-03 9.99991472e-01 7.26344947e-04 -5.35881004e-02] [-1.50052863e-03 -7.32450559e-04 9.99998606e-01 6.91029021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74255784399999 meters 0.2932281366508524 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 0.99999048 0.00417688 0.00126187 0.65246469] [-0.00417825 0.99999068 0.0010827 -0.05507568] [-0.00125734 -0.00108796 0.99999862 0.69066681] [ 0. 0. 0. 1. ]] SLAMing on 115.80255784399999 meters 0.2937416403612892 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:0.69 [[ 0.99999053 0.00416537 0.00125968 0.65235605] [-0.0041667 0.99999076 0.00105328 -0.05493744] [-0.00125529 -0.00105852 0.99999865 0.69092844] [ 0. 0. 0. 1. ]] SLAMing on 115.862557844 meters 0.29361233416763993 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99999012e-01 5.87646725e-04 1.27658809e-03 6.52226809e-01] [-5.85254515e-04 9.99998074e-01 -1.87347513e-03 -5.80359089e-02] [-1.27768657e-03 1.87272615e-03 9.99997430e-01 6.90800351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922557844 meters 0.2932570411460604 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99998693e-01 5.48909750e-04 1.52073385e-03 6.51593278e-01] [-5.45820807e-04 9.99997789e-01 -2.03088950e-03 -5.73994329e-02] [-1.52184526e-03 2.03005680e-03 9.99996781e-01 6.90877274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98255784399998 meters 0.29188967444936187 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:0.69 [[ 0.99997959 -0.00627119 0.00122053 0.62748024] [ 0.00626988 0.99997977 0.00107388 -0.05636005] [-0.00122724 -0.0010662 0.99999868 0.69317738] [ 0. 0. 0. 1. ]] SLAMing on 116.04255784399999 meters 0.2922891107140296 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99990689e-01 2.75105834e-03 3.32481900e-03 6.46455141e-01] [-2.75058518e-03 9.99996206e-01 -1.46876926e-04 -5.69823073e-02] [-3.32521046e-03 1.37730361e-04 9.99994462e-01 6.93915639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10255784399999 meters 0.29150045761312354 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99990305e-01 2.68572071e-03 3.48955313e-03 6.45967888e-01] [-2.68462973e-03 9.99996346e-01 -3.17288132e-04 -5.62497675e-02] [-3.49039253e-03 3.07916897e-04 9.99993861e-01 6.94043541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16255784399999 meters 0.2915342779765474 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99990431e-01 2.68268777e-03 3.45552968e-03 6.45935195e-01] [-2.68157328e-03 9.99996351e-01 -3.27114988e-04 -5.61836644e-02] [-3.45639462e-03 3.17845602e-04 9.99993976e-01 6.94351237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222557844 meters 0.2915266808155065 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.70 [[ 9.99989723e-01 2.83202456e-03 3.54038635e-03 6.45399087e-01] [-2.83281779e-03 9.99995964e-01 2.19058022e-04 -5.82129113e-02] [-3.53975168e-03 -2.29085040e-04 9.99993709e-01 6.95303503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282557844 meters 0.292286298435098 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.70 [[ 9.99989885e-01 2.99909126e-03 3.35177335e-03 6.45985532e-01] [-3.00165406e-03 9.99995206e-01 7.59841737e-04 -6.04119224e-02] [-3.34947845e-03 -7.69894916e-04 9.99994094e-01 6.95023200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34255784399998 meters 0.2901759905093807 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.06, Z:0.70 [[ 9.99998874e-01 1.27307164e-03 -7.94363712e-04 6.03329683e-01] [-1.27275199e-03 9.99999109e-01 4.02776629e-04 -6.32147749e-02] [ 7.94875768e-04 -4.01765147e-04 9.99999603e-01 6.96153785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40255784399999 meters 0.2920463351431216 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:0.69 [[ 9.99991068e-01 -4.16661034e-03 -7.08845718e-04 6.27952314e-01] [ 4.16910685e-03 9.99984981e-01 3.55767888e-03 -6.01548207e-02] [ 6.94011610e-04 -3.56060236e-03 9.99993420e-01 6.94203952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46255784399999 meters 0.2910539768318494 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:0.69 [[ 9.99990665e-01 -4.27804347e-03 -6.06577268e-04 6.27778972e-01] [ 4.27997415e-03 9.99985662e-01 3.21817332e-03 -5.87986073e-02] [ 5.92801086e-04 -3.22073942e-03 9.99994638e-01 6.93973340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52255784399999 meters 0.29223037915043454 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 0.99998971 0.004253 0.00157844 0.64726236] [-0.00425511 0.99999006 0.00133555 -0.05673477] [-0.00157274 -0.00134225 0.99999786 0.69456807] [ 0. 0. 0. 1. ]] SLAMing on 116.582557844 meters 0.2924360327934772 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 0.99999036 0.00413423 0.00148103 0.6477836 ] [-0.00413572 0.99999094 0.00100451 -0.05539684] [-0.00147686 -0.00101063 0.9999984 0.69387004] [ 0. 0. 0. 1. ]] SLAMing on 116.642557844 meters 0.2916318871648667 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:0.70 [[ 0.99999389 0.00225831 0.00266942 0.64217672] [-0.00225542 0.99999687 -0.0010824 -0.05166485] [-0.00267186 0.00107637 0.99999585 0.69820501] [ 0. 0. 0. 1. ]] SLAMing on 116.70255784399998 meters 0.2921606775592096 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:0.70 [[ 9.99969322e-01 -5.86806623e-03 5.18843921e-03 6.62411996e-01] [ 5.86922650e-03 9.99982754e-01 -2.08427592e-04 -5.24596300e-02] [-5.18712667e-03 2.38873323e-04 9.99986518e-01 6.98643807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76255784399999 meters 0.2928996535617266 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:0.70 [[ 9.99972297e-01 -5.64069565e-03 4.85673554e-03 6.63560726e-01] [ 5.63830213e-03 9.99983976e-01 5.06377225e-04 -5.55748756e-02] [-4.85951403e-03 -4.78979455e-04 9.99988078e-01 6.97960580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82255784399999 meters 0.2923644818711917 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:0.70 [[ 9.99973624e-01 -5.48831983e-03 4.75714628e-03 6.63949798e-01] [ 5.48397378e-03 9.99984534e-01 9.26146366e-04 -5.73416708e-02] [-4.76215569e-03 -9.00033872e-04 9.99988256e-01 6.97656839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88255784399999 meters 0.2922222668379352 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:0.70 [[ 0.99997352 -0.00544126 0.00483318 0.66354548] [ 0.00543624 0.99998467 0.00105083 -0.057833 ] [-0.00483882 -0.00102453 0.99998777 0.69818023] [ 0. 0. 0. 1. ]] SLAMing on 116.94255784399999 meters 0.293445107169178 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:0.70 [[ 9.99969980e-01 3.62449477e-03 6.84852396e-03 6.83355414e-01] [-3.62495994e-03 9.99993428e-01 5.55105967e-05 -5.94253385e-02] [-6.84827776e-03 -8.03345553e-05 9.99976547e-01 6.98280713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002557844 meters 0.29133562464506085 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:0.69 [[ 9.99972599e-01 2.37326905e-03 7.01204146e-03 6.46192887e-01] [-2.37440537e-03 9.99997169e-01 1.53731831e-04 -6.12371136e-02] [-7.01165677e-03 -1.70377048e-04 9.99975404e-01 6.93910259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062557844 meters 0.2930724323627249 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.69 [[ 0.99995216 -0.00316405 0.00925603 0.66939647] [ 0.00313473 0.99999003 0.0031806 -0.06054258] [-0.009266 -0.00315143 0.9999521 0.69146893] [ 0. 0. 0. 1. ]] SLAMing on 117.12255784399999 meters 0.2925278348466787 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.69 [[ 0.99995313 -0.00305746 0.00918648 0.66949506] [ 0.00302525 0.99998924 0.00351771 -0.06188047] [-0.00919714 -0.00348976 0.99995162 0.69170645] [ 0. 0. 0. 1. ]] SLAMing on 117.18255784399999 meters 0.29268246581748547 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:0.69 [[ 0.9999572 -0.00294903 0.00876911 0.67058378] [ 0.00291456 0.99998799 0.00394097 -0.06361156] [-0.00878063 -0.00391524 0.99995378 0.69157336] [ 0. 0. 0. 1. ]] SLAMing on 117.24255784399999 meters 0.2933930148578692 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:0.69 [[ 0.99995578 -0.00270666 0.00900672 0.66979369] [ 0.00266347 0.99998492 0.00480336 -0.06697656] [-0.00901958 -0.00477915 0.9999479 0.69220881] [ 0. 0. 0. 1. ]] SLAMing on 117.30255784399999 meters 0.2920579147149207 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:0.69 [[ 0.99996706 0.00198299 0.00787116 0.64675909] [-0.00199392 0.99999706 0.00138163 -0.07253833] [-0.00786839 -0.00139728 0.99996807 0.69342526] [ 0. 0. 0. 1. ]] SLAMing on 117.362557844 meters 0.2944186219653269 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.08, Z:0.69 [[ 9.99986881e-01 1.75702226e-03 4.81145961e-03 6.90404672e-01] [-1.75942313e-03 9.99998330e-01 4.94804006e-04 -7.63200252e-02] [-4.81058219e-03 -5.03262909e-04 9.99988302e-01 6.94588618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422557844 meters 0.2920945415560935 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:0.70 [[ 0.99998215 -0.00534447 0.00267265 0.66748513] [ 0.00533379 0.99997783 0.00398596 -0.08277752] [-0.00269389 -0.00397163 0.99998848 0.69798126] [ 0. 0. 0. 1. ]] SLAMing on 117.48255784399998 meters 0.29246472352402375 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.70 [[ 0.99998333 -0.00513063 0.00264986 0.66748295] [ 0.00511855 0.99997656 0.00454769 -0.08510498] [-0.00267313 -0.00453405 0.99998615 0.69817255] [ 0. 0. 0. 1. ]] SLAMing on 117.54255784399999 meters 0.29235696771322955 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.70 [[ 0.9999852 -0.0048426 0.00247842 0.66797345] [ 0.00482958 0.99997464 0.00523327 -0.08799098] [-0.0025037 -0.00522123 0.99998323 0.69816443] [ 0. 0. 0. 1. ]] SLAMing on 117.60255784399999 meters 0.2928995113316206 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.70 [[ 0.99998573 -0.00471424 0.00251486 0.66767933] [ 0.00470018 0.99997346 0.00556692 -0.08933573] [-0.00254104 -0.00555502 0.99998134 0.698667 ] [ 0. 0. 0. 1. ]] SLAMing on 117.66255784399999 meters 0.29300068374935867 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:0.70 [[ 0.99998626 -0.00456349 0.00257789 0.66755002] [ 0.0045481 0.99997198 0.00594534 -0.09090999] [-0.00260495 -0.00593353 0.999979 0.698621 ] [ 0. 0. 0. 1. ]] SLAMing on 117.722557844 meters 0.29169290782737545 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:0.70 [[ 9.99999527e-01 -1.80042076e-04 9.55988245e-04 6.44166301e-01] [ 1.77629911e-04 9.99996802e-01 2.52270186e-03 -9.52976211e-02] [-9.56439380e-04 -2.52253085e-03 9.99996361e-01 6.99898208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782557844 meters 0.29285989865587436 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99999947e-01 3.49415464e-05 3.23491256e-04 6.83121036e-01] [-3.55028408e-05 9.99998494e-01 1.73527151e-03 -9.65005028e-02] [-3.23430136e-04 -1.73528291e-03 9.99998442e-01 7.03015445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84255784399998 meters 0.293577618572988 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99999932e-01 3.46462590e-04 1.23296930e-04 6.83600879e-01] [-3.46786416e-04 9.99996465e-01 2.63614044e-03 -1.00159960e-01] [-1.22383170e-04 -2.63618302e-03 9.99996518e-01 7.03145313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90255784399999 meters 0.29410713383524734 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99999854e-01 5.10739350e-04 1.75669627e-04 6.83558025e-01] [-5.11273523e-04 9.99995205e-01 3.05430041e-03 -1.01919091e-01] [-1.74108833e-04 -3.05438978e-03 9.99995320e-01 7.02969085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96255784399999 meters 0.2927407852287694 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.70 [[ 9.99984138e-01 5.33731332e-03 -1.79901617e-03 6.60964713e-01] [-5.33779686e-03 9.99985719e-01 -2.64086898e-04 -1.05475241e-01] [ 1.79758096e-03 2.73685492e-04 9.99998347e-01 7.04325030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02255784399999 meters 0.2930698412805778 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99993082e-01 -2.77340508e-03 -2.47883761e-03 6.83027252e-01] [ 2.77487260e-03 9.99995977e-01 5.88773404e-04 -1.03559772e-01] [ 2.47719473e-03 -5.95647789e-04 9.99996754e-01 7.04451935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082557844 meters 0.2926718617210131 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.70 [[ 0.99999351 -0.00252177 -0.0025719 0.68328151] [ 0.0025249 0.99999608 0.00121267 -0.10618053] [ 0.00256883 -0.00121916 0.99999596 0.70445696] [ 0. 0. 0. 1. ]] SLAMing on 118.142557844 meters 0.29345375040462934 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.70 [[ 0.9999937 -0.0024489 -0.00256849 0.68309657] [ 0.00245252 0.999996 0.00140746 -0.10694486] [ 0.00256503 -0.00141376 0.99999571 0.70487941] [ 0. 0. 0. 1. ]] SLAMing on 118.20255784399998 meters 0.2924258779827535 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.70 [[ 0.99999339 -0.00252408 -0.00261594 0.68316588] [ 0.00252725 0.99999607 0.00121055 -0.10613312] [ 0.00261288 -0.00121716 0.99999585 0.70496915] [ 0. 0. 0. 1. ]] SLAMing on 118.26255784399999 meters 0.29292655438607784 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99993779e-01 -2.62441642e-03 -2.35659981e-03 6.82505944e-01] [ 2.62658892e-03 9.99996128e-01 9.19255698e-04 -1.04902159e-01] [ 2.35417818e-03 -9.25439799e-04 9.99996801e-01 7.04920203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32255784399999 meters 0.29136246649677 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99993650e-01 -2.73666705e-03 -2.28283595e-03 6.82375302e-01] [ 2.73808095e-03 9.99996061e-01 6.16467049e-04 -1.03658752e-01] [ 2.28113990e-03 -6.22713724e-04 9.99997204e-01 7.04768252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38255784399999 meters 0.29243456705948545 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:0.70 [[ 9.99993129e-01 -2.87928531e-03 -2.33484516e-03 6.82567553e-01] [ 2.87990064e-03 9.99995819e-01 2.60222300e-04 -1.02195608e-01] [ 2.33408614e-03 -2.66944635e-04 9.99997240e-01 7.04627705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44255784399999 meters 0.29286176676634545 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:0.71 [[ 9.99978224e-01 6.59741695e-03 1.60858016e-04 7.00854258e-01] [-6.59734020e-03 9.99978125e-01 -4.73096044e-04 -1.05051130e-01] [-1.63975709e-04 4.72024507e-04 9.99999875e-01 7.05245127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502557844 meters 0.2926195201183063 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.71 [[ 9.99989786e-01 -4.35375630e-03 -1.21349808e-03 6.79371960e-01] [ 4.35278248e-03 9.99990203e-01 -8.03981966e-04 -1.06252161e-01] [ 1.21698653e-03 7.98691661e-04 9.99998941e-01 7.05962512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters 0.2926613217641793 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.71 [[ 9.99990036e-01 -4.30423147e-03 -1.18400310e-03 6.79220801e-01] [ 4.30343317e-03 9.99990512e-01 -6.75960526e-04 -1.06768528e-01] [ 1.18690135e-03 6.70858512e-04 9.99999071e-01 7.06144927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62255784399999 meters 0.2935182191843621 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:0.70 [[ 9.99995326e-01 2.92374401e-03 8.94409841e-04 7.01271029e-01] [-2.92057858e-03 9.99989539e-01 -3.52018766e-03 -1.07181459e-01] [-9.04692613e-04 3.51755901e-03 9.99993404e-01 7.04295441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68255784399999 meters 0.29338331102648935 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:0.70 [[ 9.99995208e-01 2.96864807e-03 8.78558791e-04 7.01713039e-01] [-2.96564793e-03 9.99989834e-01 -3.39666874e-03 -1.07784465e-01] [-8.88633373e-04 3.39404696e-03 9.99993845e-01 7.03332674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74255784399999 meters 0.2911192843556849 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:0.70 [[ 0.99998971 0.00181902 -0.0041565 0.66208208] [-0.00183146 0.99999385 -0.00299212 -0.11274338] [ 0.00415104 0.0029997 0.99998689 0.70366823] [ 0. 0. 0. 1. ]] SLAMing on 118.80255784399999 meters 0.2923796904014239 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.70 [[ 9.99990014e-01 -4.25870612e-03 -1.35450082e-03 6.81702124e-01] [ 4.25845918e-03 9.99990916e-01 -1.85142225e-04 -1.13104312e-01] [ 1.35527699e-03 1.79372290e-04 9.99999066e-01 7.03608636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862557844 meters 0.2929753797172729 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:0.70 [[ 9.99990664e-01 -4.11669057e-03 -1.31347804e-03 6.81421558e-01] [ 4.11696483e-03 9.99991504e-01 2.06162784e-04 -1.14685686e-01] [ 1.31261817e-03 -2.11568402e-04 9.99999116e-01 7.04044727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922557844 meters 0.29299536598666515 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.70 [[ 9.99995772e-01 2.90106827e-03 1.99062976e-04 7.03050547e-01] [-2.90052491e-03 9.99992209e-01 -2.67764278e-03 -1.18347194e-01] [-2.06829449e-04 2.67705407e-03 9.99996395e-01 7.03022020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98255784399998 meters 0.2920299361287814 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:0.70 [[ 9.99984110e-01 -4.31294515e-03 -3.63028555e-03 6.84669810e-01] [ 4.31535241e-03 9.99990474e-01 6.55535666e-04 -1.25079019e-01] [ 3.62742368e-03 -6.71191210e-04 9.99993196e-01 7.02974288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04255784399999 meters 0.29221881398222393 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:0.70 [[ 0.99998523 -0.0039451 -0.00373713 0.68467478] [ 0.00395083 0.99999103 0.00152877 -0.12867947] [ 0.00373107 -0.00154352 0.99999185 0.70358467] [ 0. 0. 0. 1. ]] SLAMing on 119.10255784399999 meters 0.292612624974978 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:0.71 [[ 9.99982855e-01 4.96411284e-03 -3.10597553e-03 7.04221879e-01] [-4.96253402e-03 9.99987554e-01 5.15817520e-04 -1.36609696e-01] [ 3.10849744e-03 -5.00395167e-04 9.99995043e-01 7.05249581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16255784399999 meters 0.2933256006478149 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:0.71 [[ 9.99983523e-01 5.05899949e-03 -2.71311695e-03 7.03018038e-01] [-5.05692492e-03 9.99986916e-01 7.70960460e-04 -1.37496481e-01] [ 2.71698174e-03 -7.57227728e-04 9.99996022e-01 7.05943892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222557844 meters 0.292434498803751 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 0.99997833 -0.00450754 -0.00479891 0.68508825] [ 0.00451642 0.99998811 0.00184139 -0.13580896] [ 0.00479055 -0.00186302 0.99998679 0.70488431] [ 0. 0. 0. 1. ]] SLAMing on 119.282557844 meters 0.2935179270604808 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 0.99997815 -0.00445315 -0.00488631 0.68540188] [ 0.00446295 0.99998805 0.0019947 -0.13647574] [ 0.00487737 -0.00201646 0.99998607 0.70466154] [ 0. 0. 0. 1. ]] SLAMing on 119.34255784399998 meters 0.2928731295741315 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 0.99997837 -0.00431917 -0.00495967 0.6854824 ] [ 0.00433108 0.99998776 0.00239327 -0.13807391] [ 0.00494927 -0.0024147 0.99998484 0.70494853] [ 0. 0. 0. 1. ]] SLAMing on 119.40255784399999 meters 0.2933628670978313 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 0.99997874 -0.00430596 -0.00489717 0.68530643] [ 0.00431787 0.99998774 0.00242428 -0.13819227] [ 0.00488667 -0.00244538 0.99998507 0.7049849 ] [ 0. 0. 0. 1. ]] SLAMing on 119.46255784399999 meters 0.2929329769178209 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.71 [[ 0.9999794 -0.00431998 -0.0047474 0.68480127] [ 0.0043313 0.99998779 0.00237712 -0.13794956] [ 0.00473707 -0.00239764 0.99998591 0.70526035] [ 0. 0. 0. 1. ]] SLAMing on 119.52255784399999 meters 0.29369423421814134 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.70 [[ 0.99997917 -0.00443866 -0.00468514 0.68476459] [ 0.00444831 0.999988 0.0020504 -0.13662882] [ 0.00467598 -0.00207119 0.99998692 0.70495927] [ 0. 0. 0. 1. ]] SLAMing on 119.582557844 meters 0.2923993956340093 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99971013e-01 2.96172325e-03 -7.01443546e-03 6.65849290e-01] [-2.95512291e-03 9.99995181e-01 9.51142406e-04 -1.40069799e-01] [ 7.01721868e-03 -9.30386316e-04 9.99974946e-01 7.04277468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642557844 meters 0.2952893394379118 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:0.70 [[ 0.99999337 0.00194748 -0.00307677 0.70677378] [-0.00195296 0.99999651 -0.00177968 -0.13457534] [ 0.00307329 0.00178567 0.99999368 0.70363221] [ 0. 0. 0. 1. ]] SLAMing on 119.70255784399998 meters 0.29308445391897026 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99995603e-01 6.07967397e-04 -2.90261929e-03 6.69600160e-01] [-6.10115693e-04 9.99999541e-01 -7.39295158e-04 -1.38223074e-01] [ 2.90216849e-03 7.41062840e-04 9.99995514e-01 7.00109460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76255784399999 meters 0.2929223654519009 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99995253e-01 6.20823208e-04 -3.01805105e-03 6.70083622e-01] [-6.22923023e-04 9.99999565e-01 -6.94861683e-04 -1.38467995e-01] [ 3.01761835e-03 6.96738398e-04 9.99995204e-01 6.99641693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82255784399999 meters 0.2926280028475532 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99994771e-01 6.32263744e-04 -3.17146651e-03 6.70280263e-01] [-6.34360771e-04 9.99999581e-01 -6.60254261e-04 -1.38591540e-01] [ 3.17104772e-03 6.62262662e-04 9.99994753e-01 7.00097172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88255784399999 meters 0.29263175634477273 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99995146e-01 6.38112111e-04 -3.04974021e-03 6.69831952e-01] [-6.40097838e-04 9.99999584e-01 -6.50181789e-04 -1.38574316e-01] [ 3.04932405e-03 6.52130765e-04 9.99995138e-01 7.00456740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94255784399999 meters 0.2937438209326771 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 9.99993243e-01 -3.59221035e-03 7.80649728e-04 6.92278560e-01] [ 3.59003807e-03 9.99989729e-01 2.76646916e-03 -1.40340116e-01] [-7.90579449e-04 -2.76364790e-03 9.99995869e-01 6.97860255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002557844 meters 0.2926730372321479 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 9.99993240e-01 -3.57167780e-03 8.73779488e-04 6.91775651e-01] [ 3.56920517e-03 9.99989668e-01 2.81518368e-03 -1.40458407e-01] [-8.83825389e-04 -2.81204595e-03 9.99995656e-01 6.98492492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062557844 meters 0.2922261821179086 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 9.99993954e-01 -3.45162377e-03 4.21963502e-04 6.92915763e-01] [ 3.45020589e-03 9.99988550e-01 3.31596993e-03 -1.42468345e-01] [-4.33404151e-04 -3.31449402e-03 9.99994413e-01 6.98436989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12255784399999 meters 0.2917155005434738 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:0.70 [[ 9.99994476e-01 -3.29716544e-03 4.21494609e-04 6.93006494e-01] [ 3.29555921e-03 9.99987515e-01 3.75630675e-03 -1.44284391e-01] [-4.33874511e-04 -3.75489694e-03 9.99992856e-01 6.98228310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18255784399999 meters 0.2921879340331302 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:0.70 [[ 9.99994919e-01 -3.15511288e-03 4.54457900e-04 6.92915280e-01] [ 3.15320726e-03 9.99986481e-01 4.13457939e-03 -1.45814587e-01] [-4.67496821e-04 -4.13312538e-03 9.99991349e-01 6.98284803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24255784399999 meters 0.29295549714714514 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:0.70 [[ 9.99995016e-01 -3.14005627e-03 3.28388809e-04 6.93189119e-01] [ 3.13865712e-03 9.99986348e-01 4.17773305e-03 -1.45989458e-01] [-3.41502642e-04 -4.17668153e-03 9.99991219e-01 6.98405089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30255784399999 meters 0.29338579775736023 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:0.70 [[ 9.99994925e-01 -3.16836469e-03 3.33583677e-04 6.93389326e-01] [ 3.16697101e-03 9.99986586e-01 4.09866810e-03 -1.45714398e-01] [-3.46565278e-04 -4.09759085e-03 9.99991545e-01 6.97866883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362557844 meters 0.2925719491240054 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:0.70 [[ 0.99998884 0.00440273 -0.00171236 0.67395936] [-0.0043979 0.99998638 0.00281064 -0.14605968] [ 0.00172471 -0.00280307 0.99999458 0.69636348] [ 0. 0. 0. 1. ]] SLAMing on 120.422557844 meters 0.2927073183768617 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 0.99998986 0.0041704 -0.00169829 0.67425973] [-0.00416691 0.99998921 0.00205364 -0.14316324] [ 0.00170683 -0.00204655 0.99999645 0.69550037] [ 0. 0. 0. 1. ]] SLAMing on 120.48255784399998 meters 0.29388892151558726 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 0.9999907 0.00390836 -0.00182107 0.67481786] [-0.00390612 0.99999161 0.00123173 -0.13994549] [ 0.00182587 -0.0012246 0.99999758 0.69487131] [ 0. 0. 0. 1. ]] SLAMing on 120.54255784399999 meters 0.29406449015316233 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:0.69 [[ 9.99992224e-01 3.49424642e-03 -1.82801983e-03 6.75085632e-01] [-3.49402014e-03 9.99993888e-01 1.26963791e-04 -1.35469154e-01] [ 1.82845230e-03 -1.20575666e-04 9.99998321e-01 6.94407792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60255784399999 meters 0.2934126120680466 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:0.69 [[ 9.99993377e-01 3.27011217e-03 -1.59783941e-03 6.74473975e-01] [-3.27081236e-03 9.99994556e-01 -4.35792609e-04 -1.33122925e-01] [ 1.59640562e-03 4.41015955e-04 9.99998628e-01 6.94366191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66255784399999 meters 0.29310815211437036 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:0.69 [[ 9.99994119e-01 3.15842091e-03 -1.33625853e-03 6.73610558e-01] [-3.15946277e-03 9.99994706e-01 -7.78291740e-04 -1.31686160e-01] [ 1.33379328e-03 7.82509022e-04 9.99998804e-01 6.94986290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722557844 meters 0.2931210696526975 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:0.70 [[ 9.99994024e-01 3.14394054e-03 -1.43758972e-03 6.73717418e-01] [-3.14510456e-03 9.99994728e-01 -8.08159736e-04 -1.31528830e-01] [ 1.43504133e-03 8.12676277e-04 9.99998640e-01 6.95298175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782557844 meters 0.29159230398483166 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:0.70 [[ 9.99993940e-01 3.15922211e-03 -1.46229328e-03 6.73690402e-01] [-3.16034507e-03 9.99994713e-01 -7.66276317e-04 -1.31682975e-01] [ 1.45986471e-03 7.70893025e-04 9.99998637e-01 6.95512378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84255784399998 meters 0.2917985105278449 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:0.70 [[ 9.99993754e-01 3.29866071e-03 -1.26884178e-03 6.72676594e-01] [-3.29910867e-03 9.99994496e-01 -3.51115883e-04 -1.33339031e-01] [ 1.26767658e-03 3.55299737e-04 9.99999133e-01 6.96884534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90255784399999 meters 0.2921573060160686 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99993381e-01 3.44942300e-03 -1.15703198e-03 6.72180026e-01] [-3.44926541e-03 9.99994042e-01 1.38170233e-04 -1.35242885e-01] [ 1.15750169e-03 -1.34178409e-04 9.99999321e-01 6.97454102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96255784399999 meters 0.29153070631356076 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99993104e-01 3.51277338e-03 -1.20514497e-03 6.72431484e-01] [-3.51240061e-03 9.99993783e-01 3.11295677e-04 -1.35982199e-01] [ 1.20623099e-03 -3.07060578e-04 9.99999225e-01 6.97157164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02255784399999 meters 0.2905803637490502 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.70 [[ 9.99992872e-01 3.56556605e-03 -1.24180847e-03 6.72551788e-01] [-3.56500341e-03 9.99993542e-01 4.55003200e-04 -1.36579689e-01] [ 1.24342279e-03 -4.50572905e-04 9.99999125e-01 6.97099134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082557844 meters 0.29215315628495464 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.70 [[ 9.99996829e-01 -2.50720500e-03 -2.34919542e-04 6.95258694e-01] [ 2.50786107e-03 9.99992836e-01 2.83536959e-03 -1.33681455e-01] [ 2.27809006e-04 -2.83594974e-03 9.99995953e-01 6.95848636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142557844 meters 0.2907519215811158 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:0.69 [[ 9.99987295e-01 5.00813241e-03 -5.72506669e-04 6.74731286e-01] [-5.00716651e-03 9.99986059e-01 1.67629477e-03 -1.36492326e-01] [ 5.80893794e-04 -1.67340684e-03 9.99998431e-01 6.94612677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20255784399998 meters 0.29253616742853084 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99993142e-01 -3.70170866e-03 -1.14478344e-04 6.97415084e-01] [ 3.70184322e-03 9.99992430e-01 1.19837666e-03 -1.30636645e-01] [ 1.10041436e-04 -1.19879222e-03 9.99999275e-01 6.92982569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26255784399999 meters 0.2920419465999741 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99992914e-01 -3.76183099e-03 -1.44695778e-04 6.97773506e-01] [ 3.76197910e-03 9.99992386e-01 1.03736248e-03 -1.30034877e-01] [ 1.40792294e-04 -1.03789947e-03 9.99999451e-01 6.92293303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32255784399999 meters 0.2919503530081296 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99992765e-01 -3.78763733e-03 -3.52130205e-04 6.98216056e-01] [ 3.78797930e-03 9.99992350e-01 9.75589136e-04 -1.29781187e-01] [ 3.48432334e-04 -9.76915940e-04 9.99999462e-01 6.92488603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38255784399999 meters 0.29192482840606426 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99992751e-01 -3.80377643e-03 -1.71391520e-04 6.97781018e-01] [ 3.80393250e-03 9.99992342e-01 9.19664112e-04 -1.29551710e-01] [ 1.67892011e-04 -9.20309407e-04 9.99999562e-01 6.92434666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44255784399999 meters 0.2927016336662607 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 9.99984629e-01 5.08527388e-03 2.20956119e-03 7.15615355e-01] [-5.08396009e-03 9.99986897e-01 -5.99800958e-04 -1.31409442e-01] [-2.21258239e-03 5.88558418e-04 9.99997379e-01 6.93679292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502557844 meters 0.29248852360759026 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 9.99985039e-01 5.03804404e-03 2.13072372e-03 7.15929330e-01] [-5.03651431e-03 9.99987056e-01 -7.22699141e-04 -1.30928584e-01] [-2.13433712e-03 7.11956908e-04 9.99997469e-01 6.93412526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562557844 meters 0.29155881021076535 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99989597e-01 -4.43147292e-03 1.08089025e-03 6.96134212e-01] [ 4.43093214e-03 9.99990057e-01 5.02192833e-04 -1.29349307e-01] [-1.08310496e-03 -4.97398257e-04 9.99999290e-01 6.93429408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62255784399999 meters 0.2926117444527256 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 0.9999935 0.00323139 0.00160148 0.71883598] [-0.00322773 0.99999219 -0.00228113 -0.13056855] [-0.00160884 0.00227594 0.99999612 0.69180973] [ 0. 0. 0. 1. ]] SLAMing on 121.68255784399999 meters 0.29104848076204437 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99983435e-01 -5.75584032e-03 -2.72521541e-05 6.99925665e-01] [ 5.75582543e-03 9.99983301e-01 -5.18179949e-04 -1.30790205e-01] [ 3.02342601e-05 5.18014506e-04 9.99999865e-01 6.90679335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74255784399999 meters 0.29064657690908813 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:0.69 [[ 9.99983436e-01 -5.75546724e-03 -4.99390440e-05 6.99899019e-01] [ 5.75544074e-03 9.99983304e-01 -5.15433537e-04 -1.30789420e-01] [ 5.29047711e-05 5.15137578e-04 9.99999866e-01 6.90877232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80255784399999 meters 0.29163350598127147 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 9.99985103e-01 5.01563651e-03 2.15352834e-03 7.20011128e-01] [-5.01508351e-03 9.99987390e-01 -2.62112220e-04 -1.29672870e-01] [-2.15481584e-03 2.51308191e-04 9.99997647e-01 6.90683184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862557844 meters 0.29194514597530336 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 9.99986074e-01 4.84298862e-03 2.09717797e-03 7.20208741e-01] [-4.84139234e-03 9.99987987e-01 -7.65564985e-04 -1.27660606e-01] [-2.10086040e-03 7.55401062e-04 9.99997508e-01 6.90521857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922557844 meters 0.2921033412289573 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:0.69 [[ 0.99998647 0.00471889 0.00218765 0.72008011] [-0.00471647 0.99998826 -0.00111021 -0.12625996] [-0.00219286 0.00109987 0.99999699 0.69026958] [ 0. 0. 0. 1. ]] SLAMing on 121.98255784399998 meters 0.2909117418072134 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:0.69 [[ 9.99997093e-01 -2.35724111e-03 5.07490851e-04 6.98642426e-01] [ 2.35623682e-03 9.99995283e-01 1.97052035e-03 -1.24335093e-01] [-5.12133449e-04 -1.96931885e-03 9.99997930e-01 6.91232220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04255784399999 meters 0.29246194258179536 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.69 [[ 9.99999448e-01 -1.05037554e-03 -2.95279555e-05 7.36326863e-01] [ 1.05039699e-03 9.99999177e-01 7.36021726e-04 -1.16340577e-01] [ 2.87548320e-05 -7.36052336e-04 9.99999729e-01 6.94535459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10255784399999 meters 0.2920451031699464 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.69 [[ 9.99999422e-01 -1.07004898e-03 1.05638722e-04 7.35879688e-01] [ 1.06997827e-03 9.99999205e-01 6.67129388e-04 -1.16045706e-01] [-1.06352499e-04 -6.67015971e-04 9.99999772e-01 6.94825204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16255784399999 meters 0.29176632404208763 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.70 [[ 9.99999458e-01 -1.01909292e-03 2.11176750e-04 7.35544171e-01] [ 1.01892012e-03 9.99999147e-01 8.16763984e-04 -1.16616244e-01] [-2.12008929e-04 -8.16548369e-04 9.99999644e-01 6.95027326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222557844 meters 0.2919238477560533 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.70 [[ 9.99999584e-01 -9.12354668e-04 3.49703124e-06 7.35975619e-01] [ 9.12349984e-04 9.99998908e-01 1.16282666e-03 -1.17986904e-01] [-4.55793775e-06 -1.16282299e-03 9.99999324e-01 6.95261542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282557844 meters 0.29219750426837754 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.70 [[ 9.99999686e-01 -7.90652279e-04 5.77912911e-05 7.35718798e-01] [ 7.90564539e-04 9.99998558e-01 1.50280487e-03 -1.19356771e-01] [-5.89794039e-05 -1.50275871e-03 9.99998869e-01 6.95539626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34255784399998 meters 0.29166416766526193 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:0.70 [[ 9.99999659e-01 -7.64319033e-04 3.11437182e-04 7.34913679e-01] [ 7.63831620e-04 9.99998488e-01 1.56217143e-03 -1.19498910e-01] [-3.12630708e-04 -1.56193302e-03 9.99998731e-01 6.96021959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40255784399999 meters 0.2909616866389787 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:0.70 [[ 9.99999568e-01 -9.21119357e-04 1.25259533e-04 7.35455489e-01] [ 9.20987289e-04 9.99999024e-01 1.05035299e-03 -1.17561531e-01] [-1.26226911e-04 -1.05023718e-03 9.99999441e-01 6.95729614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46255784399999 meters 0.29070520788437465 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:0.70 [[ 9.99999389e-01 -9.81615916e-04 5.07865521e-04 7.34716060e-01] [ 9.81226139e-04 9.99999224e-01 7.67160612e-04 -1.16473261e-01] [-5.08618184e-04 -7.66661813e-04 9.99999577e-01 6.95222829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52255784399999 meters 0.292327401868811 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:0.70 [[ 0.99996205 0.00832913 0.00255323 0.75423345] [-0.0083261 0.99996462 -0.00119783 -0.11004381] [-0.00256311 0.00117652 0.99999602 0.69580506] [ 0. 0. 0. 1. ]] SLAMing on 122.582557844 meters 0.2926731718937526 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:0.70 [[ 0.99996431 0.00806811 0.00250652 0.75464649] [-0.00806331 0.99996565 -0.00191998 -0.10712967] [-0.00252193 0.0018997 0.99999502 0.69514035] [ 0. 0. 0. 1. ]] SLAMing on 122.642557844 meters 0.29327079440574166 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.70 [[ 9.99995925e-01 6.55797356e-04 2.77839421e-03 7.73190717e-01] [-6.52150197e-04 9.99998925e-01 -1.31338883e-03 -9.60974620e-02] [-2.77925254e-03 1.31157155e-03 9.99995278e-01 6.96245217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70255784399998 meters 0.292955091405791 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.70 [[ 9.99996435e-01 3.71656393e-04 2.64434779e-03 7.73642053e-01] [-3.66328371e-04 9.99997903e-01 -2.01507097e-03 -9.32203414e-02] [-2.64509116e-03 2.01409509e-03 9.99994473e-01 6.95995474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76255784399999 meters 0.29537262618437865 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.70 [[ 9.99996705e-01 2.80310771e-04 2.55158734e-03 7.73988813e-01] [-2.74573560e-04 9.99997434e-01 -2.24855976e-03 -9.22784502e-02] [-2.55221109e-03 2.24785175e-03 9.99994217e-01 6.95754930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82255784399999 meters 0.29339350146484805 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.70 [[ 9.99996358e-01 5.79037045e-05 2.69821697e-03 7.73370067e-01] [-5.03609047e-05 9.99996091e-01 -2.79545972e-03 -8.99722587e-02] [-2.69836830e-03 2.79531365e-03 9.99992452e-01 6.96248303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88255784399999 meters 0.2918780743417901 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:0.70 [[ 9.99972684e-01 -7.29011364e-03 1.21898296e-03 7.50366101e-01] [ 7.29011555e-03 9.99973427e-01 2.87528670e-06 -9.02114339e-02] [-1.21897153e-03 6.01131850e-06 9.99999257e-01 6.98426261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94255784399999 meters 0.28945244156550415 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:0.70 [[ 9.99999111e-01 1.33241175e-03 -5.17135272e-05 7.29585994e-01] [-1.33241891e-03 9.99999103e-01 -1.38740514e-04 -9.47370593e-02] [ 5.15286213e-05 1.38809294e-04 9.99999989e-01 6.98874065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002557844 meters 0.2911915598796819 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:0.70 [[ 9.99970268e-01 -7.65823212e-03 9.02539158e-04 7.51942699e-01] [ 7.65826179e-03 9.99970675e-01 -2.94320465e-05 -9.40861917e-02] [-9.02287293e-04 3.63430525e-05 9.99999592e-01 6.98613459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062557844 meters 0.291750349323849 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.70 [[ 9.99996194e-01 1.94922693e-03 1.95246479e-03 7.70799607e-01] [-1.94817368e-03 9.99997956e-01 -5.41202100e-04 -9.95804843e-02] [-1.95351572e-03 5.37396300e-04 9.99997947e-01 6.99692424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12255784399999 meters 0.29003979375112277 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:0.70 [[ 9.99996755e-01 1.56646504e-04 2.54265789e-03 7.32056667e-01] [-1.56353153e-04 9.99999981e-01 -1.15570499e-04 -1.04888247e-01] [-2.54267595e-03 1.15172571e-04 9.99996761e-01 6.97123330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18255784399999 meters 0.29111383387184664 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.70 [[ 9.99996934e-01 1.20104168e-03 2.16535751e-03 7.69733928e-01] [-1.20103193e-03 9.99999279e-01 -5.80255915e-06 -1.07316177e-01] [-2.16536291e-03 3.20187786e-06 9.99997656e-01 7.00863227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24255784399999 meters 0.29157892311471373 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.70 [[ 9.99996789e-01 1.39983589e-03 2.11261829e-03 7.69408748e-01] [-1.40087324e-03 9.99998899e-01 4.89630144e-04 -1.09346039e-01] [-2.11193056e-03 -4.92588082e-04 9.99997649e-01 7.01867727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30255784399999 meters 0.29052751744029043 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.70 [[ 0.99999659 0.00175395 0.00193446 0.77017359] [-0.00175681 0.99999736 0.00147837 -0.11359741] [-0.00193186 -0.00148177 0.99999704 0.7011389 ] [ 0. 0. 0. 1. ]] SLAMing on 123.362557844 meters 0.29203821768013366 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.11, Z:0.70 [[ 9.99997612e-01 2.08918589e-03 6.41211947e-04 8.10409122e-01] [-2.08932118e-03 9.99997795e-01 2.10388227e-04 -1.14486360e-01] [-6.40770993e-04 -2.11727423e-04 9.99999772e-01 7.03445021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422557844 meters 0.29136726424461723 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99997454e-01 2.20003426e-03 5.01946503e-04 8.10461028e-01] [-2.20026388e-03 9.99997475e-01 4.57366377e-04 -1.15496889e-01] [-5.00939014e-04 -4.58469628e-04 9.99999769e-01 7.04096502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48255784399998 meters 0.289697719450806 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.12, Z:0.70 [[ 9.99998431e-01 1.48853712e-03 9.60790441e-04 7.72291828e-01] [-1.49023366e-03 9.99997328e-01 1.76748609e-03 -1.19415777e-01] [-9.58156905e-04 -1.76891512e-03 9.99997976e-01 7.01022528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54255784399999 meters 0.2916098448638831 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99997589e-01 2.16858350e-03 3.44361008e-04 8.11164287e-01] [-2.16863068e-03 9.99997639e-01 1.36704861e-04 -1.16131731e-01] [-3.44063739e-04 -1.37451323e-04 9.99999931e-01 7.03736301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60255784399999 meters 0.29158370738727096 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99997717e-01 2.12432614e-03 2.29774921e-04 8.11735215e-01] [-2.12433048e-03 9.99997743e-01 1.86391993e-05 -1.15701174e-01] [-2.29734807e-04 -1.91272746e-05 9.99999973e-01 7.03015247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66255784399999 meters 0.29100354879364776 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99997831e-01 2.08050170e-03 9.43199850e-05 8.12273093e-01] [-2.08049266e-03 9.99997831e-01 -9.59076689e-05 -1.15276624e-01] [-9.45193165e-05 9.57112288e-05 9.99999991e-01 7.02482673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722557844 meters 0.29237974340557216 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.11, Z:0.70 [[ 9.99985170e-01 -5.44412535e-03 1.45295618e-04 8.32843718e-01] [ 5.44398245e-03 9.99984714e-01 9.66373363e-04 -1.11315647e-01] [-1.50554455e-04 -9.65568045e-04 9.99999523e-01 7.03899977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782557844 meters 0.29268183476697585 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.11, Z:0.70 [[ 9.99985660e-01 -5.34486541e-03 3.34166353e-04 8.32269258e-01] [ 5.34444907e-03 9.99984956e-01 1.23462042e-03 -1.12387523e-01] [-3.40760206e-04 -1.23281678e-03 9.99999182e-01 7.04169402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84255784399998 meters 0.2916795358593212 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.11, Z:0.70 [[ 9.99986680e-01 -5.14762853e-03 3.76874419e-04 8.32138166e-01] [ 5.14691626e-03 9.99985011e-01 1.86711759e-03 -1.14894413e-01] [-3.86479998e-04 -1.86515298e-03 9.99998186e-01 7.04240765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90255784399999 meters 0.29142572147639334 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.70 [[ 9.99987594e-01 -4.98097617e-03 4.97449715e-05 8.33177056e-01] [ 4.98084090e-03 9.99984655e-01 2.42498382e-03 -1.17262514e-01] [-6.18229948e-05 -2.42470597e-03 9.99997058e-01 7.03694512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96255784399999 meters 0.29043813941901386 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99999758e-01 -2.03948558e-04 -6.65846636e-04 8.09577052e-01] [ 2.03483346e-04 9.99999735e-01 -6.98671208e-04 -1.22838553e-01] [ 6.65988953e-04 6.98535550e-04 9.99999534e-01 7.05073034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02255784399999 meters 0.291161480630596 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.71 [[ 9.99998919e-01 1.45716073e-03 -1.97830461e-04 8.44833755e-01] [-1.45729546e-03 9.99998705e-01 -6.82633292e-04 -1.22999820e-01] [ 1.96835499e-04 6.82920851e-04 9.99999747e-01 7.10128587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082557844 meters 0.2912130151310287 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.71 [[ 9.99999527e-01 4.04268775e-04 8.84596963e-04 8.05104452e-01] [-4.04524174e-04 9.99999877e-01 2.88557546e-04 -1.25763612e-01] [-8.84480199e-04 -2.88915251e-04 9.99999567e-01 7.08158352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142557844 meters 0.2920293202807947 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.71 [[ 9.99988578e-01 -4.70095154e-03 8.63327778e-04 8.29437492e-01] [ 4.69788350e-03 9.99982762e-01 3.52203029e-03 -1.22481708e-01] [-8.79869790e-04 -3.51793425e-03 9.99993425e-01 7.06569832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20255784399998 meters 0.29091367372387805 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.71 [[ 9.99995646e-01 2.82426411e-03 -8.54890805e-04 8.10160495e-01] [-2.82244463e-03 9.99993765e-01 2.12209232e-03 -1.25768688e-01] [ 8.60878824e-04 -2.11967020e-03 9.99997383e-01 7.05491410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26255784399999 meters 0.2909922896704118 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99995970e-01 2.75970840e-03 -6.65814013e-04 8.09674159e-01] [-2.75841914e-03 9.99994334e-01 1.92957399e-03 -1.24957589e-01] [ 6.71135302e-04 -1.92772962e-03 9.99997917e-01 7.05488147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32255784399999 meters 0.2920787217191027 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99996071e-01 2.75164728e-03 -5.35859095e-04 8.09140203e-01] [-2.75062560e-03 9.99994416e-01 1.89811597e-03 -1.24759667e-01] [ 5.41079048e-04 -1.89663456e-03 9.99998055e-01 7.06010345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38255784399999 meters 0.2922715756770476 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99996079e-01 2.73399171e-03 -6.05427871e-04 8.09147907e-01] [-2.73286550e-03 9.99994548e-01 1.85326921e-03 -1.24534377e-01] [ 6.10491394e-04 -1.85160739e-03 9.99998099e-01 7.06412807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44255784399999 meters 0.29110003099231374 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99996091e-01 2.69744911e-03 -7.35996678e-04 8.09833671e-01] [-2.69615265e-03 9.99994822e-01 1.75683656e-03 -1.24238174e-01] [ 7.40731844e-04 -1.75484533e-03 9.99998186e-01 7.05469820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502557844 meters 0.29206899629724087 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.70 [[ 9.99981914e-01 -6.01349692e-03 9.53446739e-05 8.33332116e-01] [ 6.01336661e-03 9.99981058e-01 1.31271134e-03 -1.20991238e-01] [-1.03236854e-04 -1.31211426e-03 9.99999134e-01 7.04146118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562557844 meters 0.29085360564289603 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.70 [[ 9.99998690e-01 1.52812683e-03 -5.33620810e-04 8.14168960e-01] [-1.52800342e-03 9.99998806e-01 2.31598417e-04 -1.26209864e-01] [ 5.33974085e-04 -2.30782739e-04 9.99999831e-01 7.03109841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62255784399999 meters 0.29064982214970536 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.70 [[ 9.99998563e-01 1.56032951e-03 -6.62588600e-04 8.14587108e-01] [-1.56011567e-03 9.99998731e-01 3.23124639e-04 -1.26601775e-01] [ 6.63091940e-04 -3.22090460e-04 9.99999728e-01 7.02895223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68255784399999 meters 0.29293665844199185 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 0.99998865 -0.00421177 0.00222935 0.83662259] [ 0.0042052 0.99998683 0.00294326 -0.1274513 ] [-0.00224172 -0.00293385 0.99999318 0.70114736] [ 0. 0. 0. 1. ]] SLAMing on 124.74255784399999 meters 0.2905094357850857 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.13, Z:0.70 [[ 9.99998986e-01 1.42114623e-03 -9.34163505e-05 8.13966069e-01] [-1.42115701e-03 9.99998983e-01 -1.15485006e-04 -1.25475226e-01] [ 9.32521345e-05 1.15617648e-04 9.99999989e-01 7.03491782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80255784399999 meters 0.2919658356757762 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99999228e-01 1.20338889e-03 -3.09680756e-04 8.14858716e-01] [-1.20362746e-03 9.99998978e-01 -7.71326874e-04 -1.22869549e-01] [ 3.08752233e-04 7.71699019e-04 9.99999655e-01 7.02557115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862557844 meters 0.2919449956204182 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.70 [[ 9.99999392e-01 1.01038259e-03 -4.41787302e-04 8.15292223e-01] [-1.01094406e-03 9.99998679e-01 -1.27253345e-03 -1.20810797e-01] [ 4.40500972e-04 1.27297930e-03 9.99999093e-01 7.02387163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922557844 meters 0.2914008545182217 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99999604e-01 8.34768022e-04 -3.09601832e-04 8.14551486e-01] [-8.35316417e-04 9.99998075e-01 -1.77541163e-03 -1.18666030e-01] [ 3.08119179e-04 1.77566954e-03 9.99998376e-01 7.03427016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98255784399998 meters 0.29187355701896195 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99999688e-01 7.85063235e-04 -8.68636112e-05 8.13944794e-01] [-7.85229653e-04 9.99997824e-01 -1.93269697e-03 -1.18028759e-01] [ 8.53461329e-05 1.93276457e-03 9.99998129e-01 7.03578005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04255784399999 meters 0.29050579428355405 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99999720e-01 7.47367705e-04 -3.64523638e-05 8.13564882e-01] [-7.47440485e-04 9.99997642e-01 -2.03918415e-03 -1.17540332e-01] [ 3.49282575e-05 2.03921083e-03 9.99997920e-01 7.04183969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10255784399999 meters 0.2896602203177654 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99999733e-01 7.25489432e-04 -8.55114196e-05 8.13346255e-01] [-7.25667370e-04 9.99997533e-01 -2.09953244e-03 -1.17241599e-01] [ 8.39880200e-05 2.09959394e-03 9.99997792e-01 7.05016141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16255784399999 meters 0.2909961102148059 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.70 [[ 0.99998571 -0.00406579 0.00347138 0.83503139] [ 0.00406113 0.99999084 0.00134903 -0.11944125] [-0.00347683 -0.00133491 0.99999306 0.7032866 ] [ 0. 0. 0. 1. ]] SLAMing on 125.222557844 meters 0.2907759116238278 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.70 [[ 0.99998592 -0.00392053 0.00357752 0.83442901] [ 0.00391421 0.99999077 0.00177123 -0.12110535] [-0.00358443 -0.0017572 0.99999203 0.70417433] [ 0. 0. 0. 1. ]] SLAMing on 125.282557844 meters 0.2907107612298035 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.70 [[ 0.9999868 -0.0037171 0.00354705 0.83436386] [ 0.00370881 0.99999038 0.00234121 -0.12339464] [-0.00355572 -0.00232802 0.99999097 0.7045121 ] [ 0. 0. 0. 1. ]] SLAMing on 125.34255784399998 meters 0.29016940430779325 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 0.99998862 0.00354865 0.00318762 0.81575066] [-0.00355318 0.99999269 0.00141398 -0.13204668] [-0.00318258 -0.00142529 0.99999392 0.70216484] [ 0. 0. 0. 1. ]] SLAMing on 125.40255784399999 meters 0.289048404430797 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.13, Z:0.70 [[ 9.99994493e-01 -3.31853202e-03 1.93284297e-05 7.94346064e-01] [ 3.31841416e-03 9.99984725e-01 4.42013566e-03 -1.33784918e-01] [-3.39964962e-05 -4.42004718e-03 9.99990231e-01 7.04344366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46255784399999 meters 0.29192260445003493 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 0.99998094 0.00568418 -0.00240926 0.82374754] [-0.0056775 0.99998005 0.00276923 -0.13324009] [ 0.00242495 -0.0027555 0.99999326 0.69987019] [ 0. 0. 0. 1. ]] SLAMing on 125.52255784399999 meters 0.2923880798609751 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 0.99998152 0.00566194 -0.00221421 0.82316487] [-0.00565598 0.99998039 0.00268866 -0.13286882] [ 0.00222939 -0.00267609 0.99999393 0.70013604] [ 0. 0. 0. 1. ]] SLAMing on 125.582557844 meters 0.2911949080263115 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 0.99998229 0.0055924 -0.0020378 0.82248818] [-0.00558734 0.99998131 0.00248088 -0.13192589] [ 0.00205163 -0.00246945 0.99999485 0.70070739] [ 0. 0. 0. 1. ]] SLAMing on 125.642557844 meters 0.2918422469367295 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 0.99999741 0.00112469 -0.00197949 0.82286142] [-0.00112894 0.99999706 -0.00214823 -0.13057755] [ 0.00197707 0.00215046 0.99999573 0.69953153] [ 0. 0. 0. 1. ]] SLAMing on 125.70255784399998 meters 0.2930747302484408 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 9.99987201e-01 -5.03192540e-03 5.27600304e-04 8.44762531e-01] [ 5.03169659e-03 9.99987247e-01 4.34130944e-04 -1.32554191e-01] [-5.29778090e-04 -4.31470663e-04 9.99999767e-01 6.98314453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76255784399999 meters 0.29247265528280414 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 9.99988195e-01 -4.81935305e-03 6.19504355e-04 8.44028891e-01] [ 4.81867383e-03 9.99987793e-01 1.09324020e-03 -1.35131228e-01] [-6.24765503e-04 -1.09024210e-03 9.99999211e-01 6.99587235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82255784399999 meters 0.29135095485293877 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99995041e-01 2.77564285e-03 1.48799001e-03 8.24750865e-01] [-2.77669293e-03 9.99995897e-01 7.04100526e-04 -1.43795484e-01] [-1.48602957e-03 -7.08228725e-04 9.99998645e-01 6.97798132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88255784399999 meters 0.2906840459428468 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.70 [[ 0.99999466 0.00295541 0.00139442 0.82514215] [-0.00295708 0.99999491 0.00119634 -0.14588069] [-0.00139087 -0.00120046 0.99999831 0.69742804] [ 0. 0. 0. 1. ]] SLAMing on 125.94255784399999 meters 0.2918209421131722 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:0.70 [[ 0.99999432 0.00309878 0.00132226 0.82520095] [-0.00310085 0.99999397 0.00156354 -0.14736207] [-0.0013174 -0.00156763 0.9999979 0.69772799] [ 0. 0. 0. 1. ]] SLAMing on 126.002557844 meters 0.2913887083348065 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.9999936 0.00328135 0.00142584 0.82454384] [-0.00328423 0.99999256 0.00202378 -0.14922628] [-0.00141919 -0.00202845 0.99999694 0.69868389] [ 0. 0. 0. 1. ]] SLAMing on 126.062557844 meters 0.2923952521010658 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999365 0.00327244 0.00141331 0.82471565] [-0.00327526 0.99999263 0.00200185 -0.14917358] [-0.00140675 -0.00200646 0.999997 0.69834207] [ 0. 0. 0. 1. ]] SLAMing on 126.12255784399999 meters 0.2934271554173911 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:0.70 [[ 9.99991102e-01 -4.16448689e-03 6.73108798e-04 8.45137207e-01] [ 4.16248190e-03 9.99986976e-01 2.95315740e-03 -1.42651806e-01] [-6.85398417e-04 -2.95032931e-03 9.99995413e-01 6.98524438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18255784399999 meters 0.29344777051585036 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.14, Z:0.70 [[ 9.99990768e-01 -4.25967913e-03 5.64239282e-04 8.45795473e-01] [ 4.25815127e-03 9.99987338e-01 2.68188628e-03 -1.41620335e-01] [-5.75656113e-04 -2.67945891e-03 9.99996245e-01 6.97429911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24255784399999 meters 0.29448541973559234 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:0.70 [[ 0.99998405 0.00463557 0.00322731 0.86344939] [-0.0046397 0.99998843 0.00127384 -0.14389006] [-0.00322137 -0.00128879 0.99999398 0.6989958 ] [ 0. 0. 0. 1. ]] SLAMing on 126.30255784399999 meters 0.2925154914748721 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 0.99998788 -0.00391987 0.00297842 0.83960791] [ 0.00391 0.99998687 0.00331328 -0.14364608] [-0.00299137 -0.00330159 0.99999008 0.7013009 ] [ 0. 0. 0. 1. ]] SLAMing on 126.362557844 meters 0.2928782839263022 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 0.99998719 -0.00399071 0.00311388 0.83962821] [ 0.00398096 0.99998717 0.00313193 -0.14293064] [-0.00312634 -0.0031195 0.99999025 0.70045643] [ 0. 0. 0. 1. ]] SLAMing on 126.422557844 meters 0.29193198631099654 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99999670e-01 8.08197178e-04 -7.69410153e-05 8.18646285e-01] [-8.08220352e-04 9.99999628e-01 -3.01640978e-04 -1.42577862e-01] [ 7.66972013e-05 3.01703064e-04 9.99999952e-01 7.01612271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48255784399998 meters 0.29295163120133894 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 9.99977956e-01 -6.50433494e-03 1.33471970e-03 8.37863818e-01] [ 6.50316789e-03 9.99978470e-01 8.76861366e-04 -1.38333009e-01] [-1.34039436e-03 -8.68162130e-04 9.99998725e-01 7.02982707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54255784399999 meters 0.292351295688434 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 0.99997824 -0.00645152 0.00137771 0.83752914] [ 0.00645011 0.99997867 0.001029 -0.13889466] [-0.00138432 -0.00102009 0.99999852 0.70357304] [ 0. 0. 0. 1. ]] SLAMing on 126.60255784399999 meters 0.29284010002470917 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99999454e-01 9.32851464e-04 -4.71043974e-04 8.18568315e-01] [-9.32916872e-04 9.99999555e-01 -1.38658165e-04 -1.42181241e-01] [ 4.70914417e-04 1.39097535e-04 9.99999879e-01 7.02041393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66255784399999 meters 0.29329313513044514 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99999608e-01 7.95791000e-04 -3.89275270e-04 8.18488092e-01] [-7.96012942e-04 9.99999521e-01 -5.70321015e-04 -1.40487964e-01] [ 3.88821227e-04 5.70630660e-04 9.99999762e-01 7.01716255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722557844 meters 0.2920347676441982 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99987817e-01 4.92798379e-03 -2.84663076e-04 8.18180443e-01] [-4.92704616e-03 9.99982724e-01 3.20559855e-03 -1.38135833e-01] [ 3.00455296e-04 -3.20415695e-03 9.99994822e-01 7.01903084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782557844 meters 0.293896408486521 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 9.99994618e-01 -3.26326480e-03 -3.40212296e-04 8.39463291e-01] [ 3.26428719e-03 9.99990023e-01 3.04919088e-03 -1.29548731e-01] [ 3.30258585e-04 -3.05028502e-03 9.99995293e-01 7.01379362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84255784399998 meters 0.2921118564051945 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.70 [[ 9.99992236e-01 2.17243842e-03 -3.28748550e-03 8.18666336e-01] [-2.17354018e-03 9.99997583e-01 -3.31603882e-04 -1.26886317e-01] [ 3.28675717e-03 3.38746789e-04 9.99994541e-01 7.02450531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90255784399999 meters 0.29215576326631004 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.70 [[ 0.99999415 0.00180877 -0.00290357 0.81720831] [-0.00181312 0.99999724 -0.00149616 -0.12143036] [ 0.00290086 0.00150141 0.99999467 0.7035594 ] [ 0. 0. 0. 1. ]] SLAMing on 126.96255784399999 meters 0.29320447885217504 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.70 [[ 0.99999503 0.00155897 -0.00273954 0.81676667] [-0.00156488 0.99999645 -0.00215756 -0.11867762] [ 0.00273616 0.00216184 0.99999392 0.70357242] [ 0. 0. 0. 1. ]] SLAMing on 127.02255784399999 meters 0.2936364989768547 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:0.70 [[ 0.9999773 -0.00597527 -0.00311381 0.83750518] [ 0.00597113 0.99998128 -0.00133753 -0.11298723] [ 0.00312174 0.0013189 0.99999426 0.70484777] [ 0. 0. 0. 1. ]] SLAMing on 127.082557844 meters 0.2918517456104197 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 0.99999091 -0.001053 -0.00413057 0.81326995] [ 0.00103408 0.99998898 -0.0045785 -0.11562415] [ 0.00413535 0.00457419 0.99998099 0.70668773] [ 0. 0. 0. 1. ]] SLAMing on 127.142557844 meters 0.2920795672675871 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99991020e-01 -9.32834089e-04 -4.13395500e-03 8.13215774e-01] [ 9.15254040e-04 9.99990539e-01 -4.25245123e-03 -1.16954944e-01] [ 4.13788272e-03 4.24862943e-03 9.99982413e-01 7.06827349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20255784399998 meters 0.29275538979903043 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 0.99999065 -0.00101984 -0.00420355 0.81394842] [ 0.0010009 0.99998935 -0.00450632 -0.11596237] [ 0.0042081 0.00450207 0.99998101 0.7053645 ] [ 0. 0. 0. 1. ]] SLAMing on 127.26255784399999 meters 0.29489158640624824 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.70 [[ 9.99994863e-01 -3.17782260e-03 -4.19690879e-04 8.38297523e-01] [ 3.17818981e-03 9.99994565e-01 8.77206309e-04 -1.17585295e-01] [ 4.16900992e-04 -8.78535660e-04 9.99999527e-01 7.00809452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32255784399999 meters 0.2953127301057007 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.70 [[ 9.99994927e-01 -3.13770180e-03 -5.48952313e-04 8.38584441e-01] [ 3.13825090e-03 9.99994573e-01 1.00229317e-03 -1.18091249e-01] [ 5.45804437e-04 -1.00401084e-03 9.99999347e-01 7.00927898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38255784399999 meters 0.29291070627786625 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99996945e-01 2.36453849e-03 -7.20435364e-04 8.13550966e-01] [-2.36561678e-03 9.99996078e-01 -1.49956352e-03 -1.21993840e-01] [ 7.16886763e-04 1.50126321e-03 9.99998616e-01 7.02595842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44255784399999 meters 0.2932025056825392 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.70 [[ 9.99996750e-01 2.47406698e-03 -6.16199790e-04 8.13199858e-01] [-2.47477314e-03 9.99996279e-01 -1.14788842e-03 -1.23363110e-01] [ 6.13357545e-04 1.14940965e-03 9.99999151e-01 7.02875031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502557844 meters 0.29542094194912183 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 0.99999148 -0.0036964 0.00183619 0.83857295] [ 0.00369452 0.99999265 0.00102932 -0.12747518] [-0.00183998 -0.00102253 0.99999778 0.69839376] [ 0. 0. 0. 1. ]] SLAMing on 127.562557844 meters 0.2956827976201124 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 0.99999184 -0.00366003 0.00171258 0.83909518] [ 0.00365809 0.99999266 0.00113644 -0.12795453] [-0.00171673 -0.00113016 0.99999789 0.69787179] [ 0. 0. 0. 1. ]] SLAMing on 127.62255784399999 meters 0.29648176506530854 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 0.99999235 -0.00348569 0.00177598 0.83872121] [ 0.00348286 0.99999266 0.00159779 -0.12982744] [-0.00178154 -0.00159159 0.99999715 0.69840382] [ 0. 0. 0. 1. ]] SLAMing on 127.68255784399999 meters 0.2946863870801013 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.70 [[ 0.99999406 -0.00297766 0.00173457 0.838339 ] [ 0.00297292 0.99999186 0.00272678 -0.13464482] [-0.00174267 -0.00272161 0.99999478 0.69925168] [ 0. 0. 0. 1. ]] SLAMing on 127.74255784399999 meters 0.2946289862953322 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99989552e-01 4.46851956e-03 9.63491385e-04 8.19231746e-01] [-4.47046951e-03 9.99987944e-01 2.03126688e-03 -1.41885309e-01] [-9.54403014e-04 -2.03555292e-03 9.99997473e-01 6.97037482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80255784399999 meters 0.2953318269580216 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.14, Z:0.70 [[ 0.9999915 -0.0039127 0.00129911 0.84181008] [ 0.00390949 0.99998931 0.00247012 -0.14013296] [-0.00130876 -0.00246502 0.99999611 0.69625855] [ 0. 0. 0. 1. ]] SLAMing on 127.862557844 meters 0.29578127625681105 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:0.70 [[ 9.99983467e-01 3.95048208e-03 4.17845093e-03 8.61334918e-01] [-3.95210372e-03 9.99992118e-01 3.79909404e-04 -1.41702003e-01] [-4.17691717e-03 -3.96416794e-04 9.99991198e-01 6.96361569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922557844 meters 0.29361649595264344 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99994960e-01 2.48645427e-03 1.97403744e-03 8.17578587e-01] [-2.48828384e-03 9.99996476e-01 9.24904056e-04 -1.43864891e-01] [-1.97173076e-03 -9.29811360e-04 9.99997624e-01 6.98243148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98255784399998 meters 0.29450829424739633 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99995157e-01 2.35399669e-03 2.03591371e-03 8.17622043e-01] [-2.35513732e-03 9.99997071e-01 5.58039185e-04 -1.42395721e-01] [-2.03459413e-03 -5.62831338e-04 9.99997772e-01 6.97771136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042557844 meters 0.29397827892885103 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99995167e-01 2.35670164e-03 2.02761292e-03 8.17668954e-01] [-2.35785219e-03 9.99997061e-01 5.65237895e-04 -1.42431092e-01] [-2.02627487e-03 -5.70015975e-04 9.99997785e-01 6.97708586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102557844 meters 0.29529527525485805 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 9.99995628e-01 2.39226014e-03 1.73790179e-03 8.18357835e-01] [-2.39347866e-03 9.99996891e-01 6.99402273e-04 -1.42979488e-01] [-1.73622323e-03 -7.03558846e-04 9.99998245e-01 6.97779012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162557844 meters 0.2945472578889574 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:0.70 [[ 0.99999505 0.00251861 0.00188462 0.81786302] [-0.00252075 0.99999618 0.00113512 -0.14464819] [-0.00188176 -0.00113986 0.99999758 0.69813262] [ 0. 0. 0. 1. ]] SLAMing on 128.222557844 meters 0.2943120735117394 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999431 0.0026828 0.00204557 0.81739406] [-0.00268608 0.9999951 0.00160522 -0.1465473 ] [-0.00204125 -0.00161071 0.99999662 0.69830993] [ 0. 0. 0. 1. ]] SLAMing on 128.282557844 meters 0.29429281909694566 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999438 0.00280308 0.0018403 0.81801711] [-0.00280669 0.99999413 0.00196469 -0.14806459] [-0.00183478 -0.00196985 0.99999638 0.69804323] [ 0. 0. 0. 1. ]] SLAMing on 128.342557844 meters 0.29621699701510934 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999428 0.00290344 0.00173406 0.8185052 ] [-0.00290733 0.99999325 0.00224555 -0.14928794] [-0.00172753 -0.00225058 0.99999598 0.6975115 ] [ 0. 0. 0. 1. ]] SLAMing on 128.402557844 meters 0.29518980043643517 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999402 0.00291055 0.00186952 0.81807187] [-0.00291477 0.99999321 0.00225569 -0.14930176] [-0.00186294 -0.00226113 0.99999571 0.69771088] [ 0. 0. 0. 1. ]] SLAMing on 128.462557844 meters 0.29450913685239194 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999357 0.0029573 0.00203 0.81736901] [-0.00296213 0.99999278 0.00238041 -0.1497234 ] [-0.00202294 -0.0023864 0.99999511 0.69851524] [ 0. 0. 0. 1. ]] SLAMing on 128.52255784399998 meters 0.2954316063256812 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999336 0.00312612 0.00187057 0.81751863] [-0.00313164 0.99999073 0.00295501 -0.15196631] [-0.00186132 -0.00296085 0.99999388 0.69910147] [ 0. 0. 0. 1. ]] SLAMing on 128.58255784399998 meters 0.295744081538064 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:0.70 [[ 0.99999415 0.00316512 0.00129327 0.81910452] [-0.00316927 0.99998979 0.00322196 -0.15315331] [-0.00128306 -0.00322604 0.99999397 0.69854363] [ 0. 0. 0. 1. ]] SLAMing on 128.64255784399998 meters 0.29592075030974496 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 0.99999302 0.00340833 0.00152808 0.81816878] [-0.00341439 0.99998626 0.00397764 -0.15593869] [-0.0015145 -0.00398283 0.99999092 0.69945106] [ 0. 0. 0. 1. ]] SLAMing on 128.70255784399998 meters 0.29548122296287144 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 0.99999216 0.00352887 0.00179739 0.81743672] [-0.00353666 0.99998428 0.00435129 -0.15741064] [-0.00178201 -0.00435761 0.99998892 0.69961143] [ 0. 0. 0. 1. ]] SLAMing on 128.76255784399999 meters 0.29393389557139515 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 0.99999157 0.00364546 0.00188842 0.81711589] [-0.00365429 0.99998231 0.00469244 -0.15876999] [-0.00187128 -0.00469931 0.99998721 0.69978917] [ 0. 0. 0. 1. ]] SLAMing on 128.822557844 meters 0.2947479563100976 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 0.99999145 0.00376692 0.00170675 0.81761137] [-0.00377554 0.99997998 0.00507707 -0.16033514] [-0.00168759 -0.00508347 0.99998566 0.69969953] [ 0. 0. 0. 1. ]] SLAMing on 128.882557844 meters 0.29510180940857594 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 9.99998173e-01 -5.45083994e-04 1.83200363e-03 8.17613067e-01] [ 5.43611908e-04 9.99999529e-01 8.03940636e-04 -1.60545320e-01] [-1.83244098e-03 -8.02943268e-04 9.99997999e-01 6.99016988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942557844 meters 0.29832985634043396 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:0.70 [[ 9.99999215e-01 -5.14736770e-04 1.14228667e-03 8.19538447e-01] [ 5.13389972e-04 9.99999173e-01 1.17901689e-03 -1.62259543e-01] [-1.14289261e-03 -1.17842952e-03 9.99998653e-01 6.98131603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002557844 meters 0.29410796178096144 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.70 [[ 0.99999492 -0.00289121 0.00134054 0.78256558] [ 0.00288841 0.99999367 0.00208002 -0.17013188] [-0.00134655 -0.00207614 0.99999694 0.69509987] [ 0. 0. 0. 1. ]] SLAMing on 129.062557844 meters 0.2939871451807873 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.70 [[ 0.99999464 -0.00279941 0.00169798 0.78142587] [ 0.00279533 0.99999322 0.00239704 -0.17136683] [-0.00170468 -0.00239228 0.99999569 0.69590066] [ 0. 0. 0. 1. ]] SLAMing on 129.122557844 meters 0.2938645509706138 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.70 [[ 0.99999467 -0.00274217 0.00177022 0.78131734] [ 0.00273763 0.99999298 0.00256007 -0.17203568] [-0.00177723 -0.00255521 0.99999516 0.6957082 ] [ 0. 0. 0. 1. ]] SLAMing on 129.182557844 meters 0.29405715166741625 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.70 [[ 0.9999947 -0.00275803 0.00173266 0.78148388] [ 0.00275366 0.99999304 0.00251764 -0.17187631] [-0.00173959 -0.00251286 0.99999533 0.69554038] [ 0. 0. 0. 1. ]] SLAMing on 129.242557844 meters 0.2944623734613029 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.69 [[ 0.99999468 -0.00280771 0.00166229 0.78189327] [ 0.00280374 0.99999323 0.00238438 -0.17135824] [-0.00166897 -0.0023797 0.99999578 0.69499812] [ 0. 0. 0. 1. ]] SLAMing on 129.30255784399998 meters 0.29457530372226437 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:0.69 [[ 0.99999476 -0.00285651 0.00152281 0.78241711] [ 0.00285308 0.9999934 0.00225013 -0.1708139 ] [-0.00152923 -0.00224578 0.99999631 0.69455775] [ 0. 0. 0. 1. ]] SLAMing on 129.36255784399998 meters 0.296857126462678 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:0.70 [[ 9.99996840e-01 -2.19600188e-03 1.22391130e-03 8.19846906e-01] [ 2.19531172e-03 9.99997431e-01 5.64950916e-04 -1.70618913e-01] [-1.22514879e-03 -5.62262264e-04 9.99999091e-01 6.98663531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42255784399998 meters 0.2940397739547582 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.16, Z:0.70 [[ 9.99995264e-01 -4.01236185e-04 3.05138424e-03 8.13184218e-01] [ 3.96675673e-04 9.99998804e-01 1.49502975e-03 -1.64914325e-01] [-3.05198045e-03 -1.49381226e-03 9.99994227e-01 7.02414971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48255784399998 meters 0.2939855269276062 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.16, Z:0.70 [[ 9.99996265e-01 -6.44732413e-04 2.65591924e-03 8.14861254e-01] [ 6.43126939e-04 9.99999610e-01 6.05298791e-04 -1.61596548e-01] [-2.65630846e-03 -6.03588437e-04 9.99996290e-01 7.00610592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542557844 meters 0.29357778839574855 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:0.70 [[ 0.99998598 0.00504144 -0.00161927 0.79436723] [-0.0050452 0.99998456 -0.00233071 -0.1534291 ] [ 0.0016075 0.00233885 0.99999597 0.70186333] [ 0. 0. 0. 1. ]] SLAMing on 129.602557844 meters 0.2935038332086204 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.15, Z:0.71 [[ 9.99990069e-01 -3.52546229e-04 -4.44261579e-03 8.08998176e-01] [ 3.48517397e-04 9.99999527e-01 -9.07601963e-04 -1.45052223e-01] [ 4.44293366e-03 9.06044621e-04 9.99989720e-01 7.07840439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662557844 meters 0.29261732294089826 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:0.71 [[ 9.99989968e-01 -5.95503205e-04 -4.43940117e-03 8.09267813e-01] [ 5.88581196e-04 9.99998609e-01 -1.56036466e-03 -1.42423878e-01] [ 4.44032420e-03 1.55773606e-03 9.99988928e-01 7.07230853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722557844 meters 0.29304615606099094 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.14, Z:0.71 [[ 9.99989757e-01 -8.34112670e-04 -4.44869735e-03 8.09530604e-01] [ 8.24303177e-04 9.99997226e-01 -2.20640386e-03 -1.39835530e-01] [ 4.45052540e-03 2.20271418e-03 9.99987670e-01 7.06698915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782557844 meters 0.29235824417133865 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.71 [[ 9.99997116e-01 6.67928997e-04 -2.30711897e-03 7.67174965e-01] [-6.68656879e-04 9.99999727e-01 -3.14737000e-04 -1.30772673e-01] [ 2.30690812e-03 3.16278763e-04 9.99997289e-01 7.05613152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842557844 meters 0.2935645032969459 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99983071e-01 4.19454492e-03 -4.03286053e-03 8.08661491e-01] [-4.19505683e-03 9.99991194e-01 -1.18484251e-04 -1.22464420e-01] [ 4.03232803e-03 1.35400325e-04 9.99991861e-01 7.06706015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902557844 meters 0.2918679941834158 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:0.71 [[ 0.99997732 -0.00265554 -0.00618868 0.78643303] [ 0.00267119 0.99999325 0.00252185 -0.11859117] [ 0.00618194 -0.00253832 0.99997767 0.7082985 ] [ 0. 0. 0. 1. ]] SLAMing on 129.962557844 meters 0.29169752744252336 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.12, Z:0.71 [[ 0.99997659 -0.00286038 -0.00621558 0.78650605] [ 0.00287231 0.99999405 0.00191185 -0.11615168] [ 0.00621007 -0.00192966 0.99997886 0.70829274] [ 0. 0. 0. 1. ]] SLAMing on 130.02255784399998 meters 0.2932228858362131 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.71 [[ 9.99982773e-01 4.73279322e-03 -3.47200442e-03 8.07303194e-01] [-4.73496282e-03 9.99988600e-01 -6.16930798e-04 -1.15059166e-01] [ 3.46904503e-03 6.33359982e-04 9.99993782e-01 7.07142610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08255784399998 meters 0.29266997884001794 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.71 [[ 9.99981572e-01 -4.86794485e-03 -3.62740880e-03 7.87685231e-01] [ 4.86928803e-03 9.99988080e-01 3.61546117e-04 -1.11552358e-01] [ 3.62560557e-03 -3.79202353e-04 9.99993356e-01 7.06096190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14255784399998 meters 0.2933713353226579 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.71 [[ 9.99981333e-01 -4.98498088e-03 -3.53317689e-03 7.87520706e-01] [ 4.98496799e-03 9.99987575e-01 -1.24558560e-05 -1.10081908e-01] [ 3.53319508e-03 -5.15715023e-06 9.99993758e-01 7.05909127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20255784399998 meters 0.29416477501913324 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.71 [[ 9.99979274e-01 -5.12913852e-03 -3.89153878e-03 7.88490931e-01] [ 5.12741032e-03 9.99986752e-01 -4.53937511e-04 -1.08343859e-01] [ 3.89381553e-03 4.33974586e-04 9.99992325e-01 7.05627855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26255784399999 meters 0.2928237757020529 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.71 [[ 9.99979177e-01 3.43649989e-03 -5.46228446e-03 7.67089427e-01] [-3.44168195e-03 9.99993636e-01 -9.39582442e-04 -1.07417686e-01] [ 5.45902082e-03 9.58362322e-04 9.99984640e-01 7.05429619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322557844 meters 0.29273860165499865 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.71 [[ 0.99998066 0.00329625 -0.00527366 0.76661727] [-0.00330352 0.9999936 -0.00137215 -0.10567493] [ 0.00526911 0.00138954 0.99998515 0.70545846] [ 0. 0. 0. 1. ]] SLAMing on 130.382557844 meters 0.29300780253347164 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.10, Z:0.70 [[ 0.99998049 0.0032064 -0.0053612 0.76704659] [-0.00321512 0.99999352 -0.00161755 -0.10470231] [ 0.00535598 0.00163475 0.99998432 0.70495457] [ 0. 0. 0. 1. ]] SLAMing on 130.442557844 meters 0.2943461795146461 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.70 [[ 0.99999096 -0.0018312 -0.0038385 0.7909022 ] [ 0.00183746 0.99999699 0.00162882 -0.10350337] [ 0.00383551 -0.00163586 0.99999131 0.7029579 ] [ 0. 0. 0. 1. ]] SLAMing on 130.502557844 meters 0.2926412808303905 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.10, Z:0.70 [[ 0.99999249 -0.00182519 -0.00341974 0.78965272] [ 0.00183067 0.99999704 0.00160054 -0.1032624 ] [ 0.0034168 -0.00160679 0.99999287 0.70366516] [ 0. 0. 0. 1. ]] SLAMing on 130.562557844 meters 0.29113877122423343 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:0.70 [[ 0.99999396 -0.00238071 -0.00253195 0.75169693] [ 0.00238825 0.99999271 0.00297895 -0.10583598] [ 0.00252484 -0.00298498 0.99999236 0.69991955] [ 0. 0. 0. 1. ]] SLAMing on 130.622557844 meters 0.2934683699502637 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.11, Z:0.70 [[ 9.99984757e-01 5.45685289e-03 -8.42245850e-04 7.74981413e-01] [-5.45627911e-03 9.99984882e-01 6.82054607e-04 -1.06192942e-01] [ 8.45954988e-04 -6.77448682e-04 9.99999413e-01 6.96804726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682557844 meters 0.29285597088523835 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.11, Z:0.70 [[ 9.99998920e-01 1.17739900e-03 -8.79059014e-04 7.75192754e-01] [-1.18043482e-03 9.99993314e-01 -3.46099202e-03 -1.06992712e-01] [ 8.74978168e-04 3.46202595e-03 9.99993624e-01 6.96401531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742557844 meters 0.29483922321367245 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.70 [[ 9.99993611e-01 -3.52764390e-03 -5.77497511e-04 7.99494288e-01] [ 3.52795838e-03 9.99993629e-01 5.44445175e-04 -1.06731665e-01] [ 5.75573223e-04 -5.46479084e-04 9.99999685e-01 6.95261959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80255784399998 meters 0.2934260304368278 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.70 [[ 9.99994113e-01 -3.39616487e-03 -4.89719980e-04 7.99175190e-01] [ 3.39658897e-03 9.99993855e-01 8.67789263e-04 -1.08043830e-01] [ 4.86769815e-04 -8.69447532e-04 9.99999504e-01 6.95452024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86255784399998 meters 0.2925509748446572 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.70 [[ 9.99994724e-01 -3.18466463e-03 -6.40309258e-04 7.99600255e-01] [ 3.18556232e-03 9.99993938e-01 1.40585789e-03 -1.10292499e-01] [ 6.35828190e-04 -1.40789021e-03 9.99998807e-01 6.95471008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92255784399998 meters 0.2935345522617436 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.69 [[ 9.99995260e-01 -3.00799310e-03 -6.56689271e-04 7.99875481e-01] [ 3.00921388e-03 9.99993731e-01 1.86598387e-03 -1.12233546e-01] [ 6.51072288e-04 -1.86795115e-03 9.99998043e-01 6.94972813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98255784399998 meters 0.2928225013545471 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.69 [[ 9.99995468e-01 -2.91668054e-03 -7.45855103e-04 8.00151330e-01] [ 2.91823999e-03 9.99993540e-01 2.09834685e-03 -1.13214168e-01] [ 7.39730077e-04 -2.10051392e-03 9.99997520e-01 6.94900530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042557844 meters 0.294273666941301 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:0.69 [[ 9.99987459e-01 4.61426710e-03 1.94699151e-03 8.21113860e-01] [-4.61339542e-03 9.99989256e-01 -4.51957939e-04 -1.13404583e-01] [-1.94905604e-03 4.42970029e-04 9.99998002e-01 6.93250248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102557844 meters 0.2931642386584973 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:0.69 [[ 9.99986917e-01 4.74194881e-03 1.91807736e-03 8.21290821e-01] [-4.74174194e-03 9.99988752e-01 -1.12387211e-04 -1.14843811e-01] [-1.91858872e-03 1.03290713e-04 9.99998154e-01 6.93024383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162557844 meters 0.29320984087619945 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.69 [[ 9.99986515e-01 4.82631353e-03 1.91738930e-03 8.21283613e-01] [-4.82652933e-03 9.99988346e-01 1.07939597e-04 -1.15754864e-01] [-1.91684601e-03 -1.17192477e-04 9.99998156e-01 6.93041505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222557844 meters 0.2920009603413394 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.11, Z:0.69 [[ 9.99987338e-01 -5.01735696e-03 3.86144061e-04 8.01471503e-01] [ 5.01702845e-03 9.99987056e-01 8.47048503e-04 -1.14010728e-01] [-3.90389007e-04 -8.45100482e-04 9.99999567e-01 6.93208337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282557844 meters 0.2918356226570133 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:0.69 [[ 9.99987766e-01 -4.92067403e-03 5.05074225e-04 8.00868068e-01] [ 4.92011209e-03 9.99987282e-01 1.10786317e-03 -1.15022905e-01] [-5.10519235e-04 -1.10536459e-03 9.99999259e-01 6.94001232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342557844 meters 0.29257813436792873 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.69 [[ 0.99998271 0.00575157 0.00122135 0.82275278] [-0.00575322 0.99998254 0.00134756 -0.11739196] [-0.00121358 -0.00135456 0.99999835 0.69300853] [ 0. 0. 0. 1. ]] SLAMing on 131.402557844 meters 0.2914833021595537 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.12, Z:0.69 [[ 0.99999184 -0.00389395 -0.00107683 0.80373494] [ 0.0038964 0.9999898 0.00228436 -0.11721418] [ 0.00106793 -0.00228854 0.99999681 0.69285155] [ 0. 0. 0. 1. ]] SLAMing on 131.462557844 meters 0.29379682793759926 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.69 [[ 9.99993414e-01 3.28952257e-03 1.53325216e-03 8.24267181e-01] [-3.28851527e-03 9.99994376e-01 -6.59029897e-04 -1.17946082e-01] [-1.53541143e-03 6.53983434e-04 9.99998607e-01 6.92067442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52255784399998 meters 0.29272691587477373 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:0.69 [[ 9.99993330e-01 3.28567141e-03 1.59492784e-03 8.24214969e-01] [-3.28460276e-03 9.99994380e-01 -6.72187884e-04 -1.17911288e-01] [-1.59712746e-03 6.66944696e-04 9.99998502e-01 6.91820359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58255784399998 meters 0.2917443526387683 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.12, Z:0.69 [[ 9.99983177e-01 -5.78070822e-03 -4.78638695e-04 8.05667959e-01] [ 5.78117037e-03 9.99982819e-01 9.69864227e-04 -1.17767652e-01] [ 4.73023969e-04 -9.72615003e-04 9.99999415e-01 6.91228394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64255784399998 meters 0.29300438073524815 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999776 0.00176994 0.00116121 0.82859322] [-0.00176802 0.99999707 -0.0016523 -0.11827521] [-0.00116413 0.00165024 0.99999796 0.68919735] [ 0. 0. 0. 1. ]] SLAMing on 131.70255784399998 meters 0.29324219716384464 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999773 0.00186933 0.00102088 0.82892427] [-0.00186795 0.99999735 -0.00134429 -0.11952565] [-0.00102339 0.00134238 0.99999858 0.68928353] [ 0. 0. 0. 1. ]] SLAMing on 131.76255784399999 meters 0.29039064182884905 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:0.69 [[ 9.99998718e-01 -1.60866709e-05 -1.60098987e-03 7.84823265e-01] [ 1.51201393e-05 9.99999818e-01 -6.03719049e-04 -1.26076083e-01] [ 1.60099929e-03 6.03694068e-04 9.99998536e-01 6.92194216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822557844 meters 0.29313299531444686 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999872 0.00120853 0.00104479 0.8280972 ] [-0.00120692 0.99999809 -0.00153708 -0.12407495] [-0.00104664 0.00153582 0.99999827 0.69051696] [ 0. 0. 0. 1. ]] SLAMing on 131.882557844 meters 0.2918107191869555 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999863 0.00121579 0.00112474 0.8278451 ] [-0.00121408 0.99999811 -0.00152105 -0.12412171] [-0.00112658 0.00151968 0.99999821 0.69062886] [ 0. 0. 0. 1. ]] SLAMing on 131.942557844 meters 0.290951175328064 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999782 0.00120938 0.00169932 0.82617926] [-0.0012065 0.99999783 -0.00169659 -0.12317483] [-0.00170137 0.00169454 0.99999712 0.69135715] [ 0. 0. 0. 1. ]] SLAMing on 132.002557844 meters 0.29083145662317117 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999806 0.00113376 0.00160792 0.82629866] [-0.00113072 0.99999758 -0.00188875 -0.12237157] [-0.00161006 0.00188693 0.99999692 0.69160097] [ 0. 0. 0. 1. ]] SLAMing on 132.062557844 meters 0.29162818592669204 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:0.69 [[ 9.99993658e-01 -3.52993557e-03 4.73746509e-04 8.51307510e-01] [ 3.52911592e-03 9.99992293e-01 1.71998173e-03 -1.18986694e-01] [-4.79814283e-04 -1.71829891e-03 9.99998409e-01 6.90085878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122557844 meters 0.2916603728883735 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:0.69 [[ 9.99993315e-01 -3.63736036e-03 3.74495851e-04 8.51541576e-01] [ 3.63681798e-03 9.99992351e-01 1.43893527e-03 -1.17823513e-01] [-3.79726913e-04 -1.43756367e-03 9.99998895e-01 6.90122718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182557844 meters 0.2913450212154687 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 9.99992500e-01 3.61575395e-03 -1.38814790e-03 8.32684138e-01] [-3.61572848e-03 9.99993463e-01 2.08546067e-05 -1.21173512e-01] [ 1.38821423e-03 -1.58352844e-05 9.99999036e-01 6.89021931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242557844 meters 0.29173911704202776 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.9999943 0.00315398 -0.00120738 0.83286157] [-0.00315541 0.99999432 -0.0011828 -0.11591669] [ 0.00120364 0.00118661 0.99999857 0.68787314] [ 0. 0. 0. 1. ]] SLAMing on 132.30255784399998 meters 0.2918438982189065 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999448 0.00307841 -0.00124988 0.83285277] [-0.00308015 0.99999429 -0.00139001 -0.11503523] [ 0.00124559 0.00139386 0.99999825 0.68814666] [ 0. 0. 0. 1. ]] SLAMing on 132.36255784399998 meters 0.29241997280375615 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.12, Z:0.69 [[ 0.99999389 0.00308228 -0.00164859 0.83378917] [-0.00308449 0.99999435 -0.00133898 -0.11525834] [ 0.00164446 0.00134406 0.99999774 0.68828578] [ 0. 0. 0. 1. ]] SLAMing on 132.42255784399998 meters 0.2924549898469734 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 9.99985426e-01 -5.33576585e-03 8.23224269e-04 8.53519429e-01] [ 5.33629100e-03 9.99985559e-01 -6.37040180e-04 -1.14657258e-01] [-8.19813284e-04 6.41423860e-04 9.99999458e-01 6.88711311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48255784399998 meters 0.2935046427806533 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:0.69 [[ 9.99986329e-01 -5.16011635e-03 8.45071130e-04 8.53145632e-01] [ 5.16018889e-03 9.99986683e-01 -8.36743906e-05 -1.16797915e-01] [-8.44628106e-04 8.80339734e-05 9.99999639e-01 6.89521748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542557844 meters 0.29145248760645937 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.12, Z:0.69 [[ 9.99995495e-01 2.41411984e-03 -1.78359903e-03 8.35247623e-01] [-2.41468081e-03 9.99997036e-01 -3.12429786e-04 -1.24918314e-01] [ 1.78283950e-03 3.16735201e-04 9.99998361e-01 6.88336600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602557844 meters 0.29146674302814424 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.69 [[ 9.99994883e-01 2.59822452e-03 -1.86614088e-03 8.35413453e-01] [-2.59784632e-03 9.99996605e-01 2.05059859e-04 -1.27027602e-01] [ 1.86666734e-03 -2.00210863e-04 9.99998238e-01 6.88451375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662557844 meters 0.2903427337731844 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99999443e-01 6.97801226e-04 -7.91805138e-04 8.29908936e-01] [-6.99146299e-04 9.99998311e-01 -1.69973922e-03 -1.25314197e-01] [ 7.90617720e-04 1.70029186e-03 9.99998242e-01 6.92439686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722557844 meters 0.28990962685791816 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99999405e-01 8.77841367e-04 -6.47875817e-04 8.29210539e-01] [-8.78624586e-04 9.99998882e-01 -1.20960990e-03 -1.27268898e-01] [ 6.46813247e-04 1.21017842e-03 9.99999059e-01 6.93329275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782557844 meters 0.2911007803546385 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:0.69 [[ 0.9999908 -0.00348953 0.00249506 0.85324811] [ 0.00348418 0.99999163 0.00214483 -0.13059112] [-0.00250252 -0.00213612 0.99999459 0.69035892] [ 0. 0. 0. 1. ]] SLAMing on 132.842557844 meters 0.29150993867264174 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:0.69 [[ 0.99999112 -0.00348045 0.00237611 0.85368662] [ 0.00347527 0.99999158 0.00218089 -0.13077894] [-0.00238368 -0.00217261 0.9999948 0.68998937] [ 0. 0. 0. 1. ]] SLAMing on 132.902557844 meters 0.2907354189303628 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99992517e-01 3.59553345e-03 1.42746086e-03 8.34849893e-01] [-3.59649082e-03 9.99993309e-01 6.68684043e-04 -1.34918763e-01] [-1.42504703e-03 -6.73812889e-04 9.99998758e-01 6.88273865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962557844 meters 0.29062585890908976 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99992500e-01 3.56438683e-03 1.51471786e-03 8.34373392e-01] [-3.56525945e-03 9.99993480e-01 5.73788313e-04 -1.34435730e-01] [-1.51266278e-03 -5.79184372e-04 9.99998688e-01 6.88932698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02255784399998 meters 0.29109138977985366 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:0.69 [[ 0.99999073 -0.0037685 0.00208296 0.85363195] [ 0.00376533 0.99999175 0.00152348 -0.12762859] [-0.00208868 -0.00151562 0.99999667 0.68997302] [ 0. 0. 0. 1. ]] SLAMing on 133.08255784399998 meters 0.2904771465619228 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:0.69 [[ 0.99999051 -0.00381569 0.00210271 0.85343865] [ 0.00381277 0.99999176 0.00139231 -0.12705335] [-0.00210801 -0.00138428 0.99999682 0.69030313] [ 0. 0. 0. 1. ]] SLAMing on 133.14255784399998 meters 0.2913467807182291 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:0.69 [[ 0.99999072 -0.00384663 0.00193786 0.85389248] [ 0.00384409 0.99999175 0.00131305 -0.1267594 ] [-0.0019429 -0.00130559 0.99999726 0.69019624] [ 0. 0. 0. 1. ]] SLAMing on 133.20255784399998 meters 0.29022791245827984 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99998557e-01 4.09496581e-04 -1.64867825e-03 8.32719587e-01] [-4.13063890e-04 9.99997573e-01 -2.16398019e-03 -1.26736102e-01] [ 1.64778811e-03 2.16465808e-03 9.99996300e-01 6.90982048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26255784399999 meters 0.29058982876795125 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.13, Z:0.69 [[ 9.99998500e-01 4.47094806e-04 -1.67359451e-03 8.32817545e-01] [-4.50538530e-04 9.99997781e-01 -2.05786992e-03 -1.27179963e-01] [ 1.67267074e-03 2.05862086e-03 9.99996482e-01 6.90899401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322557844 meters 0.2917436678002958 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.69 [[ 9.99992042e-01 -3.97272019e-03 3.64700828e-04 8.56319726e-01] [ 3.97214753e-03 9.99990898e-01 1.55772932e-03 -1.27219144e-01] [-3.70885931e-04 -1.55626828e-03 9.99998720e-01 6.89360983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382557844 meters 0.2917793511131996 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.69 [[ 9.99991527e-01 -4.07570774e-03 5.78270445e-04 8.55896510e-01] [ 4.07501236e-03 9.99990979e-01 1.19862900e-03 -1.25821771e-01] [-5.83150490e-04 -1.19626239e-03 9.99999114e-01 6.89046144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442557844 meters 0.29268655967951307 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.69 [[ 9.99980808e-01 5.59161286e-03 2.66796356e-03 8.74830374e-01] [-5.59151162e-03 9.99984366e-01 -4.54050275e-05 -1.24127291e-01] [-2.66817574e-03 3.04862068e-05 9.99996440e-01 6.89327039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502557844 meters 0.29221653730368585 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.69 [[ 9.99981696e-01 5.36672053e-03 2.79407880e-03 8.74504300e-01] [-5.36482015e-03 9.99985373e-01 -6.87199513e-04 -1.21484410e-01] [-2.79772594e-03 6.72197204e-04 9.99995860e-01 6.89313323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562557844 meters 0.2922761217842623 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.69 [[ 0.99998319 0.00506836 0.00281642 0.87450878] [-0.00506408 0.99998602 -0.00152352 -0.1180916 ] [-0.0028241 0.00150924 0.99999487 0.68916156] [ 0. 0. 0. 1. ]] SLAMing on 133.622557844 meters 0.2923437171028479 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.11, Z:0.69 [[ 0.99998568 0.00462016 0.00269998 0.87510011] [-0.00461261 0.99998545 -0.00279696 -0.11298418] [-0.00271286 0.00278447 0.99999244 0.68858725] [ 0. 0. 0. 1. ]] SLAMing on 133.682557844 meters 0.29093321182338655 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 0.99997756 -0.00617504 0.00259673 0.85282409] [ 0.00618449 0.99997422 -0.00364774 -0.10602309] [-0.00257414 0.00366372 0.99998998 0.68981926] [ 0. 0. 0. 1. ]] SLAMing on 133.742557844 meters 0.2912252057208394 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 9.99995439e-01 -1.83877048e-03 2.39598068e-03 8.53425048e-01] [ 1.83706016e-03 9.99998056e-01 7.15833635e-04 -1.06281779e-01] [-2.39729228e-03 -7.11428809e-04 9.99996873e-01 6.89554734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80255784399998 meters 0.29213356234679266 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:0.69 [[ 0.99996337 0.00614899 0.00595411 0.87195465] [-0.0061406 0.99998013 -0.00142658 -0.10508841] [-0.00596276 0.00138997 0.99998126 0.68957897] [ 0. 0. 0. 1. ]] SLAMing on 133.86255784399998 meters 0.2918215143246632 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.69 [[ 0.99996216 0.00608804 0.00621422 0.87095727] [-0.00607805 0.99998021 -0.00162458 -0.10404085] [-0.00622399 0.00158675 0.99997937 0.69046326] [ 0. 0. 0. 1. ]] SLAMing on 133.92255784399998 meters 0.2918656521122335 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.69 [[ 0.99996267 0.00604913 0.00616931 0.87123478] [-0.00603857 0.99998027 -0.00172846 -0.10364878] [-0.00617964 0.00169114 0.99997948 0.69006879] [ 0. 0. 0. 1. ]] SLAMing on 133.98255784399998 meters 0.29181677051081784 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99992773e-01 -2.54404687e-03 2.82520558e-03 8.54421131e-01] [ 2.54474393e-03 9.99996733e-01 -2.43162951e-04 -1.01213999e-01] [-2.82457773e-03 2.50350619e-04 9.99995980e-01 6.88453512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042557844 meters 0.2926669308676455 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.69 [[ 9.99993513e-01 -2.54595783e-03 2.54811144e-03 8.55074019e-01] [ 2.54657476e-03 9.99996729e-01 -2.38898547e-04 -1.01252290e-01] [-2.54749488e-03 2.45385953e-04 9.99996725e-01 6.88589451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102557844 meters 0.29259993995715305 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99993381e-01 -2.54239693e-03 2.60290567e-03 8.54786189e-01] [ 2.54300885e-03 9.99996740e-01 -2.31810781e-04 -1.01255608e-01] [-2.60230783e-03 2.38428459e-04 9.99996586e-01 6.88929856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162557844 meters 0.2915125331683272 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99992801e-01 -2.61595433e-03 2.74845166e-03 8.54270947e-01] [ 2.61714041e-03 9.99996484e-01 -4.28034153e-04 -1.00395057e-01] [-2.74732228e-03 4.35224155e-04 9.99996131e-01 6.89221187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222557844 meters 0.2925441638444226 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99992894e-01 -2.60500315e-03 2.72512237e-03 8.54406732e-01] [ 2.60609777e-03 9.99996525e-01 -3.98200718e-04 -1.00536495e-01] [-2.72407559e-03 4.05299824e-04 9.99996208e-01 6.89044602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282557844 meters 0.2917643841663157 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99993558e-01 -2.50542902e-03 2.57032965e-03 8.54640078e-01] [ 2.50567158e-03 9.99996857e-01 -9.11557754e-05 -1.01742215e-01] [-2.57009319e-03 9.75955902e-05 9.99996693e-01 6.89449288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters 0.29171626894408753 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.69 [[ 9.99994661e-01 -2.37058739e-03 2.24903987e-03 8.55522302e-01] [ 2.36973214e-03 9.99997119e-01 3.82860999e-04 -1.03660939e-01] [-2.24994100e-03 -3.77529333e-04 9.99997398e-01 6.89186034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402557844 meters 0.2910535173113426 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 9.99994518e-01 -2.20871499e-03 2.46696218e-03 8.54697887e-01] [ 2.20663064e-03 9.99997206e-01 8.47307404e-04 -1.05545955e-01] [-2.46882675e-03 -8.41859084e-04 9.99996598e-01 6.89953250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462557844 meters 0.2916704744368142 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 0.99999453 -0.00205676 0.00259163 0.85420417] [ 0.00205354 0.99999711 0.0012476 -0.10718452] [-0.00259419 -0.00124228 0.99999586 0.69039085] [ 0. 0. 0. 1. ]] SLAMing on 134.52255784399998 meters 0.29134181560923345 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 0.99999487 -0.00192609 0.00255891 0.85444198] [ 0.00192198 0.99999686 0.00160665 -0.10867941] [-0.002562 -0.00160172 0.99999544 0.6900527 ] [ 0. 0. 0. 1. ]] SLAMing on 134.58255784399998 meters 0.29127727397360054 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 0.99999518 -0.00194507 0.00242098 0.8548091 ] [ 0.0019413 0.9999969 0.00155941 -0.10850033] [-0.002424 -0.0015547 0.99999585 0.68999019] [ 0. 0. 0. 1. ]] SLAMing on 134.64255784399998 meters 0.29153267930012394 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:0.69 [[ 0.99999486 -0.00201864 0.00249143 0.85463271] [ 0.00201531 0.99999707 0.00134002 -0.10761355] [-0.00249413 -0.00133499 0.999996 0.68996969] [ 0. 0. 0. 1. ]] SLAMing on 134.70255784399998 meters 0.2922750578235253 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:0.69 [[ 9.99994043e-01 -2.27118079e-03 2.59902881e-03 8.54835443e-01] [ 2.26959455e-03 9.99997237e-01 6.13106352e-04 -1.04766032e-01] [-2.60041411e-03 -6.07203958e-04 9.99996435e-01 6.88848464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76255784399999 meters 0.294149384348263 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.69 [[ 9.99993407e-01 -2.68401446e-03 2.44585772e-03 8.55589027e-01] [ 2.68526946e-03 9.99996265e-01 -5.09970545e-04 -1.00152354e-01] [-2.44447982e-03 5.16534970e-04 9.99996879e-01 6.87915260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822557844 meters 0.293967669402266 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.69 [[ 9.99992820e-01 -2.86369201e-03 2.48172205e-03 8.55406720e-01] [ 2.86607417e-03 9.99995435e-01 -9.56856980e-04 -9.82996566e-02] [-2.47897058e-03 9.63962910e-04 9.99996463e-01 6.88079711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882557844 meters 0.2926028674399482 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:0.69 [[ 9.99988032e-01 4.89191378e-03 6.90438878e-05 8.36195365e-01] [-4.89175760e-03 9.99985819e-01 -2.10523337e-03 -9.92136414e-02] [-7.93415288e-05 2.10487043e-03 9.99997782e-01 6.87560404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942557844 meters 0.29135167855707883 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:0.69 [[ 9.99992437e-01 -3.88466632e-03 1.87613922e-04 8.16246666e-01] [ 3.88482748e-03 9.99992079e-01 -8.66395747e-04 -9.25861932e-02] [-1.84246777e-04 8.67118043e-04 9.99999607e-01 6.85573317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002557844 meters 0.29100695514110825 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:0.69 [[ 9.99999966e-01 4.79592836e-05 2.55204061e-04 8.15746499e-01] [-4.85181860e-05 9.99997600e-01 2.19046602e-03 -8.79894898e-02] [-2.55098395e-04 -2.19047833e-03 9.99997568e-01 6.86200435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062557844 meters 0.29179080499256294 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:0.69 [[ 9.99999927e-01 -7.74729549e-05 3.73114684e-04 8.15400246e-01] [ 7.67896528e-05 9.99998321e-01 1.83101215e-03 -8.65474847e-02] [-3.73255912e-04 -1.83098337e-03 9.99998254e-01 6.86316341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122557844 meters 0.2924217276141433 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.09, Z:0.68 [[ 0.99997683 -0.0059908 0.00323329 0.83765223] [ 0.00597593 0.99997161 0.00458944 -0.08815856] [-0.00326069 -0.00457001 0.99998424 0.68494009] [ 0. 0. 0. 1. ]] SLAMing on 135.182557844 meters 0.29026500579032993 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.10, Z:0.69 [[ 9.99988061e-01 -7.08374546e-04 4.83493920e-03 8.13765280e-01] [ 6.99300377e-04 9.99997992e-01 1.87822327e-03 -9.71008794e-02] [-4.83625998e-03 -1.87481977e-03 9.99986548e-01 6.86693842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242557844 meters 0.291836701295317 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:0.69 [[ 9.99997559e-01 3.47221478e-04 2.18202175e-03 8.57128629e-01] [-3.50018566e-04 9.99999117e-01 1.28162781e-03 -9.77772287e-02] [-2.18157482e-03 -1.28238843e-03 9.99996798e-01 6.87343305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30255784399998 meters 0.2907781303428975 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.10, Z:0.69 [[ 9.99981871e-01 6.00045732e-03 -5.01619029e-04 8.34392398e-01] [-6.00119337e-03 9.99980899e-01 -1.47894388e-03 -9.73164893e-02] [ 4.92735108e-04 1.48192739e-03 9.99998781e-01 6.89690722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36255784399998 meters 0.29124448548664883 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.09, Z:0.69 [[ 9.99996987e-01 -2.04627881e-03 1.35617477e-03 8.53212807e-01] [ 2.04734813e-03 9.99997594e-01 -7.87567183e-04 -9.32921876e-02] [-1.35455992e-03 7.90341371e-04 9.99998770e-01 6.91002680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42255784399998 meters 0.2915185414413546 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.09, Z:0.69 [[ 9.99997285e-01 -1.96684952e-03 1.24945881e-03 8.53547331e-01] [ 1.96753594e-03 9.99997914e-01 -5.48381608e-04 -9.42529947e-02] [-1.24837762e-03 5.50838475e-04 9.99999069e-01 6.90816138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48255784399998 meters 0.2921839306490381 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.09, Z:0.69 [[ 0.99997987 0.00523378 0.00358641 0.87553103] [-0.0052219 0.99998088 -0.00331378 -0.09490149] [-0.00360369 0.00329499 0.99998808 0.68871962] [ 0. 0. 0. 1. ]] SLAMing on 135.542557844 meters 0.2913992952207791 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:0.69 [[ 0.99997915 0.00535358 0.00361036 0.87516732] [-0.0053428 0.99998125 -0.00299098 -0.09617835] [-0.0036263 0.00297163 0.99998901 0.68943239] [ 0. 0. 0. 1. ]] SLAMing on 135.602557844 meters 0.29194890468276485 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.69 [[ 0.99997867 0.00535033 0.00374585 0.87467653] [-0.00533908 0.99998123 -0.00300708 -0.09606786] [-0.00376187 0.00298702 0.99998846 0.6897866 ] [ 0. 0. 0. 1. ]] SLAMing on 135.662557844 meters 0.2910400226843476 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:0.69 [[ 0.9999784 0.00529282 0.00389588 0.87426325] [-0.00528044 0.999981 -0.00318167 -0.09534473] [-0.00391264 0.00316103 0.99998735 0.68987306] [ 0. 0. 0. 1. ]] SLAMing on 135.722557844 meters 0.29335837173495727 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.69 [[ 9.99999390e-01 -8.26753313e-04 7.33070748e-04 9.00037047e-01] [ 8.27778851e-04 9.99998678e-01 -1.39976337e-03 -8.91867812e-02] [-7.31912520e-04 1.40036934e-03 9.99998752e-01 6.88744579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782557844 meters 0.2925953864414131 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.69 [[ 9.99999273e-01 -9.97393271e-04 6.76935569e-04 9.00358002e-01] [ 9.98642234e-04 9.99997795e-01 -1.84720137e-03 -8.73644857e-02] [-6.75091691e-04 1.84787604e-03 9.99998065e-01 6.88367565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842557844 meters 0.29294429467445005 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:0.69 [[ 9.99999237e-01 -1.11649211e-03 5.28793299e-04 9.00816350e-01] [ 1.11763058e-03 9.99997048e-01 -2.15757810e-03 -8.60975623e-02] [-5.26382819e-04 2.15816744e-03 9.99997533e-01 6.88182773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902557844 meters 0.29166357716024216 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.69 [[ 0.99999251 0.00359486 -0.00143308 0.87672334] [-0.0036031 0.99997674 -0.00579076 -0.08437797] [ 0.00141223 0.00579588 0.99998221 0.69048754] [ 0. 0. 0. 1. ]] SLAMing on 135.962557844 meters 0.2926198716810211 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.69 [[ 0.9999928 0.00355138 -0.0013388 0.87652867] [-0.00355924 0.99997615 -0.00591835 -0.08386451] [ 0.00131775 0.00592307 0.99998159 0.69038375] [ 0. 0. 0. 1. ]] SLAMing on 136.02255784399998 meters 0.2915392757151797 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.69 [[ 0.99999305 0.00350053 -0.00128175 0.87639624] [-0.00350824 0.99997546 -0.00606346 -0.08327367] [ 0.00126049 0.00606791 0.9999808 0.69034941] [ 0. 0. 0. 1. ]] SLAMing on 136.08255784399998 meters 0.2913479396559411 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.69 [[ 9.99993454e-01 3.50854910e-03 -8.84631112e-04 8.75341332e-01] [-3.51390104e-03 9.99975082e-01 -6.12273134e-03 -8.29260001e-02] [ 8.63127165e-04 6.12579976e-03 9.99980865e-01 6.90619674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14255784399998 meters 0.29294689157519604 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.69 [[ 9.99998374e-01 -1.76070042e-03 -3.89508578e-04 8.99827156e-01] [ 1.75942166e-03 9.99993141e-01 -3.25934590e-03 -7.88414795e-02] [ 3.95244638e-04 3.25865529e-03 9.99994612e-01 6.88835224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20255784399998 meters 0.29357012992953396 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.69 [[ 9.99998332e-01 -1.80989404e-03 -2.44533146e-04 8.99554241e-01] [ 1.80904372e-03 9.99992468e-01 -3.43391222e-03 -7.81759598e-02] [ 2.50746321e-04 3.43346412e-03 9.99994074e-01 6.88604656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26255784399999 meters 0.29248753272582995 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.69 [[ 9.99998132e-01 -1.93028991e-03 1.03238076e-04 8.98708675e-01] [ 1.93067546e-03 9.99990629e-01 -3.87490264e-03 -7.64324707e-02] [-9.57574226e-05 3.87509472e-03 9.99992487e-01 6.88551491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322557844 meters 0.29293000821298354 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.69 [[ 9.99997765e-01 -2.09863689e-03 2.55590703e-04 8.98274200e-01] [ 2.09973376e-03 9.99988249e-01 -4.36965369e-03 -7.44109969e-02] [-2.46417383e-04 4.37018060e-03 9.99990420e-01 6.88639037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382557844 meters 0.29165163566941904 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.69 [[ 9.99997472e-01 -2.19956193e-03 4.67284654e-04 8.97355304e-01] [ 2.20170587e-03 9.99986820e-01 -4.63821744e-03 -7.32014815e-02] [-4.57076448e-04 4.63923454e-03 9.99989134e-01 6.89561571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442557844 meters 0.2918941669072776 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:0.69 [[ 9.99997401e-01 -2.26102315e-03 2.91780917e-04 8.98015611e-01] [ 2.26239999e-03 9.99985882e-01 -4.80797552e-03 -7.25972514e-02] [-2.80905854e-04 4.80862315e-03 9.99988399e-01 6.88973719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502557844 meters 0.2935189400810921 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.06, Z:0.69 [[ 0.99999521 0.00189637 -0.00244491 0.94077475] [-0.00190601 0.99999039 -0.00394701 -0.06266085] [ 0.0024374 0.00395165 0.99998922 0.68978591] [ 0. 0. 0. 1. ]] SLAMing on 136.562557844 meters 0.29288280155795965 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.69 [[ 0.99997584 -0.00452017 -0.00528019 0.9188402 ] [ 0.00451375 0.99998906 -0.00122887 -0.05984277] [ 0.00528569 0.001205 0.9999853 0.69149345] [ 0. 0. 0. 1. ]] SLAMing on 136.622557844 meters 0.29305248689850527 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.69 [[ 0.99997577 -0.00489474 -0.00494895 0.91804244] [ 0.00488423 0.9999858 -0.00213263 -0.05614619] [ 0.00495932 0.0021084 0.99998548 0.69124502] [ 0. 0. 0. 1. ]] SLAMing on 136.682557844 meters 0.2930727909513588 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:0.69 [[ 0.99997572 -0.00498083 -0.00487298 0.91777988] [ 0.00496936 0.99998486 -0.00236415 -0.05519961] [ 0.00488468 0.00233987 0.99998533 0.69137679] [ 0. 0. 0. 1. ]] SLAMing on 136.742557844 meters 0.292038550804942 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.69 [[ 0.99997904 0.00379759 -0.00524458 0.89788711] [-0.00381246 0.99998873 -0.00282791 -0.05868094] [ 0.00523378 0.00284784 0.99998225 0.690451 ] [ 0. 0. 0. 1. ]] SLAMing on 136.80255784399998 meters 0.29127522535161005 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:0.69 [[ 0.99997805 0.00374346 -0.0054668 0.89852375] [-0.00375978 0.9999885 -0.00297764 -0.0581242 ] [ 0.00545559 0.00299812 0.99998062 0.69021506] [ 0. 0. 0. 1. ]] SLAMing on 136.86255784399998 meters 0.2920838399945521 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.69 [[ 0.9999797 -0.00437608 -0.00463044 0.92009779] [ 0.00436382 0.99998696 -0.00265335 -0.05357722] [ 0.004642 0.00263309 0.99998576 0.69098186] [ 0. 0. 0. 1. ]] SLAMing on 136.92255784399998 meters 0.2917177035140779 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.69 [[ 9.99988814e-01 -2.32347157e-04 -4.72421092e-03 9.20549628e-01] [ 2.37414526e-04 9.99999397e-01 1.07210574e-03 -5.11835915e-02] [ 4.72395897e-03 -1.07321534e-03 9.99988266e-01 6.90355401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98255784399998 meters 0.29291950754155266 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.69 [[ 9.99989105e-01 -4.85918532e-04 -4.64268652e-03 9.20407325e-01] [ 4.87824532e-04 9.99999797e-01 4.09414564e-04 -4.84635082e-02] [ 4.64248664e-03 -4.11674919e-04 9.99989139e-01 6.90178887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042557844 meters 0.2919220107605194 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.69 [[ 9.99989772e-01 -8.23914774e-04 -4.44709484e-03 9.19353851e-01] [ 8.21763708e-04 9.99999544e-01 -4.85506872e-04 -4.42487325e-02] [ 4.44749283e-03 4.81847445e-04 9.99989994e-01 6.91279552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102557844 meters 0.2898865563815888 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.69 [[ 9.99991846e-01 -2.18306439e-03 -3.39746241e-03 8.80429529e-01] [ 2.18069811e-03 9.99997377e-01 -7.00033883e-04 -4.45262848e-02] [ 3.39898172e-03 6.92619335e-04 9.99993984e-01 6.87813216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters 0.29097345147872467 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.69 [[ 0.99998796 0.00449413 -0.00196866 0.90377646] [-0.00450227 0.99998124 -0.00415299 -0.04247615] [ 0.00194996 0.0041618 0.99998944 0.68569937] [ 0. 0. 0. 1. ]] SLAMing on 137.222557844 meters 0.2900937451630068 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:0.69 [[ 0.99999466 -0.00282853 -0.00163832 0.87969667] [ 0.00282634 0.99999512 -0.00133354 -0.04091902] [ 0.00164209 0.0013289 0.99999777 0.68745352] [ 0. 0. 0. 1. ]] SLAMing on 137.282557844 meters 0.28910632984420664 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.68 [[ 0.99998435 0.00443191 -0.00341563 0.86143935] [-0.00444287 0.99998499 -0.00320589 -0.0431458 ] [ 0.00340137 0.00322102 0.99998903 0.68487672] [ 0. 0. 0. 1. ]] SLAMing on 137.342557844 meters 0.28821480685012335 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.68 [[ 0.99998462 0.00435329 -0.00343692 0.86165049] [-0.00436508 0.99998459 -0.00343062 -0.04225835] [ 0.00342194 0.00344557 0.99998821 0.68448829] [ 0. 0. 0. 1. ]] SLAMing on 137.402557844 meters 0.28999351837843057 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.04, Z:0.68 [[ 9.99997529e-01 -7.63556611e-04 -2.08775125e-03 8.85693902e-01] [ 7.63476925e-04 9.99999708e-01 -3.89648936e-05 -4.11565791e-02] [ 2.08778039e-03 3.73708474e-05 9.99997820e-01 6.82796844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462557844 meters 0.29058300323984537 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.04, Z:0.68 [[ 9.99997339e-01 -6.36326725e-04 -2.21751203e-03 8.86443198e-01] [ 6.36910717e-04 9.99999763e-01 2.62658059e-04 -4.25490542e-02] [ 2.21734437e-03 -2.64069717e-04 9.99997507e-01 6.81983556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52255784399998 meters 0.29014381807377454 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.04, Z:0.68 [[ 9.99997751e-01 -5.67647842e-04 -2.04328883e-03 8.86021404e-01] [ 5.68546398e-04 9.99999742e-01 4.39205482e-04 -4.32702269e-02] [ 2.04303899e-03 -4.40366199e-04 9.99997816e-01 6.81940589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58255784399998 meters 0.2904182393142484 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.04, Z:0.68 [[ 9.99998167e-01 -5.03863357e-04 -1.84724678e-03 8.85573724e-01] [ 5.04972075e-04 9.99999693e-01 5.99783186e-04 -4.39281775e-02] [ 1.84694400e-03 -6.00714894e-04 9.99998114e-01 6.81825352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64255784399998 meters 0.2910616627326524 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.68 [[ 9.99997105e-01 -3.78687473e-04 -2.37644218e-03 8.87170315e-01] [ 3.81135906e-04 9.99999397e-01 1.02992532e-03 -4.59184989e-02] [ 2.37605073e-03 -1.03082808e-03 9.99996646e-01 6.81110163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70255784399998 meters 0.2906758518622427 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:0.68 [[ 0.99997942 0.0042479 -0.00480773 0.86446561] [-0.00426027 0.99998763 -0.00256544 -0.04688035] [ 0.00479677 0.00258587 0.99998515 0.68222288] [ 0. 0. 0. 1. ]] SLAMing on 137.76255784399999 meters 0.290831461467285 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:0.68 [[ 0.99997962 0.00440455 -0.00462056 0.86376253] [-0.00441442 0.99998799 -0.0021277 -0.04866275] [ 0.00461113 0.00214805 0.99998706 0.68283379] [ 0. 0. 0. 1. ]] SLAMing on 137.822557844 meters 0.29163677439207675 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.05, Z:0.68 [[ 0.99999779 -0.00112405 -0.00177439 0.88617919] [ 0.001126 0.99999876 0.00109929 -0.05098654] [ 0.00177315 -0.00110128 0.99999782 0.68088928] [ 0. 0. 0. 1. ]] SLAMing on 137.882557844 meters 0.29082863878402143 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:0.68 [[ 0.99998772 0.00414297 -0.00271804 0.8625094 ] [-0.00414659 0.99999052 -0.00132722 -0.05900023] [ 0.00271251 0.00133847 0.99999543 0.68248503] [ 0. 0. 0. 1. ]] SLAMing on 137.942557844 meters 0.28886164968906364 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:0.68 [[ 9.99976707e-01 -5.77913908e-03 -3.63128857e-03 8.40983047e-01] [ 5.77658617e-03 9.99983061e-01 -7.13126576e-04 -6.00381698e-02] [ 3.63534832e-03 6.92133514e-04 9.99993153e-01 6.82790330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002557844 meters 0.28988551825446895 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:0.68 [[ 0.9999939 0.00300237 -0.00178494 0.8596411 ] [-0.00300516 0.99999426 -0.00156348 -0.06663689] [ 0.00178023 0.00156884 0.99999718 0.68403125] [ 0. 0. 0. 1. ]] SLAMing on 138.062557844 meters 0.2897101557664999 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:0.68 [[ 9.99993092e-01 3.20786280e-03 -1.87776361e-03 8.60033660e-01] [-3.20965702e-03 9.99994395e-01 -9.53277494e-04 -6.91367039e-02] [ 1.87469510e-03 9.59297886e-04 9.99997783e-01 6.83626915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters 0.291604136399507 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:0.68 [[ 0.99999564 -0.00241269 0.0017018 0.88259671] [ 0.00240943 0.99999526 0.0019164 -0.0742172 ] [-0.00170641 -0.00191229 0.99999672 0.68148685] [ 0. 0. 0. 1. ]] SLAMing on 138.182557844 meters 0.2907060255617409 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.68 [[ 0.99999765 0.00185728 -0.00111714 0.86202381] [-0.00185882 0.99999732 -0.00138139 -0.08148391] [ 0.00111457 0.00138347 0.99999842 0.68175412] [ 0. 0. 0. 1. ]] SLAMing on 138.242557844 meters 0.28995650652795135 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:0.68 [[ 9.99996983e-01 2.10629295e-03 -1.26404430e-03 8.62358329e-01] [-2.10695008e-03 9.99997646e-01 -5.18753507e-04 -8.48423052e-02] [ 1.26294867e-03 5.21415220e-04 9.99999067e-01 6.81812145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30255784399998 meters 0.28981133086220556 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 9.99995687e-01 2.64274951e-03 -1.28095939e-03 8.61407357e-01] [-2.64169376e-03 9.99996170e-01 8.25182727e-04 -9.04884185e-02] [ 1.28313524e-03 -8.21795266e-04 9.99998839e-01 6.83549267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36255784399998 meters 0.29021334256509584 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 0.99999495 0.0027506 -0.00159344 0.86238069] [-0.00274881 0.99999559 0.00112345 -0.09172714] [ 0.00159652 -0.00111906 0.9999981 0.68305979] [ 0. 0. 0. 1. ]] SLAMing on 138.42255784399998 meters 0.2900462991601243 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 0.99999379 0.00280447 -0.00213418 0.86402799] [-0.00280168 0.99999522 0.0013098 -0.09249119] [ 0.00213784 -0.00130381 0.99999686 0.68200708] [ 0. 0. 0. 1. ]] SLAMing on 138.48255784399998 meters 0.2892926076969798 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.09, Z:0.68 [[ 0.99997573 -0.0065823 -0.00228449 0.84367026] [ 0.00658818 0.99997498 0.00257469 -0.08879071] [ 0.00226749 -0.00258968 0.99999408 0.68169686] [ 0. 0. 0. 1. ]] SLAMing on 138.542557844 meters 0.289988413753421 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 9.99996705e-01 2.55673130e-03 -2.31798422e-04 8.62198265e-01] [-2.55644802e-03 9.99995995e-01 1.21423955e-03 -8.96250787e-02] [ 2.34901978e-04 -1.21364297e-03 9.99999236e-01 6.82881373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602557844 meters 0.29046261626468417 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 9.99996871e-01 2.49573717e-03 1.69961801e-04 8.61152252e-01] [-2.49590186e-03 9.99996409e-01 9.75762219e-04 -8.86213113e-02] [-1.67525945e-04 -9.76183374e-04 9.99999510e-01 6.83070104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662557844 meters 0.290982630261174 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.68 [[ 0.99999101 -0.00378028 0.00192191 0.88273389] [ 0.00377442 0.99998825 0.00304347 -0.08464131] [-0.00193339 -0.00303619 0.99999352 0.68208907] [ 0. 0. 0. 1. ]] SLAMing on 138.722557844 meters 0.2908753331090319 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:0.68 [[ 0.9999907 -0.0039441 0.00174688 0.88327651] [ 0.00393951 0.99998879 0.00262517 -0.08292652] [-0.00175721 -0.00261826 0.99999503 0.68186696] [ 0. 0. 0. 1. ]] SLAMing on 138.782557844 meters 0.2893742650814273 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:0.68 [[ 0.99998452 0.00458943 0.00314564 0.8614301 ] [-0.00459709 0.99998648 0.00243235 -0.08798891] [-0.00313443 -0.00244677 0.99999209 0.68210517] [ 0. 0. 0. 1. ]] SLAMing on 138.842557844 meters 0.29074873696738723 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.09, Z:0.68 [[ 0.99998297 -0.00415267 0.00409961 0.88388943] [ 0.00414284 0.99998853 0.00240274 -0.08570282] [-0.00410954 -0.00238571 0.99998871 0.68172304] [ 0. 0. 0. 1. ]] SLAMing on 138.902557844 meters 0.29066386133460115 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:0.68 [[ 0.9999923 0.00341342 0.00193687 0.86600716] [-0.00341584 0.99999338 0.00125202 -0.09068653] [-0.00193258 -0.00125863 0.99999734 0.68042474] [ 0. 0. 0. 1. ]] SLAMing on 138.962557844 meters 0.2916009848222008 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.68 [[ 9.99990806e-01 -4.27817866e-03 -2.92921999e-04 8.86570026e-01] [ 4.27873713e-03 9.99988977e-01 1.93321453e-03 -8.60457832e-02] [ 2.84648133e-04 -1.93445009e-03 9.99998088e-01 6.82766176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02255784399998 meters 0.2910197629511386 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:0.68 [[ 9.99990489e-01 -4.35208352e-03 -2.86166168e-04 8.86577147e-01] [ 4.35256338e-03 9.99989086e-01 1.69816730e-03 -8.51209821e-02] [ 2.78772479e-04 -1.69939671e-03 9.99998517e-01 6.82696592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08255784399998 meters 0.2924704771992881 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.68 [[ 9.99989854e-01 -4.48155515e-03 -4.54579320e-04 8.87209715e-01] [ 4.48214865e-03 9.99989093e-01 1.31310698e-03 -8.36332486e-02] [ 4.48689601e-04 -1.31513115e-03 9.99999035e-01 6.82098793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14255784399998 meters 0.2917397138519234 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.68 [[ 9.99989187e-01 -4.64329284e-03 -2.56386763e-04 8.86882795e-01] [ 4.64347516e-03 9.99988963e-01 7.15142291e-04 -8.13714882e-02] [ 2.53063318e-04 -7.16325083e-04 9.99999711e-01 6.81619587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20255784399998 meters 0.29231314745132253 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.68 [[ 9.99988722e-01 -4.74658506e-03 -1.61839565e-04 8.86734916e-01] [ 4.74664915e-03 9.99988655e-01 3.97935657e-04 -8.01139164e-02] [ 1.59948894e-04 -3.98699365e-04 9.99999908e-01 6.81381284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26255784399999 meters 0.2916533681598305 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.68 [[ 9.99988421e-01 -4.81121100e-03 -9.77438292e-05 8.86503458e-01] [ 4.81123227e-03 9.99988402e-01 2.18494911e-04 -7.93632265e-02] [ 9.66914704e-05 -2.18962649e-04 9.99999971e-01 6.81523442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322557844 meters 0.29147092665005236 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:0.68 [[ 9.99988621e-01 -4.77055755e-03 1.81911190e-05 8.85995913e-01] [ 4.77055142e-03 9.99988569e-01 3.23097672e-04 -7.97492917e-02] [-1.97322671e-05 -3.23007214e-04 9.99999948e-01 6.82046109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382557844 meters 0.29190386834559456 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:0.68 [[ 9.99987212e-01 4.35051158e-03 2.57837484e-03 9.03702132e-01] [-4.34909097e-03 9.99990388e-01 -5.56323308e-04 -8.38332250e-02] [-2.58077034e-03 5.45102607e-04 9.99996521e-01 6.83155693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442557844 meters 0.29133671299613617 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.09, Z:0.68 [[ 9.99980797e-01 -6.11575676e-03 1.00145479e-03 8.81689658e-01] [ 6.11602859e-03 9.99981261e-01 -2.68599551e-04 -8.72210540e-02] [-9.99793335e-04 2.74719319e-04 9.99999462e-01 6.84610801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502557844 meters 0.2916818263622831 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.09, Z:0.68 [[ 9.99997129e-01 2.38500153e-03 -2.30274397e-04 9.05977556e-01] [-2.38542744e-03 9.99995411e-01 -1.86737867e-03 -9.17025515e-02] [ 2.25819639e-04 1.86792262e-03 9.99998230e-01 6.83577571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562557844 meters 0.2921350386897947 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:0.69 [[ 9.99986809e-01 -4.76613536e-03 1.91452286e-03 9.24309610e-01] [ 4.76642806e-03 9.99988630e-01 -1.48352539e-04 -8.96237648e-02] [-1.91379402e-03 1.57476018e-04 9.99998156e-01 6.85686452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622557844 meters 0.2910608575581296 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.10, Z:0.69 [[ 9.99995361e-01 3.04001543e-03 1.88808904e-04 9.06049413e-01] [-3.03994069e-03 9.99995301e-01 -3.94869433e-04 -9.92493155e-02] [-1.90008426e-04 3.94293634e-04 9.99999904e-01 6.85593262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters 0.29053011463485195 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:0.69 [[ 0.99997459 -0.00599498 -0.00385747 0.88891267] [ 0.00599957 0.99998131 0.00117847 -0.10608568] [ 0.00385033 -0.00120159 0.99999187 0.68525472] [ 0. 0. 0. 1. ]] SLAMing on 139.74255784399998 meters 0.29302083677378044 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:0.68 [[ 9.99988882e-01 -4.71552972e-03 -9.41021422e-06 9.31149194e-01] [ 4.71553715e-03 9.99988296e-01 1.08267580e-03 -1.10805560e-01] [ 4.30471416e-06 -1.08270814e-03 9.99999414e-01 6.84261997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80255784399998 meters 0.29164923160841744 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 0.99999652 0.0011339 -0.00238073 0.90765218] [-0.00113656 0.99999873 -0.00111642 -0.11355706] [ 0.00237946 0.00111912 0.99999654 0.68697191] [ 0. 0. 0. 1. ]] SLAMing on 139.86255784399998 meters 0.2925202888657053 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99995404e-01 1.20973480e-03 -2.78009837e-03 9.09119936e-01] [-1.21208302e-03 9.99998910e-01 -8.43124544e-04 -1.14787321e-01] [ 2.77907538e-03 8.46490378e-04 9.99995780e-01 6.85474097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92255784399998 meters 0.29263192144526246 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:0.69 [[ 9.99994587e-01 1.35400744e-03 -2.99886928e-03 9.09758216e-01] [-1.35536634e-03 9.99998980e-01 -4.51153986e-04 -1.16399694e-01] [ 2.99825535e-03 4.55216111e-04 9.99995402e-01 6.85250765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98255784399998 meters 0.2933404858341701 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.12, Z:0.69 [[ 9.99994310e-01 1.49671514e-03 -3.02331239e-03 9.09441079e-01] [-1.49691964e-03 9.99998877e-01 -6.53796023e-05 -1.17932028e-01] [ 3.02321114e-03 6.99048860e-05 9.99995428e-01 6.86131292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042557844 meters 0.29117855800212417 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.68 [[ 9.99998189e-01 -1.59972477e-03 -1.03088621e-03 8.67661660e-01] [ 1.59928851e-03 9.99998631e-01 -4.23876934e-04 -1.23519761e-01] [ 1.03156289e-03 4.22227482e-04 9.99999379e-01 6.84963603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102557844 meters 0.2927773664796958 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.69 [[ 9.99998320e-01 -1.57500890e-03 -9.37786213e-04 8.67233546e-01] [ 1.57466828e-03 9.99998694e-01 -3.63838240e-04 -1.23714113e-01] [ 9.38358037e-04 3.62360926e-04 9.99999494e-01 6.85406025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162557844 meters 0.2933425405394286 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:0.69 [[ 9.99998394e-01 -1.55199396e-03 -8.96452323e-04 8.66966182e-01] [ 1.55172119e-03 9.99998750e-01 -3.04888152e-04 -1.23921667e-01] [ 8.96924387e-04 3.03496618e-04 9.99999552e-01 6.85778815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters 0.2922563881176798 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:0.69 [[ 9.99998486e-01 -1.40520681e-03 -1.02643453e-03 8.67346943e-01] [ 1.40532500e-03 9.99999006e-01 1.14435664e-04 -1.25650270e-01] [ 1.02627270e-03 -1.15877965e-04 9.99999467e-01 6.85698295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282557844 meters 0.2913562527935779 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.13, Z:0.69 [[ 0.99998988 0.00315426 -0.00320889 0.84291268] [-0.00316459 0.99998981 -0.00322006 -0.12575724] [ 0.0031987 0.00323018 0.99998967 0.68839771] [ 0. 0. 0. 1. ]] SLAMing on 140.342557844 meters 0.29220744008781885 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.99998542 -0.00483131 -0.00241344 0.86360444] [ 0.00482541 0.99998537 -0.00244478 -0.12287798] [ 0.00242521 0.0024331 0.9999941 0.68876575] [ 0. 0. 0. 1. ]] SLAMing on 140.402557844 meters 0.292872592928107 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.99998501 -0.00488916 -0.00246535 0.86400308] [ 0.00488275 0.9999847 -0.00259963 -0.12228891] [ 0.00247803 0.00258755 0.99999358 0.68813148] [ 0. 0. 0. 1. ]] SLAMing on 140.462557844 meters 0.29417794081636367 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.9999849 -0.00492768 -0.00243165 0.86382049] [ 0.0049211 0.99998423 -0.00270519 -0.1218362 ] [ 0.00244494 0.00269318 0.99999338 0.68834491] [ 0. 0. 0. 1. ]] SLAMing on 140.52255784399998 meters 0.29238871111416503 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.99998537 -0.00487081 -0.00235472 0.86342049] [ 0.0048648 0.99998491 -0.00255251 -0.12242252] [ 0.00236712 0.00254102 0.99999397 0.68884072] [ 0. 0. 0. 1. ]] SLAMing on 140.58255784399998 meters 0.2914904657017276 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.99998579 -0.00477489 -0.0023726 0.86347699] [ 0.00476948 0.99998602 -0.00228353 -0.12351745] [ 0.00238347 0.00227218 0.99999458 0.68882615] [ 0. 0. 0. 1. ]] SLAMing on 140.64255784399998 meters 0.2919208881578058 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.12, Z:0.69 [[ 0.99998566 -0.00467698 -0.00260709 0.86406193] [ 0.00467185 0.99998715 -0.00197014 -0.12479616] [ 0.00261627 0.00195793 0.99999466 0.68883911] [ 0. 0. 0. 1. ]] SLAMing on 140.70255784399998 meters 0.29144797449694626 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.69 [[ 0.9999864 -0.00455196 -0.00254402 0.8634374 ] [ 0.00454784 0.99998834 -0.00162196 -0.12610281] [ 0.00255137 0.00161037 0.99999545 0.69005685] [ 0. 0. 0. 1. ]] SLAMing on 140.76255784399999 meters 0.2921657349546366 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.69 [[ 9.99987012e-01 -4.31853021e-03 -2.70663484e-03 8.63907707e-01] [ 4.31596460e-03 9.99990232e-01 -9.53022771e-04 -1.28843839e-01] [ 2.71072405e-03 9.41328653e-04 9.99995883e-01 6.89980404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822557844 meters 0.2939172970616251 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.69 [[ 9.99987875e-01 -3.94366301e-03 -2.94928660e-03 8.64402629e-01] [ 3.94422549e-03 9.99992204e-01 1.84927421e-04 -1.33380555e-01] [ 2.94853432e-03 -1.96557830e-04 9.99995634e-01 6.90321046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882557844 meters 0.29239294812600264 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:0.69 [[ 0.99999025 -0.00332547 -0.00290488 0.86354694] [ 0.00333181 0.99999207 0.00218004 -0.14092428] [ 0.00289761 -0.0021897 0.9999934 0.69197869] [ 0. 0. 0. 1. ]] SLAMing on 140.942557844 meters 0.29335116471156664 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.14, Z:0.69 [[ 0.99999044 -0.00301281 -0.00317015 0.86434421] [ 0.00302197 0.99999126 0.00288922 -0.14387844] [ 0.00316142 -0.00289877 0.9999908 0.69181964] [ 0. 0. 0. 1. ]] SLAMing on 141.002557844 meters 0.2945672114641466 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.15, Z:0.69 [[ 0.99995588 0.00913702 -0.0021824 0.88625411] [-0.00912689 0.99994773 0.00460734 -0.14756806] [ 0.00222438 -0.00458722 0.999987 0.69030352] [ 0. 0. 0. 1. ]] SLAMing on 141.062557844 meters 0.2960469000861947 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.14, Z:0.69 [[ 9.99998325e-01 -1.76386869e-03 4.89277183e-04 9.03124663e-01] [ 1.76255769e-03 9.99994890e-01 2.66705782e-03 -1.43564754e-01] [-4.93979022e-04 -2.66619097e-03 9.99996324e-01 6.91463577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122557844 meters 0.29471988116533554 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.69 [[ 9.99997181e-01 2.24937773e-03 -7.60185802e-04 8.80562160e-01] [-2.24994066e-03 9.99997195e-01 -7.40484545e-04 -1.51284053e-01] [ 7.58518040e-04 7.42192831e-04 9.99999437e-01 6.92273130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182557844 meters 0.2922854915640822 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.15, Z:0.69 [[ 9.99996816e-01 2.48312134e-03 -4.48761897e-04 8.79666833e-01] [-2.48310291e-03 9.99996916e-01 4.16282606e-05 -1.54262827e-01] [ 4.48863882e-04 -4.05138061e-05 9.99999898e-01 6.92711910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24255784399998 meters 0.29231108669557915 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:0.69 [[ 9.99996151e-01 2.77449052e-03 2.66507140e-05 8.77690005e-01] [-2.77452043e-03 9.99995435e-01 1.19676597e-03 -1.58585412e-01] [-2.33301765e-05 -1.19683530e-03 9.99999284e-01 6.94892041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30255784399998 meters 0.29482084617010584 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.16, Z:0.69 [[ 9.99985405e-01 -5.37153021e-03 -5.80478925e-04 9.01915038e-01] [ 5.37255821e-03 9.99983976e-01 1.78414859e-03 -1.58306662e-01] [ 5.70886015e-04 -1.78724121e-03 9.99998240e-01 6.93865764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36255784399998 meters 0.29296509606575766 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.16, Z:0.70 [[ 0.99999837 -0.00104669 -0.0014715 0.87829263] [ 0.00104452 0.99999836 -0.00147641 -0.16414341] [ 0.00147304 0.00147487 0.99999783 0.69513789] [ 0. 0. 0. 1. ]] SLAMing on 141.42255784399998 meters 0.2939534723597879 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:0.70 [[ 9.99998573e-01 -7.67884049e-04 -1.50473028e-03 8.78281711e-01] [ 7.66694517e-04 9.99999393e-01 -7.90946118e-04 -1.66908377e-01] [ 1.50533672e-03 7.89791321e-04 9.99998555e-01 6.95377873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48255784399998 meters 0.2934991683088255 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:0.70 [[ 9.99998625e-01 -5.34210395e-04 -1.56962590e-03 8.78568666e-01] [ 5.33931005e-04 9.99999842e-01 -1.78411401e-04 -1.69412795e-01] [ 1.56972096e-03 1.77573083e-04 9.99998752e-01 6.95111370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542557844 meters 0.2950103855462449 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:0.70 [[ 9.99998415e-01 -3.98977247e-04 -1.73507972e-03 8.78970950e-01] [ 3.99303842e-04 9.99999903e-01 1.87888339e-04 -1.70923129e-01] [ 1.73500459e-03 -1.88580866e-04 9.99998477e-01 6.95173169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602557844 meters 0.295012971680347 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:0.69 [[ 9.99998111e-01 -1.53542409e-04 -1.93786587e-03 8.79720428e-01] [ 1.55104377e-04 9.99999663e-01 8.05900079e-04 -1.73571941e-01] [ 1.93774147e-03 -8.06199128e-04 9.99997798e-01 6.94652473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662557844 meters 0.29641569881817714 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:0.69 [[ 9.99998011e-01 8.21059707e-05 -1.99286016e-03 8.79884463e-01] [-7.92785787e-05 9.99998990e-01 1.41879840e-03 -1.76105327e-01] [ 1.99297464e-03 -1.41863758e-03 9.99997008e-01 6.94629669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722557844 meters 0.2946447189473866 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:0.69 [[ 9.99997961e-01 1.62818694e-04 -2.01274216e-03 8.79912371e-01] [-1.59534587e-04 9.99998656e-01 1.63171079e-03 -1.76977638e-01] [ 2.01300513e-03 -1.63138637e-03 9.99996643e-01 6.94687558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782557844 meters 0.2956421875982249 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:0.70 [[ 9.99997960e-01 4.06176385e-04 -1.97849851e-03 8.79592896e-01] [-4.01662544e-04 9.99997317e-01 2.28131093e-03 -1.79580747e-01] [ 1.97941982e-03 -2.28051159e-03 9.99995441e-01 6.95243896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842557844 meters 0.294257717587174 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.18, Z:0.70 [[ 9.99998045e-01 5.11843856e-04 -1.90987378e-03 8.79307528e-01] [-5.06933763e-04 9.99996568e-01 2.57049815e-03 -1.80733760e-01] [ 1.91118292e-03 -2.56952494e-03 9.99994872e-01 6.95521255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902557844 meters 0.2955629077418632 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:0.70 [[ 9.99999402e-01 6.70616223e-04 8.64448435e-04 9.20531305e-01] [-6.71130464e-04 9.99999598e-01 5.94725215e-04 -1.80667174e-01] [-8.64049255e-04 -5.95305017e-04 9.99999450e-01 6.95103567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962557844 meters 0.2948748924696117 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.19, Z:0.69 [[ 9.99998222e-01 -1.65386596e-03 9.05870114e-04 8.84474285e-01] [ 1.65218212e-03 9.99996912e-01 1.85641257e-03 -1.88110512e-01] [-9.08937574e-04 -1.85491260e-03 9.99997867e-01 6.91752566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02255784399998 meters 0.295248604707773 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:0.69 [[ 9.99971268e-01 5.44440321e-03 5.27466619e-03 9.01428535e-01] [-5.43912481e-03 9.99984693e-01 -1.01453698e-03 -1.89419256e-01] [-5.28010900e-03 9.85818266e-04 9.99985574e-01 6.92091385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08255784399998 meters 0.295320918447451 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.19, Z:0.69 [[ 9.99975853e-01 -5.09192209e-03 4.72923956e-03 8.81816037e-01] [ 5.09471812e-03 9.99986854e-01 -5.79361140e-04 -1.85440052e-01] [-4.72622733e-03 6.03441293e-04 9.99988649e-01 6.92002901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14255784399998 meters 0.29465044169280363 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.18, Z:0.69 [[ 9.99969307e-01 6.09273417e-03 4.92584931e-03 9.04295433e-01] [-6.08977853e-03 9.99981268e-01 -6.14801696e-04 -1.84803221e-01] [-4.92950286e-03 5.84785494e-04 9.99987679e-01 6.90737468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20255784399998 meters 0.29639823636045487 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.18, Z:0.69 [[ 9.99971230e-01 5.97185499e-03 4.67712651e-03 9.05257387e-01] [-5.96747406e-03 9.99981743e-01 -9.50067850e-04 -1.83580291e-01] [-4.68271479e-03 9.22129885e-04 9.99988611e-01 6.89823288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26255784399999 meters 0.2952910506720818 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.19, Z:0.69 [[ 0.99999755 -0.00175461 0.0013459 0.88556703] [ 0.00175217 0.99999682 0.00181381 -0.18533174] [-0.00134908 -0.00181145 0.99999745 0.69130465] [ 0. 0. 0. 1. ]] SLAMing on 142.322557844 meters 0.2959962174504229 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:0.69 [[ 9.99999381e-01 -8.55234390e-04 7.11073575e-04 9.24495362e-01] [ 8.55102671e-04 9.99999617e-01 1.85523412e-04 -1.84062906e-01] [-7.11231969e-04 -1.84915256e-04 9.99999730e-01 6.93499425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382557844 meters 0.29466310415235136 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.18, Z:0.69 [[ 9.99999484e-01 -7.86999541e-04 6.42292954e-04 9.24746267e-01] [ 7.86755721e-04 9.99999618e-01 3.79773503e-04 -1.84880357e-01] [-6.42591591e-04 -3.79267979e-04 9.99999722e-01 6.93321167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442557844 meters 0.29663887159877644 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.18, Z:0.69 [[ 0.99998395 -0.00532765 0.00192937 0.9476601 ] [ 0.00531959 0.99997719 0.00416194 -0.1841254 ] [-0.00195149 -0.00415161 0.99998948 0.69231733] [ 0. 0. 0. 1. ]] SLAMing on 142.502557844 meters 0.29644836476222575 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.19, Z:0.69 [[ 0.99998449 -0.00515489 0.00210702 0.94687075] [ 0.00514506 0.99997598 0.00464494 -0.18601337] [-0.00213092 -0.00463403 0.99998699 0.69317047] [ 0. 0. 0. 1. ]] SLAMing on 142.562557844 meters 0.29455183515487976 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:0.69 [[ 0.99999333 0.00212699 0.0029676 0.92806455] [-0.00213915 0.9999893 0.00410053 -0.19361606] [-0.00295884 -0.00410685 0.99998719 0.69174861] [ 0. 0. 0. 1. ]] SLAMing on 142.622557844 meters 0.29433510517239064 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 0.99999254 0.00234262 0.00306961 0.92748802] [-0.00235737 0.99998565 0.00481031 -0.19628023] [-0.0030583 -0.00481751 0.99998372 0.69252914] [ 0. 0. 0. 1. ]] SLAMing on 142.682557844 meters 0.2931300636196877 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.20, Z:0.69 [[ 9.99980928e-01 6.12627041e-03 7.83057126e-04 9.04629973e-01] [-6.12747143e-03 9.99980040e-01 1.54067173e-03 -2.01329350e-01] [-7.73602924e-04 -1.54544051e-03 9.99998507e-01 6.94227335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74255784399998 meters 0.2952230407294206 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 0.99999576 -0.00231683 0.0017647 0.92700342] [ 0.00231455 0.99999648 0.00129461 -0.19881498] [-0.0017677 -0.00129052 0.9999976 0.69294333] [ 0. 0. 0. 1. ]] SLAMing on 142.80255784399998 meters 0.2944602139417544 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 0.99999589 -0.00231735 0.0016887 0.92732566] [ 0.00231516 0.99999648 0.00129997 -0.19887111] [-0.00169171 -0.00129605 0.99999773 0.69261097] [ 0. 0. 0. 1. ]] SLAMing on 142.86255784399998 meters 0.2953149604400655 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.20, Z:0.69 [[ 9.99988136e-01 4.74756038e-03 1.08984219e-03 9.07168086e-01] [-4.74783946e-03 9.99988697e-01 2.53629660e-04 -2.02820906e-01] [-1.08862575e-03 -2.58801046e-04 9.99999374e-01 6.91322126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92255784399998 meters 0.2964419931563012 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 9.99994311e-01 -3.11790693e-03 1.28693948e-03 9.29511035e-01] [ 3.11758932e-03 9.99995109e-01 2.48726693e-04 -1.98298032e-01] [-1.28770870e-03 -2.44713130e-04 9.99999141e-01 6.90912353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98255784399998 meters 0.29688634380512985 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 9.99993670e-01 -3.17547297e-03 1.60485185e-03 9.28766942e-01] [ 3.17533231e-03 9.99994955e-01 9.01924467e-05 -1.97626303e-01] [-1.60513016e-03 -8.50959379e-05 9.99998708e-01 6.90767349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042557844 meters 0.2953359111916938 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:0.69 [[ 9.99997981e-01 8.96530624e-04 -1.79848148e-03 9.05296789e-01] [-9.02450459e-04 9.99994169e-01 -3.29346735e-03 -1.93974440e-01] [ 1.79551830e-03 3.29508374e-03 9.99992959e-01 6.93573536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102557844 meters 0.29399001383805745 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:0.69 [[ 9.99998015e-01 7.48953255e-04 -1.84655047e-03 9.05812201e-01] [-7.55685678e-04 9.99993061e-01 -3.64794778e-03 -1.92568504e-01] [ 1.84380552e-03 3.64933595e-03 9.99991641e-01 6.92728501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162557844 meters 0.29410979237706086 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:0.69 [[ 9.99980272e-01 -6.28138534e-03 -2.03217840e-05 9.25130488e-01] [ 6.28131346e-03 9.99977046e-01 -2.54010125e-03 -1.89336075e-01] [ 3.62766723e-05 2.53992349e-03 9.99996774e-01 6.94643475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222557844 meters 0.29399344876949873 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:0.69 [[ 9.99998375e-01 9.86465188e-04 -1.50898601e-03 9.06359897e-01] [-9.91732796e-04 9.99993404e-01 -3.49407044e-03 -1.94032541e-01] [ 1.50552928e-03 3.49556127e-03 9.99992757e-01 6.93579869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282557844 meters 0.2961380111710897 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 9.99993315e-01 -3.10093643e-03 1.93769334e-03 9.28732613e-01] [ 3.10077486e-03 9.99995189e-01 8.63821899e-05 -1.96027516e-01] [-1.93795189e-03 -8.03732616e-05 9.99998119e-01 6.91311376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342557844 meters 0.29544649841745024 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:0.69 [[ 9.99992828e-01 -3.13743974e-03 2.12122891e-03 9.28139218e-01] [ 3.13754686e-03 9.99995077e-01 -4.71725939e-05 -1.95425733e-01] [-2.12107046e-03 5.38277106e-05 9.99997749e-01 6.91644963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters 0.2938003860414583 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:0.69 [[ 9.99992792e-01 -3.32025112e-03 1.84179312e-03 9.28951266e-01] [ 3.32135201e-03 9.99994307e-01 -5.94988041e-04 -1.93312216e-01] [-1.83980712e-03 6.01100995e-04 9.99998127e-01 6.91272691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462557844 meters 0.29544891320811395 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:0.69 [[ 0.99999004 -0.00341833 0.00286912 0.92640059] [ 0.00342228 0.9999932 -0.00137457 -0.18987764] [-0.0028644 0.00138437 0.99999494 0.69160642] [ 0. 0. 0. 1. ]] SLAMing on 143.52255784399998 meters 0.29356243932935877 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.19, Z:0.69 [[ 0.99998913 -0.00363843 0.00291728 0.92633283] [ 0.00364447 0.99999122 -0.00206695 -0.18713615] [-0.00290973 0.00207756 0.99999361 0.69148427] [ 0. 0. 0. 1. ]] SLAMing on 143.58255784399998 meters 0.2939516889341736 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.18, Z:0.69 [[ 9.99996578e-01 2.55198438e-04 2.60371542e-03 9.27282537e-01] [-2.58312429e-04 9.99999252e-01 1.19571364e-03 -1.82737942e-01] [-2.60340833e-03 -1.19638212e-03 9.99995895e-01 6.90727488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64255784399998 meters 0.294426095458146 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.18, Z:0.69 [[ 0.99999341 -0.00124072 0.00341298 0.88832568] [ 0.0012331 0.99999675 0.0022312 -0.18305188] [-0.00341573 -0.00222698 0.99999169 0.68856074] [ 0. 0. 0. 1. ]] SLAMing on 143.70255784399998 meters 0.29428035609464365 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:0.69 [[ 9.99990702e-01 3.88484202e-04 4.29484672e-03 9.22324363e-01] [-3.90185587e-04 9.99999846e-01 3.95314923e-04 -1.72624823e-01] [-4.29469249e-03 -3.96987034e-04 9.99990699e-01 6.92568095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76255784399999 meters 0.2950130510204092 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:0.69 [[ 9.99990671e-01 2.96905294e-04 4.30934819e-03 9.22232196e-01] [-2.97541698e-04 9.99999945e-01 1.47039474e-04 -1.71603170e-01] [-4.30930429e-03 -1.48320313e-04 9.99990704e-01 6.92687796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822557844 meters 0.29376412649174777 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:0.69 [[ 9.99991071e-01 2.41220847e-04 4.21904341e-03 9.22598192e-01] [-2.41217016e-04 9.99999971e-01 -1.41694398e-06 -1.71032204e-01] [-4.21904363e-03 3.99226266e-07 9.99991100e-01 6.92358556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882557844 meters 0.29406753481482095 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:0.69 [[ 9.99991442e-01 -1.94532203e-05 4.13719911e-03 9.23073249e-01] [ 2.23776250e-05 9.99999750e-01 -7.06811063e-04 -1.68185082e-01] [-4.13718432e-03 7.06897595e-04 9.99991192e-01 6.91732339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters 0.29570177163314537 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998243 -0.00428015 0.00410042 0.94692363] [ 0.00426886 0.99998708 0.00275889 -0.16236017] [-0.00411218 -0.00274134 0.99998779 0.69085867] [ 0. 0. 0. 1. ]] SLAMing on 144.002557844 meters 0.2939997470716033 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998174 -0.00437052 0.00417361 0.94624869] [ 0.00436012 0.99998737 0.00249993 -0.16114479] [-0.00418448 -0.00248168 0.99998817 0.69211582] [ 0. 0. 0. 1. ]] SLAMing on 144.062557844 meters 0.2936646554840424 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998163 -0.00443052 0.00413639 0.94641734] [ 0.00442088 0.9999875 0.00233593 -0.16049731] [-0.00414669 -0.00231761 0.99998872 0.69193758] [ 0. 0. 0. 1. ]] SLAMing on 144.122557844 meters 0.29429527005522826 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998131 -0.00452024 0.00411717 0.94663102] [ 0.00451163 0.99998762 0.00209843 -0.15954531] [-0.0041266 -0.00207981 0.99998932 0.69155135] [ 0. 0. 0. 1. ]] SLAMing on 144.182557844 meters 0.2938341847861867 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998187 -0.00450987 0.00398979 0.94679315] [ 0.00450141 0.9999876 0.00212812 -0.15965121] [-0.00399934 -0.00211012 0.99998978 0.69193292] [ 0. 0. 0. 1. ]] SLAMing on 144.24255784399998 meters 0.2949938429775831 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998117 -0.0045707 0.00409398 0.94639815] [ 0.00456275 0.99998769 0.00194932 -0.15887324] [-0.00410284 -0.0019306 0.99998972 0.69224859] [ 0. 0. 0. 1. ]] SLAMing on 144.30255784399998 meters 0.29534179727768417 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:0.69 [[ 0.99998105 -0.00472083 0.00395243 0.94701356] [ 0.00471491 0.99998775 0.00150463 -0.15715578] [-0.00395949 -0.00148596 0.99999106 0.69152878] [ 0. 0. 0. 1. ]] SLAMing on 144.36255784399998 meters 0.2955743009000388 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:0.69 [[ 9.99979530e-01 -5.08050863e-03 3.88934779e-03 9.47496826e-01] [ 5.07916172e-03 9.99987038e-01 3.56104969e-04 -1.52680621e-01] [-3.89110657e-03 -3.36343054e-04 9.99992373e-01 6.90708250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42255784399998 meters 0.29508092099489164 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:0.69 [[ 9.99978339e-01 -5.26494253e-03 3.95000076e-03 9.46990644e-01] [ 5.26535406e-03 9.99986134e-01 -9.37922422e-05 -1.50715117e-01] [-3.94945218e-03 1.14588363e-04 9.99992194e-01 6.91428693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48255784399998 meters 0.2955404651856307 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:0.69 [[ 9.99977189e-01 -5.39926699e-03 4.05828250e-03 9.46564654e-01] [ 5.40104751e-03 9.99985323e-01 -4.27904263e-04 -1.49329647e-01] [-4.05591256e-03 4.49813479e-04 9.99991674e-01 6.91720017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542557844 meters 0.29340760693530915 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:0.69 [[ 9.99998889e-01 -9.71124395e-04 1.13098580e-03 9.24118194e-01] [ 9.75611140e-04 9.99991630e-01 -3.97333816e-03 -1.47767730e-01] [-1.12711773e-03 3.97443715e-03 9.99991467e-01 6.93226704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602557844 meters 0.2941056688644225 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:0.69 [[ 9.99979980e-01 -5.69254688e-03 2.76316661e-03 9.47308248e-01] [ 5.69476829e-03 9.99983467e-01 -7.96735291e-04 -1.44014975e-01] [-2.75858547e-03 8.12454934e-04 9.99995865e-01 6.91694404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662557844 meters 0.2963985497544124 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:0.69 [[ 0.99998366 0.00476753 0.00315295 0.96902325] [-0.00476296 0.9999876 -0.00145578 -0.14273921] [-0.00315985 0.00144074 0.99999397 0.69092999] [ 0. 0. 0. 1. ]] SLAMing on 144.722557844 meters 0.2945409132646443 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.14, Z:0.69 [[ 0.9999953 -0.00272072 0.00141582 0.94729947] [ 0.00271913 0.99999567 0.00112493 -0.1397486 ] [-0.00141888 -0.00112107 0.99999836 0.69240376] [ 0. 0. 0. 1. ]] SLAMing on 144.782557844 meters 0.2958419056696354 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:0.69 [[ 9.99971126e-01 5.64344347e-03 5.08902545e-03 9.65463543e-01] [-5.63837990e-03 9.99983595e-01 -1.00879608e-03 -1.36115138e-01] [-5.09463505e-03 9.80073093e-04 9.99986542e-01 6.92245773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842557844 meters 0.2951461766415492 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:0.69 [[ 0.99997119 0.00550081 0.00522981 0.9650904 ] [-0.00549355 0.99998393 -0.001403 -0.13448166] [-0.00523744 0.00137423 0.99998534 0.69227143] [ 0. 0. 0. 1. ]] SLAMing on 144.902557844 meters 0.29380911124608194 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:0.69 [[ 0.99999328 -0.00189437 0.0031383 0.9433657 ] [ 0.00189073 0.99999754 0.00116084 -0.13175648] [-0.00314049 -0.0011549 0.9999944 0.69417084] [ 0. 0. 0. 1. ]] SLAMing on 144.962557844 meters 0.2954362395478851 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:0.69 [[ 0.99995183 0.00907031 0.00375058 0.96620481] [-0.00907426 0.99995829 0.00103626 -0.12865609] [-0.00374102 -0.00107024 0.99999243 0.69285882] [ 0. 0. 0. 1. ]] SLAMing on 145.02255784399998 meters 0.29612582800402 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:0.69 [[ 9.99993518e-01 -7.04705470e-04 3.53101690e-03 9.47317349e-01] [ 6.99845909e-04 9.99998807e-01 1.37729649e-03 -1.20264312e-01] [-3.53198327e-03 -1.37481639e-03 9.99992817e-01 6.91450668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08255784399998 meters 0.29568036781316404 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:0.69 [[ 9.99993102e-01 -8.33194167e-04 3.61975156e-03 9.47125193e-01] [ 8.29489175e-04 9.99999131e-01 1.02492940e-03 -1.18817475e-01] [-3.62060238e-03 -1.02191979e-03 9.99992923e-01 6.91352934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14255784399998 meters 0.2965008879759978 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:0.69 [[ 9.99991963e-01 -9.74523057e-04 3.88891195e-03 9.46290392e-01] [ 9.72294181e-04 9.99999362e-01 5.74985357e-04 -1.16879659e-01] [-3.88946981e-03 -5.71199569e-04 9.99992273e-01 6.91715857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20255784399998 meters 0.29546029222123876 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:0.69 [[ 9.99989988e-01 -1.24219369e-03 4.29890211e-03 9.45437064e-01] [ 1.24432577e-03 9.99999104e-01 -4.93319037e-04 -1.12784617e-01] [-4.29828546e-03 4.98663332e-04 9.99990638e-01 6.91348884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26255784399999 meters 0.2948323834256732 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:0.69 [[ 0.99998721 0.00277619 0.00422875 0.945814 ] [-0.0027891 0.99999146 0.00305093 -0.10952528] [-0.00422025 -0.00306269 0.9999864 0.69079241] [ 0. 0. 0. 1. ]] SLAMing on 145.322557844 meters 0.2960314986573029 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:0.69 [[ 0.99998873 0.0024601 0.00405961 0.94637434] [-0.00246906 0.99999452 0.0022038 -0.10604262] [-0.00405416 -0.0022138 0.99998933 0.69025349] [ 0. 0. 0. 1. ]] SLAMing on 145.382557844 meters 0.2965046566068587 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:0.69 [[ 0.99998835 0.0024045 0.00418494 0.9458972 ] [-0.00241313 0.99999497 0.0020578 -0.10539778] [-0.00417997 -0.00206788 0.99998913 0.69060514] [ 0. 0. 0. 1. ]] SLAMing on 145.442557844 meters 0.29631498200033063 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 0.99998711 0.00233576 0.00450735 0.94494748] [-0.00234427 0.99999548 0.00188307 -0.10461343] [-0.00450293 -0.00189361 0.99998807 0.69095862] [ 0. 0. 0. 1. ]] SLAMing on 145.502557844 meters 0.2986042712169064 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 0.99998713 0.00223207 0.00455676 0.94479921] [-0.00223928 0.99999625 0.00157621 -0.10337229] [-0.00455323 -0.0015864 0.99998838 0.69102558] [ 0. 0. 0. 1. ]] SLAMing on 145.562557844 meters 0.2969198717746829 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 0.99998738 0.00218582 0.00452408 0.94484194] [-0.00219245 0.99999653 0.00146166 -0.10289281] [-0.00452087 -0.00147156 0.9999887 0.69111747] [ 0. 0. 0. 1. ]] SLAMing on 145.622557844 meters 0.2958997832312869 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99989331e-01 3.78619485e-04 4.60385880e-03 9.07416630e-01] [-3.86977372e-04 9.99998279e-01 1.81465388e-03 -1.05029240e-01] [-4.60316382e-03 -1.81641610e-03 9.99987756e-01 6.88283050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682557844 meters 0.2964662209605805 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99990664e-01 4.42813837e-04 4.29825127e-03 9.08215413e-01] [-4.51786064e-04 9.99997721e-01 2.08666690e-03 -1.06123427e-01] [-4.29731747e-03 -2.08858931e-03 9.99988585e-01 6.88116701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74255784399998 meters 0.29672940937026926 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99990783e-01 5.68809391e-04 4.25569528e-03 9.08187498e-01] [-5.79501884e-04 9.99996678e-01 2.51170268e-03 -1.07764458e-01] [-4.25425247e-03 -2.51414571e-03 9.99987790e-01 6.88478003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80255784399998 meters 0.2960580288027091 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99992692e-01 8.66198939e-04 3.72378784e-03 9.09526291e-01] [-8.79320623e-04 9.99993406e-01 3.52355451e-03 -1.11853685e-01] [-3.72071119e-03 -3.52680316e-03 9.99986859e-01 6.88479978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86255784399998 meters 0.2971695369176895 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99992691e-01 9.28679243e-04 3.70892072e-03 9.09624045e-01] [-9.42374636e-04 9.99992739e-01 3.69251573e-03 -1.12559844e-01] [-3.70546462e-03 -3.69598393e-03 9.99986305e-01 6.88345412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92255784399998 meters 0.29625924227393047 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99992313e-01 9.35506481e-04 3.80768435e-03 9.09550884e-01] [-9.49618446e-04 9.99992682e-01 3.70606135e-03 -1.12652316e-01] [-3.80418944e-03 -3.70964871e-03 9.99985883e-01 6.87934635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98255784399998 meters 0.29693597877097866 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99993047e-01 8.21524454e-04 3.63739311e-03 9.09742317e-01] [-8.33871443e-04 9.99993892e-01 3.39424651e-03 -1.11416008e-01] [-3.63458244e-03 -3.39725603e-03 9.99987624e-01 6.88423529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042557844 meters 0.2955533208992103 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.11, Z:0.69 [[ 9.99992380e-01 7.15179600e-04 3.83787494e-03 9.09284574e-01] [-7.26796894e-04 9.99995156e-01 3.02647166e-03 -1.09955055e-01] [-3.83569188e-03 -3.02923796e-03 9.99988056e-01 6.88312234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102557844 meters 0.29681973958965896 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 0.99998781 0.00206827 0.00448311 0.94465433] [-0.00207719 0.99999587 0.0019861 -0.10392489] [-0.00447898 -0.00199539 0.99998798 0.69250283] [ 0. 0. 0. 1. ]] SLAMing on 146.162557844 meters 0.2968867152360617 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 0.99998737 0.00187589 0.00466319 0.94416605] [-0.00188241 0.99999726 0.00139413 -0.1015142 ] [-0.00466056 -0.00140289 0.99998816 0.69255643] [ 0. 0. 0. 1. ]] SLAMing on 146.222557844 meters 0.2957082660554559 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.69 [[ 9.99987492e-01 1.65397362e-03 4.72020400e-03 9.44184327e-01] [-1.65734099e-03 9.99998375e-01 7.09572335e-04 -9.87923281e-02] [-4.71902272e-03 -7.17386447e-04 9.99988608e-01 6.92129779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282557844 meters 0.29748168539695774 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.9999891 -0.00442768 0.00148337 0.96298209] [ 0.00442501 0.99998859 0.00179838 -0.0897716 ] [-0.00149131 -0.00179179 0.99999728 0.69538513] [ 0. 0. 0. 1. ]] SLAMing on 146.342557844 meters 0.29576611217556337 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:0.70 [[ 9.99998325e-01 9.95357498e-04 -1.53621082e-03 9.40534668e-01] [-9.97106076e-04 9.99998855e-01 -1.13789513e-03 -8.77958714e-02] [ 1.53507645e-03 1.13942499e-03 9.99998173e-01 6.97726863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters 0.2969308062562948 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.99999043 -0.00406869 0.00161076 0.96116132] [ 0.00406524 0.99998944 0.00214335 -0.08680249] [-0.00161946 -0.00213678 0.99999641 0.69720847] [ 0. 0. 0. 1. ]] SLAMing on 146.462557844 meters 0.2955562266703332 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.99999015 -0.00410308 0.00169141 0.96074868] [ 0.0040996 0.99998948 0.00205607 -0.08640733] [-0.00169983 -0.00204912 0.99999646 0.69766048] [ 0. 0. 0. 1. ]] SLAMing on 146.52255784399998 meters 0.29702850120538277 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.99999039 -0.00409728 0.00155857 0.96139024] [ 0.00409404 0.99998946 0.00207678 -0.08655267] [-0.00156706 -0.00207038 0.99999663 0.69687643] [ 0. 0. 0. 1. ]] SLAMing on 146.58255784399998 meters 0.29613038529632707 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.9999905 -0.00410667 0.00146416 0.96184832] [ 0.00410365 0.99998947 0.00205609 -0.08650822] [-0.00147259 -0.00205006 0.99999681 0.696323 ] [ 0. 0. 0. 1. ]] SLAMing on 146.64255784399998 meters 0.29683922688126774 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.99999056 -0.00409265 0.00145782 0.96155843] [ 0.00408959 0.99998945 0.00209394 -0.08661731] [-0.00146637 -0.00208796 0.99999675 0.69704292] [ 0. 0. 0. 1. ]] SLAMing on 146.70255784399998 meters 0.29649900348407465 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:0.70 [[ 0.99999068 -0.00400724 0.00160869 0.96091859] [ 0.00400349 0.99998928 0.00232574 -0.08751798] [-0.00161799 -0.00231928 0.999996 0.69776142] [ 0. 0. 0. 1. ]] SLAMing on 146.76255784399999 meters 0.2960796618664794 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:0.70 [[ 9.99994657e-01 3.26809163e-03 7.49165594e-05 9.43498925e-01] [-3.26817642e-03 9.99993985e-01 1.16112421e-03 -9.46956633e-02] [-7.11214486e-05 -1.16136284e-03 9.99999323e-01 6.95408874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822557844 meters 0.2966684184669441 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:0.69 [[ 9.99994180e-01 3.36453837e-03 -5.64969644e-04 9.45321228e-01] [-3.36361747e-03 9.99993026e-01 1.62312383e-03 -9.68864395e-02] [ 5.70426766e-04 -1.62121404e-03 9.99998523e-01 6.94632494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882557844 meters 0.29613010310356574 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.70 [[ 9.99993381e-01 3.59938350e-03 -5.30908682e-04 9.44938055e-01] [-3.59809747e-03 9.99990638e-01 2.40370723e-03 -9.99117899e-02] [ 5.39555576e-04 -2.40178106e-03 9.99996970e-01 6.95408011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters 0.296057394669854 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:0.70 [[ 9.99999148e-01 1.19326313e-03 5.29041865e-04 9.38849380e-01] [-1.19342648e-03 9.99999240e-01 3.08573084e-04 -1.01936496e-01] [-5.28673254e-04 -3.09204193e-04 9.99999812e-01 7.00126410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002557844 meters 0.29678566169197734 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99997542e-01 2.13700602e-03 -5.91763663e-04 9.78234683e-01] [-2.13756661e-03 9.99997266e-01 -9.48313743e-04 -9.99317802e-02] [ 5.89735493e-04 9.49576345e-04 9.99999375e-01 7.02723680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062557844 meters 0.2970810048026152 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99997733e-01 2.10647067e-03 -3.11456870e-04 9.77436335e-01] [-2.10679866e-03 9.99997223e-01 -1.05653446e-03 -9.94377804e-02] [ 3.09230446e-04 1.05718824e-03 9.99999393e-01 7.02987044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters 0.2952184121362658 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99997899e-01 2.04474902e-03 1.43688030e-04 9.76055942e-01] [-2.04456026e-03 9.99997063e-01 -1.30175818e-03 -9.82398677e-02] [-1.46349376e-04 1.30146167e-03 9.99999142e-01 7.03725842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters 0.2960829448232888 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99998096e-01 1.95144383e-03 4.02063463e-06 9.76719567e-01] [-1.95143523e-03 9.99996889e-01 -1.55396817e-03 -9.72821862e-02] [-7.05310372e-06 1.55395736e-03 9.99998793e-01 7.02893513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24255784399998 meters 0.2960966585393664 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99998225e-01 1.88075048e-03 -1.08824068e-04 9.77066422e-01] [-1.88093607e-03 9.99996733e-01 -1.73119169e-03 -9.65551774e-02] [ 1.05567773e-04 1.73139331e-03 9.99998496e-01 7.02770097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30255784399998 meters 0.29613833720742117 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99998413e-01 1.78105103e-03 -4.92063837e-05 9.76953094e-01] [-1.78114601e-03 9.99996408e-01 -2.00275021e-03 -9.54475057e-02] [ 4.56392066e-05 2.00283468e-03 9.99997993e-01 7.02664394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36255784399998 meters 0.2965046881642722 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 9.99998570e-01 1.67705918e-03 -2.15693914e-04 9.77551955e-01] [-1.67755360e-03 9.99995918e-01 -2.31286733e-03 -9.42195859e-02] [ 2.11814218e-04 2.31322586e-03 9.99997302e-01 7.02123837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42255784399998 meters 0.29833906700150303 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.09, Z:0.70 [[ 9.99994779e-01 -3.18661164e-03 5.36683132e-04 1.00137989e+00] [ 3.18593356e-03 9.99994132e-01 1.25961447e-03 -9.27316858e-02] [-5.40693884e-04 -1.25789805e-03 9.99999063e-01 7.00693162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48255784399998 meters 0.2963336264972778 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99990937e-01 4.16800404e-03 -8.67706113e-04 9.82383962e-01] [-4.16789346e-03 9.99991306e-01 1.29204957e-04 -9.78064889e-02] [ 8.68237096e-04 -1.25587279e-04 9.99999615e-01 6.99196722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542557844 meters 0.2964819137572962 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99991110e-01 4.16880597e-03 -6.33495224e-04 9.81502901e-01] [-4.16873225e-03 9.99991304e-01 1.17641152e-04 -9.76107649e-02] [ 6.33980138e-04 -1.14999235e-04 9.99999792e-01 7.00054886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602557844 meters 0.29731579061625846 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:0.70 [[ 9.99999532e-01 -9.64851236e-04 6.46278263e-05 1.00590813e+00] [ 9.64649368e-04 9.99994871e-01 3.05395631e-03 -9.40615701e-02] [-6.75741084e-05 -3.05389254e-03 9.99995335e-01 6.98067058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662557844 meters 0.2989364811564227 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:0.70 [[ 9.99999275e-01 -1.18606244e-03 -2.07699828e-04 1.00730558e+00] [ 1.18654907e-03 9.99996514e-01 2.35872684e-03 -9.13129952e-02] [ 2.04901507e-04 -2.35897158e-03 9.99997197e-01 6.96131232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters 0.2976979934615815 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.09, Z:0.70 [[ 0.99998756 0.0034949 -0.00355958 0.98580534] [-0.00349937 0.99999309 -0.00125153 -0.08960159] [ 0.00355518 0.00126397 0.99999288 0.6976098 ] [ 0. 0. 0. 1. ]] SLAMing on 147.782557844 meters 0.2981450474084957 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:0.70 [[ 9.99984420e-01 -4.60816117e-03 -3.15022481e-03 1.00705951e+00] [ 4.60516998e-03 9.99988939e-01 -9.56110134e-04 -8.40107412e-02] [ 3.15459587e-03 9.41587917e-04 9.99994581e-01 6.98702043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters 0.29657061284303166 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.99999669 0.00115959 -0.00229675 0.98134288] [-0.00116801 0.9999926 -0.00366465 -0.08661491] [ 0.00229248 0.00366732 0.99999065 0.70063637] [ 0. 0. 0. 1. ]] SLAMing on 147.902557844 meters 0.29643638415829915 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.9999968 0.00117649 -0.00224027 0.98112546] [-0.00118459 0.99999275 -0.00361907 -0.08678674] [ 0.002236 0.00362171 0.99999094 0.70085351] [ 0. 0. 0. 1. ]] SLAMing on 147.962557844 meters 0.2963851406182597 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.99999682 0.00124466 -0.00219217 0.98091974] [-0.00125218 0.99999333 -0.00343156 -0.08754133] [ 0.00218788 0.0034343 0.99999171 0.70106084] [ 0. 0. 0. 1. ]] SLAMing on 148.02255784399998 meters 0.29667213085591027 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.99999703 0.00118031 -0.00213216 0.98060681] [-0.00118799 0.99999279 -0.00360636 -0.0867772 ] [ 0.00212789 0.00360888 0.99999122 0.70143025] [ 0. 0. 0. 1. ]] SLAMing on 148.08255784399998 meters 0.2970539327453961 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.99999718 0.00105016 -0.00212899 0.98089609] [-0.00105879 0.99999121 -0.00405747 -0.08507018] [ 0.00212471 0.00405972 0.9999895 0.70068209] [ 0. 0. 0. 1. ]] SLAMing on 148.14255784399998 meters 0.29616298564312804 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.08, Z:0.70 [[ 9.99997891e-01 9.02740666e-04 -1.84478340e-03 9.80171615e-01] [-9.11156426e-04 9.99989160e-01 -4.56618632e-03 -8.30311150e-02] [ 1.84064132e-03 4.56785757e-03 9.99987873e-01 7.00758645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20255784399998 meters 0.2961281779362544 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.08, Z:0.70 [[ 9.99998037e-01 7.67456369e-04 -1.82671888e-03 9.80166554e-01] [-7.76470559e-04 9.99987501e-01 -4.93905092e-03 -8.15126144e-02] [ 1.82290555e-03 4.94045962e-03 9.99986134e-01 7.00652869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26255784399999 meters 0.2974980972687775 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.70 [[ 0.99998734 -0.00456256 -0.00212066 1.00457439] [ 0.00455834 0.99998762 -0.00199495 -0.07591056] [ 0.00212974 0.00198526 0.99999576 0.69883874] [ 0. 0. 0. 1. ]] SLAMing on 148.322557844 meters 0.29642572813767437 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.08, Z:0.70 [[ 0.99998924 0.00396889 -0.00240012 0.9847324 ] [-0.00397473 0.99998913 -0.00243603 -0.08093375] [ 0.00239042 0.00244554 0.99999415 0.69903334] [ 0. 0. 0. 1. ]] SLAMing on 148.382557844 meters 0.29500289436963456 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:0.70 [[ 0.99996803 -0.0066485 -0.00444361 0.96460598] [ 0.00663775 0.99997501 -0.00243162 -0.08259975] [ 0.00445966 0.00240204 0.99998717 0.69906795] [ 0. 0. 0. 1. ]] SLAMing on 148.442557844 meters 0.295814162936839 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 0.99999142 0.00301761 -0.00283798 0.9839414 ] [-0.00302566 0.99999139 -0.00283834 -0.08727687] [ 0.00282939 0.0028469 0.99999194 0.69909156] [ 0. 0. 0. 1. ]] SLAMing on 148.502557844 meters 0.2966425939029279 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.09, Z:0.70 [[ 9.99997363e-01 -1.76911408e-03 1.46424234e-03 1.00325620e+00] [ 1.76800105e-03 9.99998147e-01 7.61085067e-04 -9.01384918e-02] [-1.46558607e-03 -7.58494278e-04 9.99998638e-01 6.98695669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters 0.2946233042400438 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.70 [[ 0.99999615 -0.00235143 0.00147527 0.96504127] [ 0.00234861 0.99999542 0.00190671 -0.09413259] [-0.00147974 -0.00190324 0.99999709 0.69648566] [ 0. 0. 0. 1. ]] SLAMing on 148.622557844 meters 0.2964897042339876 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:0.70 [[ 0.99999643 -0.00229917 0.00135866 0.96591288] [ 0.00229636 0.99999523 0.00206477 -0.09496702] [-0.0013634 -0.00206164 0.99999695 0.69506789] [ 0. 0. 0. 1. ]] SLAMing on 148.682557844 meters 0.2966778160169687 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 0.99996935 0.00684819 0.0037946 0.98473619] [-0.00685297 0.99997574 0.00124842 -0.09778815] [-0.00378595 -0.00127439 0.99999202 0.69570747] [ 0. 0. 0. 1. ]] SLAMing on 148.74255784399998 meters 0.2960138740233366 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 0.99996878 0.00688689 0.00387533 0.98449223] [-0.00689222 0.99997532 0.00136247 -0.09822278] [-0.00386585 -0.00138914 0.99999156 0.69582297] [ 0. 0. 0. 1. ]] SLAMing on 148.80255784399998 meters 0.296418028180415 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.10, Z:0.70 [[ 0.99996963 0.0068552 0.00370715 0.98504859] [-0.00685997 0.99997566 0.00127519 -0.09791822] [-0.00369832 -0.00130058 0.99999232 0.69542303] [ 0. 0. 0. 1. ]] SLAMing on 148.86255784399998 meters 0.2959540210383966 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.10, Z:0.70 [[ 9.99969263e-01 6.77805233e-03 3.94100597e-03 9.84523377e-01] [-6.78204188e-03 9.99976502e-01 9.99835974e-04 -9.68204995e-02] [-3.93413642e-03 -1.02653331e-03 9.99991734e-01 6.95279766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92255784399998 meters 0.2959193340169537 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.70 [[ 9.99968998e-01 6.63849350e-03 4.23484330e-03 9.83557815e-01] [-6.64090010e-03 9.99977795e-01 5.54478545e-04 -9.49234925e-02] [-4.23106837e-03 -5.82584526e-04 9.99990879e-01 6.95934090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98255784399998 meters 0.2956575898353211 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.69 [[ 9.99970623e-01 6.42321951e-03 4.18274430e-03 9.84155465e-01] [-6.42328944e-03 9.99979370e-01 3.28423494e-06 -9.26427061e-02] [-4.18263692e-03 -3.01511158e-05 9.99991252e-01 6.94821295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042557844 meters 0.29613560861465504 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.09, Z:0.69 [[ 9.99971742e-01 6.32151728e-03 4.06859364e-03 9.84512905e-01] [-6.32045370e-03 9.99979988e-01 -2.74217628e-04 -9.15254930e-02] [-4.07024569e-03 2.48494522e-04 9.99991686e-01 6.94631798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102557844 meters 0.297632493165889 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.09, Z:0.70 [[ 9.99983651e-01 -1.19983955e-03 5.59093830e-03 1.00386659e+00] [ 1.19700603e-03 9.99999153e-01 5.10123599e-04 -8.51094079e-02] [-5.59154563e-03 -5.03422872e-04 9.99984240e-01 6.96252080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162557844 meters 0.29487721792539434 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.70 [[ 0.99997925 0.00286802 0.00576896 1.00338366] [-0.00289177 0.99998737 0.00411169 -0.08213765] [-0.0057571 -0.00412829 0.99997491 0.69643586] [ 0. 0. 0. 1. ]] SLAMing on 149.222557844 meters 0.29664946773384715 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.08, Z:0.70 [[ 0.99997935 0.00255187 0.00589728 1.00310695] [-0.00257047 0.99999174 0.00314865 -0.07825197] [-0.0058892 -0.00316375 0.99997765 0.69628625] [ 0. 0. 0. 1. ]] SLAMing on 149.282557844 meters 0.29717657863834385 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.07, Z:0.69 [[ 0.99998243 0.00203933 0.00556544 1.00458706] [-0.0020478 0.99999675 0.00151699 -0.07174527] [-0.00556233 -0.00152836 0.99998336 0.69493331] [ 0. 0. 0. 1. ]] SLAMing on 149.342557844 meters 0.2949565709801802 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:0.69 [[ 9.99983607e-01 5.08766810e-04 5.70330468e-03 9.67070036e-01] [-5.15853729e-04 9.99999097e-01 1.24119662e-03 -7.15153049e-02] [-5.70266805e-03 -1.24411835e-03 9.99982966e-01 6.91396949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402557844 meters 0.2978988526926404 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:0.69 [[ 0.999993 0.00142104 0.00346175 1.00796829] [-0.001416 0.99999794 -0.00145739 -0.05811229] [-0.00346381 0.00145248 0.99999295 0.69277012] [ 0. 0. 0. 1. ]] SLAMing on 149.462557844 meters 0.29464598256633084 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:0.69 [[ 0.99998595 -0.00495943 0.00186933 0.9854416 ] [ 0.00495625 0.99998626 0.00170512 -0.05424675] [-0.00187776 -0.00169583 0.9999968 0.69419701] [ 0. 0. 0. 1. ]] SLAMing on 149.52255784399998 meters 0.29456828456963874 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:0.69 [[ 0.99998462 -0.00518153 0.0019776 0.98504224] [ 0.00517927 0.99998593 0.00114606 -0.05192248] [-0.00198351 -0.0011358 0.99999739 0.69440595] [ 0. 0. 0. 1. ]] SLAMing on 149.58255784399998 meters 0.29565815973774123 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.05, Z:0.70 [[ 9.99983879e-01 3.78936740e-03 4.22870543e-03 1.00300894e+00] [-3.78721802e-03 9.99992695e-01 -5.16176772e-04 -5.11990543e-02] [-4.23063052e-03 5.00153421e-04 9.99990926e-01 6.95547502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64255784399998 meters 0.2962745176942465 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:0.69 [[ 0.99998282 -0.00167053 0.00561902 1.02565388] [ 0.00165613 0.99999533 0.00256695 -0.04773291] [-0.00562328 -0.0025576 0.99998092 0.69450716] [ 0. 0. 0. 1. ]] SLAMing on 149.70255784399998 meters 0.2942511002911715 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.05, Z:0.70 [[ 0.99995289 0.00707424 0.0066468 1.00164539] [-0.00708872 0.99997255 0.00215712 -0.04897068] [-0.00663136 -0.00220414 0.99997558 0.69540802] [ 0. 0. 0. 1. ]] SLAMing on 149.76255784399999 meters 0.2933018716433475 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.05, Z:0.70 [[ 0.999954 0.00686095 0.00670231 1.00152141] [-0.00687127 0.99997524 0.00151784 -0.04638398] [-0.00669173 -0.00156382 0.99997639 0.69534095] [ 0. 0. 0. 1. ]] SLAMing on 149.822557844 meters 0.2938377578454428 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.69 [[ 9.99957266e-01 6.51575014e-03 6.55821585e-03 1.00205235e+00] [-6.51827352e-03 9.99978690e-01 3.63465212e-04 -4.18349008e-02] [-6.55570784e-03 -4.06197925e-04 9.99978429e-01 6.94782537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882557844 meters 0.2928653062287415 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.69 [[ 9.99957814e-01 6.34870539e-03 6.63815026e-03 1.00192470e+00] [-6.34839055e-03 9.99979846e-01 -6.84996413e-05 -4.00591390e-02] [-6.63845136e-03 2.63551812e-05 9.99977965e-01 6.94599642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942557844 meters 0.29493108569632726 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:0.69 [[ 9.99957638e-01 -3.29258565e-04 9.19857507e-03 1.02483252e+00] [ 3.12723515e-04 9.99998333e-01 1.79894690e-03 -3.86278229e-02] [-9.19915205e-03 -1.79599409e-03 9.99956074e-01 6.92535047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002557844 meters 0.2935909010771072 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:0.69 [[ 9.99957663e-01 -3.42297875e-04 9.19535005e-03 1.02483033e+00] [ 3.26115865e-04 9.99998396e-01 1.76124541e-03 -3.84732466e-02] [-9.19593817e-03 -1.75817210e-03 9.99956171e-01 6.92559459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062557844 meters 0.2939233689881421 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:0.69 [[ 9.99957867e-01 -5.04667338e-04 9.16568132e-03 1.02500628e+00] [ 4.92383235e-04 9.99998978e-01 1.34243507e-03 -3.67524716e-02] [-9.16634943e-03 -1.33786548e-03 9.99957093e-01 6.92327100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters 0.2939901021603124 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:0.69 [[ 9.99956742e-01 -6.46676338e-04 9.27883128e-03 1.02475666e+00] [ 6.37878179e-04 9.99999344e-01 9.51124957e-04 -3.51300916e-02] [-9.27944027e-03 -9.45165049e-04 9.99956498e-01 6.92227625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters 0.29643407074277633 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:0.69 [[ 9.99957396e-01 -7.91199118e-04 9.19669937e-03 1.02537661e+00] [ 7.86020318e-04 9.99999531e-01 5.66715871e-04 -3.34901013e-02] [-9.19714343e-03 -5.59462934e-04 9.99957549e-01 6.91274538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24255784399998 meters 0.29432474102679224 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.03, Z:0.69 [[ 9.99958621e-01 -7.20341572e-04 9.06849722e-03 1.02566911e+00] [ 7.13226213e-04 9.99999435e-01 7.87833400e-04 -3.43838246e-02] [-9.06905960e-03 -7.81332911e-04 9.99958570e-01 6.91372268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30255784399998 meters 0.2948547867529628 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.04, Z:0.69 [[ 9.99958032e-01 -5.82349686e-04 9.14303054e-03 1.02527441e+00] [ 5.70785163e-04 9.99999034e-01 1.26740415e-03 -3.62523469e-02] [-9.14375978e-03 -1.26213225e-03 9.99957398e-01 6.91944691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36255784399998 meters 0.29312254085844996 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.69 [[ 0.99997791 0.00379311 0.00545776 1.00359627] [-0.00378367 0.99999133 -0.00173859 -0.0394547 ] [-0.00546431 0.0017179 0.99998359 0.69309434] [ 0. 0. 0. 1. ]] SLAMing on 150.42255784399998 meters 0.29232520076549773 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.69 [[ 0.9999781 0.00392357 0.00533045 1.0039143 ] [-0.00391622 0.99999137 -0.00138735 -0.04089494] [-0.00533585 0.00136644 0.99998483 0.69310751] [ 0. 0. 0. 1. ]] SLAMing on 150.48255784399998 meters 0.2946356901855157 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.70 [[ 0.9999692 0.00544455 0.00565359 1.03917757] [-0.00543592 0.99998404 -0.00154102 -0.03604406] [-0.00566189 0.00151024 0.99998283 0.69825927] [ 0. 0. 0. 1. ]] SLAMing on 150.542557844 meters 0.2935427825230552 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.70 [[ 0.99996772 0.00538285 0.00596605 1.03837547] [-0.00537251 0.99998404 -0.00174831 -0.0351906 ] [-0.00597536 0.0017162 0.99998067 0.69835766] [ 0. 0. 0. 1. ]] SLAMing on 150.602557844 meters 0.2944141657961926 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.70 [[ 0.99996785 0.0054067 0.00592186 1.03855096] [-0.00539684 0.99998402 -0.00168055 -0.03547844] [-0.00593085 0.00164854 0.99998105 0.69820248] [ 0. 0. 0. 1. ]] SLAMing on 150.662557844 meters 0.2933910466015967 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.04, Z:0.70 [[ 0.99996654 0.00553488 0.00602286 1.03807202] [-0.00552734 0.99998392 -0.00126805 -0.03708176] [-0.00602978 0.00123471 0.99998106 0.69884364] [ 0. 0. 0. 1. ]] SLAMing on 150.722557844 meters 0.2942043927937226 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 9.99968228e-01 -2.16484363e-03 7.67184327e-03 1.05789697e+00] [ 2.16373615e-03 9.99997647e-01 1.52652558e-04 -3.63193369e-02] [-7.67215569e-03 -1.36047863e-04 9.99970559e-01 7.00131269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782557844 meters 0.29371710365077514 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 9.99969223e-01 -1.96852611e-03 7.59465364e-03 1.05851543e+00] [ 1.96331915e-03 9.99997833e-01 6.93003419e-04 -3.87117673e-02] [-7.59600137e-03 -6.78071361e-04 9.99970920e-01 6.99081565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842557844 meters 0.29380306113945653 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 0.99997058 -0.00178343 0.00746048 1.05922972] [ 0.00177487 0.99999776 0.00115443 -0.04079354] [-0.00746252 -0.00114115 0.9999715 0.69828608] [ 0. 0. 0. 1. ]] SLAMing on 150.902557844 meters 0.29363219311009686 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 0.99997064 -0.00168383 0.00747525 1.05927714] [ 0.0016732 0.99999758 0.00142776 -0.04193559] [-0.00747764 -0.00141521 0.99997104 0.69809624] [ 0. 0. 0. 1. ]] SLAMing on 150.962557844 meters 0.29363330874839894 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 0.99997008 -0.00153901 0.00758095 1.05896955] [ 0.00152535 0.9999972 0.00180682 -0.04350599] [-0.00758371 -0.00179521 0.99996963 0.69819941] [ 0. 0. 0. 1. ]] SLAMing on 151.02255784399998 meters 0.293835258535526 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:0.70 [[ 0.99997144 -0.00142383 0.00742204 1.05952287] [ 0.00140784 0.99999668 0.00215936 -0.04499975] [-0.00742509 -0.00214885 0.99997012 0.69783021] [ 0. 0. 0. 1. ]] SLAMing on 151.08255784399998 meters 0.29282429164785734 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:0.70 [[ 0.99997079 -0.00121069 0.00754664 1.05898853] [ 0.0011884 0.99999492 0.00295663 -0.04802265] [-0.00755018 -0.00294757 0.99996715 0.69855925] [ 0. 0. 0. 1. ]] SLAMing on 151.14255784399998 meters 0.29471249303345104 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99973139e-01 -2.44035949e-03 6.91122169e-03 1.09947978e+00] [ 2.43349411e-03 9.99996537e-01 1.00160122e-03 -5.01891960e-02] [-6.91364202e-03 -9.84755895e-04 9.99975616e-01 7.00293054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20255784399998 meters 0.2934264896596124 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.70 [[ 0.99999168 0.00233232 0.00334738 1.07720506] [-0.00232623 0.99999564 -0.00182062 -0.05188582] [-0.00335162 0.00181282 0.99999274 0.70240309] [ 0. 0. 0. 1. ]] SLAMing on 151.26255784399999 meters 0.29157692043586986 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:0.70 [[ 9.99990618e-01 -4.33119001e-03 6.23452736e-05 1.05587895e+00] [ 4.33110552e-03 9.99989780e-01 1.29692530e-03 -5.46600485e-02] [-6.79618663e-05 -1.29664311e-03 9.99999157e-01 7.04614145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322557844 meters 0.29443545810321153 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.70 [[ 0.9999958 0.00259989 0.00127977 1.07883277] [-0.00259774 0.99999523 -0.001672 -0.05648597] [-0.00128411 0.00166867 0.99999778 0.70334984] [ 0. 0. 0. 1. ]] SLAMing on 151.382557844 meters 0.29326594016845614 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.70 [[ 9.99995056e-01 2.87592748e-03 1.27154677e-03 1.07864551e+00] [-2.87467961e-03 9.99995386e-01 -9.82114900e-04 -5.93080634e-02] [-1.27436540e-03 9.78454755e-04 9.99998709e-01 7.03809170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442557844 meters 0.2922909071874469 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:0.70 [[ 9.99994591e-01 3.00853846e-03 1.32916850e-03 1.07825213e+00] [-3.00766772e-03 9.99995261e-01 -6.56616450e-04 -6.06040144e-02] [-1.33113766e-03 6.52615201e-04 9.99998901e-01 7.04353846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters 0.29244150912788053 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:0.71 [[ 9.99976305e-01 -4.53683674e-03 5.17758205e-03 1.09491819e+00] [ 4.53249788e-03 9.99989367e-01 8.49434930e-04 -5.90577723e-02] [-5.18138075e-03 -8.25947422e-04 9.99986235e-01 7.05189371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562557844 meters 0.29315933023505253 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.70 [[ 9.99978449e-01 -4.51010762e-03 4.77085169e-03 1.09622676e+00] [ 4.50557001e-03 9.99989388e-01 9.61432860e-04 -5.95950351e-02] [-4.77513722e-03 -9.39916733e-04 9.99988157e-01 7.04200337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622557844 meters 0.2932414180250098 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.70 [[ 9.99979354e-01 -4.58727837e-03 4.49991186e-03 1.09709053e+00] [ 4.58414682e-03 9.99989244e-01 7.05982440e-04 -5.86728317e-02] [-4.50310199e-03 -6.85339607e-04 9.99989626e-01 7.03611334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters 0.2927905405048806 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.06, Z:0.70 [[ 9.99950983e-01 3.83838973e-03 9.12679237e-03 1.11343585e+00] [-3.83225663e-03 9.99992419e-01 -6.89381635e-04 -5.62583644e-02] [-9.12936929e-03 6.54371633e-04 9.99958112e-01 7.04733248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74255784399998 meters 0.29411442122095866 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.06, Z:0.70 [[ 9.99949883e-01 3.77245297e-03 9.27358298e-03 1.11339864e+00] [-3.76444095e-03 9.99992526e-01 -8.81264858e-04 -5.55344652e-02] [-9.27683820e-03 8.46310836e-04 9.99956611e-01 7.03907194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80255784399998 meters 0.29263586555427096 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.70 [[ 9.99968289e-01 -5.74507077e-03 5.51502589e-03 1.09601128e+00] [ 5.74557473e-03 9.99983491e-01 -7.55399493e-05 -5.79785005e-02] [-5.51450086e-03 1.07224547e-04 9.99984789e-01 7.03381129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86255784399998 meters 0.2918736287425187 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.70 [[ 9.99971188e-01 -5.56728660e-03 5.16019209e-03 1.09661145e+00] [ 5.56438792e-03 9.99984353e-01 5.75926291e-04 -6.04833309e-02] [-5.16331769e-03 -5.47196387e-04 9.99986520e-01 7.04119801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92255784399998 meters 0.2934593018488806 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.71 [[ 9.99979359e-01 3.42671083e-03 5.43505402e-03 1.11624351e+00] [-3.42617950e-03 9.99994125e-01 -1.07067669e-04 -6.93303565e-02] [-5.43538898e-03 8.84439884e-05 9.99985224e-01 7.05213225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98255784399998 meters 0.2931875839533115 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.71 [[ 9.99978768e-01 3.39079713e-03 5.56475689e-03 1.11593446e+00] [-3.38964259e-03 9.99994232e-01 -2.16891208e-04 -6.88798176e-02] [-5.56546023e-03 1.98024066e-04 9.99984493e-01 7.05162384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042557844 meters 0.2936277418898874 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.07, Z:0.70 [[ 0.99998286 0.00315696 0.00493018 1.11796625] [-0.00315135 0.99999438 -0.00114615 -0.06549102] [-0.00493377 0.00113059 0.99998719 0.70356623] [ 0. 0. 0. 1. ]] SLAMing on 152.102557844 meters 0.2937198559363398 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.70 [[ 0.99998409 0.00290853 0.00483254 1.11849237] [-0.00289899 0.99999384 -0.00198102 -0.06223013] [-0.00483827 0.00196698 0.99998636 0.70279532] [ 0. 0. 0. 1. ]] SLAMing on 152.162557844 meters 0.294988754870237 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.70 [[ 0.99998476 0.00269514 0.00481873 1.11871956] [-0.00268284 0.99999313 -0.0025575 -0.05988249] [-0.00482559 0.00254453 0.99998512 0.7023597 ] [ 0. 0. 0. 1. ]] SLAMing on 152.222557844 meters 0.29386919238371195 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.70 [[ 0.99998325 0.00259933 0.00517105 1.11728444] [-0.00258446 0.99999251 -0.00287988 -0.05823914] [-0.0051785 0.00286646 0.99998248 0.70385041] [ 0. 0. 0. 1. ]] SLAMing on 152.282557844 meters 0.2918737214067491 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.06, Z:0.71 [[ 9.99986336e-01 -4.51180874e-03 2.64043734e-03 1.09589789e+00] [ 4.51170233e-03 9.99989821e-01 4.62533241e-05 -5.93968877e-02] [-2.64061915e-03 -3.43398247e-05 9.99996513e-01 7.05161433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters 0.2935625647535379 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.06, Z:0.70 [[ 9.99985094e-01 5.05047015e-03 2.07452969e-03 1.11853038e+00] [-5.04844389e-03 9.99986776e-01 -9.80808399e-04 -6.08561502e-02] [-2.07945580e-03 9.70320633e-04 9.99997367e-01 7.04514344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters 0.293283037217232 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99992374e-01 -3.68135354e-03 1.30356095e-03 1.09963668e+00] [ 3.68119882e-03 9.99993217e-01 1.21066926e-04 -5.40109417e-02] [-1.30399780e-03 -1.16267336e-04 9.99999143e-01 7.02589532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters 0.2937943811809847 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991944e-01 -3.81815555e-03 1.23873705e-03 1.09986761e+00] [ 3.81845921e-03 9.99992680e-01 -2.42859556e-04 -5.25117337e-02] [-1.23780070e-03 2.47587666e-04 9.99999203e-01 7.02410477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52255784399998 meters 0.29388195370802805 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991229e-01 -3.94309457e-03 1.41205113e-03 1.09951507e+00] [ 3.94382340e-03 9.99992091e-01 -5.13735880e-04 -5.13585828e-02] [-1.41001425e-03 5.19300254e-04 9.99998871e-01 7.02173666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58255784399998 meters 0.29379293470724094 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99998152 0.00429893 0.00429863 1.11651733] [-0.0042889 0.99998806 -0.00234063 -0.05374059] [-0.00430864 0.00232215 0.99998802 0.70407901] [ 0. 0. 0. 1. ]] SLAMing on 152.64255784399998 meters 0.29370497009051644 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99998251 0.00425301 0.00410898 1.11707559] [-0.00424295 0.99998799 -0.00245351 -0.05329112] [-0.00411936 0.00243603 0.99998855 0.70389792] [ 0. 0. 0. 1. ]] SLAMing on 152.70255784399998 meters 0.292345129783579 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991265e-01 -4.17862572e-03 -9.81097368e-05 1.09995689e+00] [ 4.17845265e-03 9.99989821e-01 -1.70245412e-03 -5.06233234e-02] [ 1.05222657e-04 1.70202930e-03 9.99998546e-01 7.02652219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76255784399999 meters 0.2924223935206605 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99990696e-01 -4.31212903e-03 1.16281659e-04 1.09939817e+00] [ 4.31236488e-03 9.99988474e-01 -2.11069278e-03 -4.89407289e-02] [-1.07178740e-04 2.11117459e-03 9.99997766e-01 7.02677635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822557844 meters 0.29226604488995134 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99989924e-01 -4.47882331e-03 3.02914699e-04 1.09872636e+00] [ 4.47959024e-03 9.99986637e-01 -2.58040224e-03 -4.69232089e-02] [-2.91353486e-04 2.58173317e-03 9.99996625e-01 7.03115046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882557844 meters 0.29192716440459343 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99999963e-01 -2.37763634e-04 -1.35277632e-04 1.09991685e+00] [ 2.37976232e-04 9.99998733e-01 1.57372536e-03 -4.66238880e-02] [ 1.34903286e-04 -1.57375750e-03 9.99998753e-01 7.02816674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942557844 meters 0.2923626570459113 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99999962e-01 -2.08343082e-04 1.82756054e-04 1.09881202e+00] [ 2.08038219e-04 9.99998590e-01 1.66657667e-03 -4.69379335e-02] [-1.83103016e-04 -1.66653858e-03 9.99998595e-01 7.03874815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002557844 meters 0.29291570575311254 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99998122 0.00505942 0.00345764 1.11946638] [-0.00505108 0.99998432 -0.00241605 -0.04673986] [-0.00346981 0.00239854 0.9999911 0.70309584] [ 0. 0. 0. 1. ]] SLAMing on 153.062557844 meters 0.29277088140716107 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99998067 0.00511954 0.00352744 1.11902406] [-0.00511159 0.99998438 -0.00226047 -0.04732214] [-0.00353896 0.00224239 0.99999122 0.70374671] [ 0. 0. 0. 1. ]] SLAMing on 153.122557844 meters 0.29131704215663934 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99990578e-01 -4.05066687e-03 1.56108611e-03 1.10012860e+00] [ 4.05233409e-03 9.99991221e-01 -1.06630872e-03 -4.60719936e-02] [-1.55675314e-03 1.07262471e-03 9.99998213e-01 7.03390085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters 0.2916222389287817 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991082e-01 -3.95683418e-03 1.47643567e-03 1.10043779e+00] [ 3.95804113e-03 9.99991834e-01 -8.15449818e-04 -4.71262164e-02] [-1.47319701e-03 8.21286338e-04 9.99998578e-01 7.03186808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24255784399998 meters 0.2931383972689714 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991877e-01 -3.80289895e-03 1.33544752e-03 1.10107875e+00] [ 3.80342432e-03 9.99992690e-01 -3.91091552e-04 -4.88842192e-02] [-1.33395047e-03 3.96167649e-04 9.99999032e-01 7.02510778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30255784399998 meters 0.2925276293541397 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.70 [[ 9.99993588e-01 3.57522781e-03 -2.05392185e-04 1.08230544e+00] [-3.57558235e-03 9.99992072e-01 -1.75250731e-03 -5.46087874e-02] [ 1.99124944e-04 1.75323047e-03 9.99998443e-01 7.00324909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36255784399998 meters 0.29274243974143305 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:0.70 [[ 9.99993500e-01 3.56122085e-03 -5.64046586e-04 1.08362295e+00] [-3.56220675e-03 9.99992112e-01 -1.75665392e-03 -5.45855849e-02] [ 5.57786304e-04 1.75865175e-03 9.99998298e-01 6.98948861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42255784399998 meters 0.2936757745924453 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991314e-01 -4.09892407e-03 7.55505382e-04 1.10199705e+00] [ 4.09922158e-03 9.99991521e-01 -3.92662769e-04 -5.00125991e-02] [-7.53889482e-04 3.95756342e-04 9.99999638e-01 7.00068251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48255784399998 meters 0.29343008424060735 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.05, Z:0.70 [[ 9.99991629e-01 -4.01100939e-03 8.08436188e-04 1.10171289e+00] [ 4.01114491e-03 9.99991942e-01 -1.66085984e-04 -5.09524879e-02] [-8.07763501e-04 1.69327348e-04 9.99999659e-01 7.00413577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542557844 meters 0.2942228755192637 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:0.70 [[ 9.99998142e-01 -1.90368652e-03 3.03909483e-04 1.14030302e+00] [ 1.90363359e-03 9.99998173e-01 1.74345604e-04 -4.73408730e-02] [-3.04240827e-04 -1.73766748e-04 9.99999939e-01 7.03721141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602557844 meters 0.29411171537740555 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:0.70 [[ 9.99997974e-01 -2.00436483e-03 1.85493519e-04 1.14078241e+00] [ 2.00438125e-03 9.99997987e-01 -8.83583341e-05 -4.63035825e-02] [-1.85316043e-04 8.87299549e-05 9.99999979e-01 7.03271490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662557844 meters 0.2935125571809634 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 9.99997691e-01 -2.14222519e-03 1.67124434e-04 1.14106106e+00] [ 2.14230100e-03 9.99997602e-01 -4.54761196e-04 -4.48204718e-02] [-1.66149832e-04 4.55118177e-04 9.99999883e-01 7.02725182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters 0.29168081337419294 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 9.99997076e-01 -2.41074318e-03 1.88278057e-04 1.14120547e+00] [ 2.41096354e-03 9.99996399e-01 -1.17908354e-03 -4.18752063e-02] [-1.85434911e-04 1.17953402e-03 9.99999287e-01 7.02253921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters 0.2932197911302136 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 9.99996739e-01 -2.54741215e-03 1.83289857e-04 1.14128412e+00] [ 2.54768936e-03 9.99995587e-01 -1.52841560e-03 -4.04428405e-02] [-1.79395544e-04 1.52887758e-03 9.99998815e-01 7.02083101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters 0.2927268541733693 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 9.99996621e-01 -2.57054756e-03 3.87416591e-04 1.14050628e+00] [ 2.57116327e-03 9.99995419e-01 -1.59724612e-03 -4.01041803e-02] [-3.83309019e-04 1.59823683e-03 9.99998649e-01 7.02792824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902557844 meters 0.29375811360377263 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.04, Z:0.71 [[ 9.99997000e-01 -2.35564239e-03 6.72006588e-04 1.17693687e+00] [ 2.35739348e-03 9.99993797e-01 -2.61697978e-03 -3.78841101e-02] [-6.65837751e-04 2.61855611e-03 9.99996350e-01 7.07121995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962557844 meters 0.2927368712087868 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 9.99995935e-01 -2.62018594e-03 1.12445600e-03 1.13894414e+00] [ 2.62157777e-03 9.99995797e-01 -1.23809899e-03 -4.12887438e-02] [-1.12120723e-03 1.24104180e-03 9.99998601e-01 7.03578253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02255784399998 meters 0.29284641661547195 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 0.99999544 -0.00271397 0.00132119 1.13838529] [ 0.00271598 0.99999515 -0.00152413 -0.04007932] [-0.00131704 0.00152772 0.99999797 0.70372506] [ 0. 0. 0. 1. ]] SLAMing on 154.08255784399998 meters 0.2933034858243565 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:0.70 [[ 0.99999498 -0.00285795 0.00136938 1.1382775 ] [ 0.00286061 0.99999402 -0.00194268 -0.03838219] [-0.00136382 0.00194659 0.99999718 0.7036645 ] [ 0. 0. 0. 1. ]] SLAMing on 154.14255784399998 meters 0.2945430781721443 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:0.70 [[ 9.99999826e-01 -5.75120121e-04 1.28805629e-04 1.14445278e+00] [ 5.75152987e-04 9.99999802e-01 -2.55265567e-04 -3.32579741e-02] [-1.28658795e-04 2.55339606e-04 9.99999959e-01 6.99032545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20255784399998 meters 0.29332124490837347 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:0.70 [[ 9.99996304e-01 -2.49597237e-03 1.07759870e-03 1.13940569e+00] [ 2.49842321e-03 9.99994282e-01 -2.27903312e-03 -3.09846607e-02] [-1.07190414e-03 2.28171699e-03 9.99996822e-01 7.02535667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26255784399999 meters 0.2927169023241278 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:0.70 [[ 0.99999589 -0.00214997 0.00189925 1.13707925] [ 0.00215254 0.99999677 -0.00135346 -0.03402466] [-0.00189633 0.00135754 0.99999728 0.70328596] [ 0. 0. 0. 1. ]] SLAMing on 154.322557844 meters 0.29413965042878737 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.03, Z:0.70 [[ 0.99999599 -0.00210111 0.00189909 1.13709885] [ 0.00210338 0.99999707 -0.00119449 -0.03467479] [-0.00189657 0.00119848 0.99999748 0.7032511 ] [ 0. 0. 0. 1. ]] SLAMing on 154.382557844 meters 0.29178139916637424 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.71 [[ 9.99992361e-01 3.80702890e-03 8.85654105e-04 1.11441353e+00] [-3.80357342e-03 9.99985274e-01 -3.87112329e-03 -3.93034409e-02] [-9.00378541e-04 3.86772507e-03 9.99992115e-01 7.05006084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442557844 meters 0.29207300881113774 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.70 [[ 9.99991964e-01 3.87545045e-03 1.02592373e-03 1.11420466e+00] [-3.87166522e-03 9.99985784e-01 -3.66620861e-03 -4.01313116e-02] [-1.04011736e-03 3.66220711e-03 9.99992753e-01 7.04657939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502557844 meters 0.2927016249261299 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:0.70 [[ 9.99992255e-01 3.88332668e-03 6.39729711e-04 1.11539537e+00] [-3.88098411e-03 9.99985905e-01 -3.62323224e-03 -4.03841776e-02] [-6.53790889e-04 3.62072140e-03 9.99993231e-01 7.03960088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562557844 meters 0.29172863428028906 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 0.99999211 -0.00379054 -0.00119216 1.09512906] [ 0.00378921 0.9999922 -0.00111477 -0.03994825] [ 0.00119638 0.00111025 0.99999867 0.7041589 ] [ 0. 0. 0. 1. ]] SLAMing on 154.622557844 meters 0.2921651670894646 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.70 [[ 9.99992901e-01 -3.66783876e-03 -8.63362629e-04 1.09406872e+00] [ 3.66721093e-03 9.99993011e-01 -7.27662488e-04 -4.15517230e-02] [ 8.66025544e-04 7.24491189e-04 9.99999363e-01 7.04886487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682557844 meters 0.29227314673406496 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99992837e-01 -3.57557025e-03 -1.24123235e-03 1.09525091e+00] [ 3.57509794e-03 9.99993536e-01 -3.82531046e-04 -4.29910186e-02] [ 1.24259209e-03 3.78090778e-04 9.99999157e-01 7.04099554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74255784399998 meters 0.2911414156369214 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.70 [[ 9.99993136e-01 -3.51639826e-03 -1.16763126e-03 1.09493990e+00] [ 3.51613838e-03 9.99993793e-01 -2.24554968e-04 -4.36287099e-02] [ 1.16841364e-03 2.20447874e-04 9.99999293e-01 7.04390025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80255784399998 meters 0.2906612586524271 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.70 [[ 9.99993283e-01 -3.48342929e-03 -1.14009814e-03 1.09482090e+00] [ 3.48327390e-03 9.99993924e-01 -1.38248947e-04 -4.39778024e-02] [ 1.14057279e-03 1.34276744e-04 9.99999341e-01 7.04499104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86255784399998 meters 0.29245473117344356 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99999101 0.00377187 -0.00193834 1.11896127] [-0.00377763 0.99998844 -0.00297509 -0.04598803] [ 0.0019271 0.00298239 0.9999937 0.70304956] [ 0. 0. 0. 1. ]] SLAMing on 154.92255784399998 meters 0.2912919942030607 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99999183 0.00377903 -0.00143384 1.11762809] [-0.00378323 0.99998852 -0.0029394 -0.04609789] [ 0.00142272 0.0029448 0.99999465 0.70336404] [ 0. 0. 0. 1. ]] SLAMing on 154.98255784399998 meters 0.292438866242015 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.05, Z:0.70 [[ 0.99999193 0.00376565 -0.00140182 1.11748578] [-0.00376982 0.99998844 -0.00298318 -0.04592412] [ 0.00139057 0.00298844 0.99999457 0.70352293] [ 0. 0. 0. 1. ]] SLAMing on 155.042557844 meters 0.29127338196883085 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 0.99998407 -0.00497401 -0.00266986 1.09823981] [ 0.00496949 0.99998621 -0.00169708 -0.04294019] [ 0.00267827 0.00168379 0.999995 0.70221822] [ 0. 0. 0. 1. ]] SLAMing on 155.102557844 meters 0.29046140012324256 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.04, Z:0.71 [[ 9.99995167e-01 -2.56306132e-03 -1.75997847e-03 1.09346353e+00] [ 2.56362078e-03 9.99996664e-01 3.15696519e-04 -4.04885943e-02] [ 1.75916345e-03 -3.20206911e-04 9.99998401e-01 7.05487060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162557844 meters 0.29175490662287984 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.04, Z:0.70 [[ 9.99974096e-01 7.19631514e-03 -1.40978268e-04 1.11367670e+00] [-7.19631622e-03 9.99974106e-01 -7.12986199e-06 -4.38253066e-02] [ 1.40923308e-04 8.14420150e-06 9.99999990e-01 7.04638089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222557844 meters 0.2912419408333011 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 0.9999944 -0.00120522 -0.00312132 1.0959566 ] [ 0.00120867 0.99999866 0.00110341 -0.04034229] [ 0.00311998 -0.00110717 0.99999452 0.70240528] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters 0.29119415917009733 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99994005e-01 -1.33450440e-03 -3.19519423e-03 1.09625729e+00] [ 1.33695296e-03 9.99998814e-01 7.64313879e-04 -3.89474615e-02] [ 3.19417046e-03 -7.68581121e-04 9.99994603e-01 7.02163670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342557844 meters 0.2913550693676742 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99993685e-01 -1.53750428e-03 -3.20406461e-03 1.09609969e+00] [ 1.53835891e-03 9.99998782e-01 2.64284118e-04 -3.68585562e-02] [ 3.20365437e-03 -2.69211451e-04 9.99994832e-01 7.02578087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402557844 meters 0.29125749824135544 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99993816e-01 -1.62281923e-03 -3.12001026e-03 1.09603386e+00] [ 1.62296444e-03 9.99998682e-01 4.40110862e-05 -3.59547516e-02] [ 3.11993473e-03 -4.90744797e-05 9.99995132e-01 7.02256361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462557844 meters 0.2919989164100823 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99994030e-01 -1.61083582e-03 -3.05695135e-03 1.09600207e+00] [ 1.61106678e-03 9.99998700e-01 7.30905191e-05 -3.60791973e-02] [ 3.05682963e-03 -7.80150355e-05 9.99995325e-01 7.01986848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52255784399998 meters 0.2915312738976827 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.04, Z:0.70 [[ 9.99993336e-01 -1.60269220e-03 -3.28014662e-03 1.09677358e+00] [ 1.60301338e-03 9.99998711e-01 9.52881952e-05 -3.62114950e-02] [ 3.27998968e-03 -1.00545679e-04 9.99994616e-01 7.01422527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58255784399998 meters 0.2916751880573488 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.70 [[ 9.99993683e-01 -1.80807717e-03 -3.06018728e-03 1.09598083e+00] [ 1.80642311e-03 9.99998221e-01 -5.43186134e-04 -3.35261004e-02] [ 3.06116396e-03 5.37654709e-04 9.99995170e-01 7.02052205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64255784399998 meters 0.2917870472873417 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.70 [[ 0.99999382 -0.00203837 -0.00286603 1.09528243] [ 0.00203488 0.99999718 -0.00122088 -0.0306996 ] [ 0.00286851 0.00121504 0.99999515 0.70261983] [ 0. 0. 0. 1. ]] SLAMing on 155.70255784399998 meters 0.2916530156938615 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.70 [[ 0.99999306 -0.00235659 -0.00288682 1.09571396] [ 0.00235084 0.99999525 -0.00199447 -0.02750705] [ 0.00289151 0.00198767 0.99999384 0.70193755] [ 0. 0. 0. 1. ]] SLAMing on 155.76255784399999 meters 0.29103794757248336 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.03, Z:0.70 [[ 0.99999332 -0.00247343 -0.00269027 1.09506715] [ 0.00246728 0.99999434 -0.00228544 -0.02630175] [ 0.00269591 0.00227878 0.99999377 0.7023014 ] [ 0. 0. 0. 1. ]] SLAMing on 155.822557844 meters 0.29069891758731764 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.70 [[ 9.99994083e-01 1.49289056e-03 -3.09907717e-03 1.09612306e+00] [-1.48954612e-03 9.99998306e-01 1.08119758e-03 -2.34091309e-02] [ 3.10068603e-03 -1.07657496e-03 9.99994613e-01 7.01998698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882557844 meters 0.292633828055293 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.70 [[ 9.99992748e-01 1.32628534e-03 -3.57014148e-03 1.09769712e+00] [-1.32401060e-03 9.99998919e-01 6.39445875e-04 -2.17314097e-02] [ 3.57098571e-03 -6.34714332e-04 9.99993423e-01 7.00893991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942557844 meters 0.29010088091794267 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.70 [[ 9.99993164e-01 1.01119413e-03 -3.55672472e-03 1.09768383e+00] [-1.01143059e-03 9.99999486e-01 -6.46825804e-05 -1.87855834e-02] [ 3.55665749e-03 6.82795184e-05 9.99993673e-01 7.00920255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002557844 meters 0.2913611137705327 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.02, Z:0.70 [[ 9.99993194e-01 8.11858277e-04 -3.59886653e-03 1.09781733e+00] [-8.14095050e-04 9.99999476e-01 -6.20100151e-04 -1.65257362e-02] [ 3.59836121e-03 6.23025750e-04 9.99993332e-01 7.00915820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062557844 meters 0.291326468309483 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99993501e-01 6.09313647e-04 -3.55331284e-03 1.09784893e+00] [-6.13638891e-04 9.99999072e-01 -1.21627972e-03 -1.41242185e-02] [ 3.55256845e-03 1.21845227e-03 9.99992947e-01 7.00613024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122557844 meters 0.2916173384449836 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99992657e-01 4.73920013e-04 -3.80268501e-03 1.09889514e+00] [-4.80126876e-04 9.99998554e-01 -1.63148499e-03 -1.23815707e-02] [ 3.80190632e-03 1.63329878e-03 9.99991439e-01 6.99556057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182557844 meters 0.290889355233725 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99991982e-01 3.41825107e-04 -3.98992413e-03 1.09950001e+00] [-3.49821671e-04 9.99997931e-01 -2.00366349e-03 -1.08457279e-02] [ 3.98923097e-03 2.00504318e-03 9.99990033e-01 6.99289459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24255784399998 meters 0.29148871958628436 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99992366e-01 1.53248933e-04 -3.90441371e-03 1.09899784e+00] [-1.63280350e-04 9.99996687e-01 -2.56906134e-03 -8.50632056e-03] [ 3.90400706e-03 2.56967924e-03 9.99989078e-01 7.00033887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30255784399998 meters 0.2912467227155368 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99992117e-01 6.49685992e-05 -3.97014440e-03 1.09906729e+00] [-7.61369153e-05 9.99996041e-01 -2.81298916e-03 -7.51090012e-03] [ 3.96994592e-03 2.81326926e-03 9.99988162e-01 7.00278611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36255784399998 meters 0.2913012613776061 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99989908e-01 -7.18811521e-05 -4.49206243e-03 1.10068919e+00] [ 5.70799519e-05 9.99994570e-01 -3.29500895e-03 -5.46827274e-03] [ 4.49227488e-03 3.29471929e-03 9.99984482e-01 6.99388015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42255784399998 meters 0.2908697329603776 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99989837e-01 -1.08379985e-04 -4.50714945e-03 1.10067337e+00] [ 9.30937986e-05 9.99994244e-01 -3.39161354e-03 -5.07069306e-03] [ 4.50749109e-03 3.39115948e-03 9.99984091e-01 6.99521775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48255784399998 meters 0.29026818485206035 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:0.70 [[ 9.99989856e-01 -1.24321436e-04 -4.50239527e-03 1.10038786e+00] [ 1.08860059e-04 9.99994097e-01 -3.43411591e-03 -4.86807207e-03] [ 4.50279563e-03 3.43359094e-03 9.99983968e-01 7.00181087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542557844 meters 0.29073279481343095 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99989563e-01 -9.63032155e-05 -4.56788555e-03 1.10065010e+00] [ 8.09395481e-05 9.99994340e-01 -3.36347463e-03 -5.17327669e-03] [ 4.56818362e-03 3.36306980e-03 9.99983911e-01 6.99960376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602557844 meters 0.290510359309219 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990248e-01 8.77240142e-06 -4.41633796e-03 1.10023861e+00] [-2.24005071e-05 9.99995239e-01 -3.08579849e-03 -6.33262401e-03] [ 4.41628986e-03 3.08586732e-03 9.99985487e-01 6.99982062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662557844 meters 0.2917253165340883 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990408e-01 1.57237377e-04 -4.37717654e-03 1.10011303e+00] [-1.68793202e-04 9.99996502e-01 -2.63977369e-03 -8.13789666e-03] [ 4.37674616e-03 2.64048720e-03 9.99986936e-01 7.00025312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722557844 meters 0.29123566325176614 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990576e-01 2.07827794e-04 -4.33638629e-03 1.09972141e+00] [-2.18701462e-04 9.99996833e-01 -2.50721807e-03 -8.67364808e-03] [ 4.33585149e-03 2.50814282e-03 9.99987455e-01 7.00691618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782557844 meters 0.29012670221695386 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990775e-01 2.61640935e-04 -4.28727593e-03 1.09963591e+00] [-2.71780000e-04 9.99997168e-01 -2.36450813e-03 -9.26421125e-03] [ 4.28664513e-03 2.36565151e-03 9.99988014e-01 7.00584344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842557844 meters 0.2909490653059617 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990872e-01 3.67968644e-04 -4.25671226e-03 1.09954100e+00] [-3.76811431e-04 9.99997773e-01 -2.07675941e-03 -1.04498466e-02] [ 4.25593859e-03 2.07834443e-03 9.99988784e-01 7.00603409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902557844 meters 0.2913434396774092 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99991507e-01 4.52903609e-04 -4.09647923e-03 1.09879756e+00] [-4.60368113e-04 9.99998235e-01 -1.82141610e-03 -1.14847535e-02] [ 4.09564708e-03 1.82328651e-03 9.99989951e-01 7.01460733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962557844 meters 0.2923208924490255 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99991536e-01 4.85168417e-04 -4.08566413e-03 1.09875527e+00] [-4.92267517e-04 9.99998371e-01 -1.73673691e-03 -1.18321193e-02] [ 4.08481486e-03 1.73873345e-03 9.99990145e-01 7.01486187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02255784399998 meters 0.2922869599763257 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990555e-01 4.94814042e-04 -4.31800899e-03 1.09963534e+00] [-5.02169299e-04 9.99998425e-01 -1.70247310e-03 -1.19602503e-02] [ 4.31715978e-03 1.70462539e-03 9.99989228e-01 7.00692947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08255784399998 meters 0.29204486118480144 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990591e-01 5.26121190e-04 -4.30594693e-03 1.09969402e+00] [-5.33088486e-04 9.99998550e-01 -1.61707596e-03 -1.23140324e-02] [ 4.30508991e-03 1.61935619e-03 9.99989422e-01 7.00468915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14255784399998 meters 0.29112254537129284 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990834e-01 5.08383049e-04 -4.25134164e-03 1.09959018e+00] [-5.15464271e-04 9.99998482e-01 -1.66471424e-03 -1.21192930e-02] [ 4.25048887e-03 1.66689040e-03 9.99989577e-01 7.00389444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20255784399998 meters 0.2918515003625786 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990121e-01 4.16651138e-04 -4.42531505e-03 1.10033610e+00] [-4.25149158e-04 9.99998067e-01 -1.91955273e-03 -1.10012671e-02] [ 4.42450671e-03 1.92141519e-03 9.99988366e-01 6.99692822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26255784399999 meters 0.29133333395168076 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99990210e-01 3.30465961e-04 -4.41258280e-03 1.10028997e+00] [-3.39944151e-04 9.99997637e-01 -2.14741405e-03 -1.00560083e-02] [ 4.41186272e-03 2.14889305e-03 9.99987959e-01 6.99748409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322557844 meters 0.29074424540572175 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99989936e-01 1.85468574e-04 -4.48255594e-03 1.10051278e+00] [-1.96897567e-04 9.99996731e-01 -2.54935301e-03 -8.39890293e-03] [ 4.48206847e-03 2.55020996e-03 9.99986704e-01 6.99674062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382557844 meters 0.29093627400898375 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99989455e-01 7.40128892e-05 -4.59185921e-03 1.10083125e+00] [-8.71204234e-05 9.99995922e-01 -2.85438134e-03 -7.13573316e-03] [ 4.59162923e-03 2.85475129e-03 9.99985384e-01 6.99611822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442557844 meters 0.29291572000629396 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:0.70 [[ 9.99981396e-01 -5.92682228e-03 -1.44254793e-03 1.12213724e+00] [ 5.92692714e-03 9.99982433e-01 6.84268035e-05 -7.93902133e-03] [ 1.44211704e-03 -7.69754070e-05 9.99998957e-01 6.98518389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters 0.2923620267946459 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 9.99988667e-01 2.31370972e-03 -4.16082401e-03 1.10312044e+00] [-2.31696046e-03 9.99997014e-01 -7.76620698e-04 -9.63185913e-03] [ 4.15901472e-03 7.86252361e-04 9.99991042e-01 6.97493588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562557844 meters 0.29175085076544827 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.70 [[ 0.99998909 0.00219537 -0.00412305 1.10288227] [-0.00219993 0.99999697 -0.00110321 -0.00825526] [ 0.00412062 0.00111227 0.99999089 0.69785232] [ 0. 0. 0. 1. ]] SLAMing on 157.622557844 meters 0.29244869311876265 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:0.70 [[ 9.99995704e-01 -2.78489468e-03 -9.14856747e-04 1.12486419e+00] [ 2.78672592e-03 9.99994104e-01 2.00652214e-03 -6.36618911e-03] [ 9.09263400e-04 -2.00906298e-03 9.99997568e-01 6.96861696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682557844 meters 0.2913378659277148 Centerline is valid? [False, False] Translation: X:1.12, Y:0.00, Z:0.70 [[ 9.99999884e-01 -3.53001497e-04 -3.26343357e-04 1.12129738e+00] [ 3.53953984e-04 9.99995665e-01 2.92322870e-03 3.06800025e-03] [ 3.25310038e-04 -2.92334387e-03 9.99995674e-01 7.00133623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74255784399998 meters 0.2916738507184794 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:0.70 [[ 9.99999683e-01 -7.56824903e-04 -2.46677583e-04 1.12102174e+00] [ 7.57290931e-04 9.99997918e-01 1.89463325e-03 7.31530403e-03] [ 2.45243164e-04 -1.89481946e-03 9.99998175e-01 7.00301294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80255784399998 meters 0.2926466955844541 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:0.70 [[ 9.99997873e-01 1.99341707e-03 5.29630587e-04 1.11795036e+00] [-1.99507486e-03 9.99993054e-01 3.14821251e-03 1.61912266e-02] [-5.23351208e-04 -3.14926247e-03 9.99994904e-01 7.01842333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86255784399998 meters 0.2906572347401188 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:0.70 [[ 9.99998269e-01 1.85971075e-03 6.07980246e-05 1.11937888e+00] [-1.85987214e-03 9.99994428e-01 2.77201157e-03 1.77217882e-02] [-5.56425461e-05 -2.77211985e-03 9.99996156e-01 7.01058503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92255784399998 meters 0.2930019440361609 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:0.70 [[ 9.99998416e-01 1.75412044e-03 -3.02263857e-04 1.12056129e+00] [-1.75337584e-03 9.99995471e-01 2.44632083e-03 1.90569710e-02] [ 3.06553630e-04 -2.44578697e-03 9.99996962e-01 7.00213720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98255784399998 meters 0.291556287822617 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:0.70 [[ 9.99998581e-01 1.66817133e-03 -2.34342218e-04 1.12028593e+00] [-1.66764869e-03 9.99996161e-01 2.21304038e-03 2.00246069e-02] [ 2.38033049e-04 -2.21264644e-03 9.99997524e-01 7.00475679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042557844 meters 0.292819394851527 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:0.70 [[ 0.99999775 0.00168566 -0.00128709 1.1594198 ] [-0.00168389 0.99999764 0.00137409 0.02229016] [ 0.00128941 -0.00137192 0.99999823 0.70416683] [ 0. 0. 0. 1. ]] SLAMing on 158.102557844 meters 0.2922307781308065 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.70 [[ 9.99997936e-01 1.46574203e-03 -1.40681570e-03 1.15970474e+00] [-1.46480017e-03 9.99998703e-01 6.70296243e-04 2.51150232e-02] [ 1.40779636e-03 -6.68234156e-04 9.99998786e-01 7.04265789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162557844 meters 0.29304958539811854 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.70 [[ 9.99997926e-01 1.25684988e-03 -1.60233260e-03 1.16026996e+00] [-1.25674704e-03 9.99999208e-01 6.51881667e-05 2.76179497e-02] [ 1.60241326e-03 -6.31743048e-05 9.99998714e-01 7.04199112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222557844 meters 0.29211110681535707 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.70 [[ 9.99998281e-01 1.27558709e-03 -1.34559431e-03 1.15942099e+00] [-1.27541411e-03 9.99999178e-01 1.29405273e-04 2.73222310e-02] [ 1.34575828e-03 -1.27688860e-04 9.99999086e-01 7.04781223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282557844 meters 0.291810909264475 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.70 [[ 9.99998240e-01 1.33199995e-03 -1.32100371e-03 1.15931201e+00] [-1.33159191e-03 9.99999065e-01 3.09721063e-04 2.66028966e-02] [ 1.32141503e-03 -3.07961480e-04 9.99999080e-01 7.04885406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters 0.29140803972747387 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.70 [[ 9.99997816e-01 1.35788784e-03 -1.58898550e-03 1.16037800e+00] [-1.35726030e-03 9.99999001e-01 3.95944472e-04 2.63100162e-02] [ 1.58952156e-03 -3.93786940e-04 9.99998659e-01 7.03603680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters 0.2936392924851065 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:0.71 [[ 9.99996237e-01 1.18988741e-03 -2.47182569e-03 1.19926219e+00] [-1.18914841e-03 9.99999248e-01 3.00417844e-04 2.43753084e-02] [ 2.47218129e-03 -2.97477346e-04 9.99996900e-01 7.07489274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462557844 meters 0.29254348887269943 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.71 [[ 9.99996872e-01 9.46099871e-04 -2.31550145e-03 1.19860067e+00] [-9.47171998e-04 9.99999445e-01 -4.61968922e-04 2.75284962e-02] [ 2.31506310e-03 4.64160655e-04 9.99997213e-01 7.08219223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52255784399998 meters 0.29193653714438617 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.71 [[ 9.99997333e-01 6.83416809e-04 -2.20631975e-03 1.19827957e+00] [-6.86151327e-04 9.99998997e-01 -1.23888312e-03 3.06730565e-02] [ 2.20547087e-03 1.24039369e-03 9.99996799e-01 7.08339219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58255784399998 meters 0.29260631168291185 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.71 [[ 9.99997206e-01 3.15075657e-04 -2.34266818e-03 1.19873037e+00] [-3.20346547e-04 9.99997418e-01 -2.24991714e-03 3.48157281e-02] [ 2.34195324e-03 2.25066132e-03 9.99994725e-01 7.08248260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64255784399998 meters 0.2906632516275097 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.71 [[ 9.99972787e-01 -5.95254100e-03 -4.35799722e-03 1.17620830e+00] [ 5.95500120e-03 9.99982117e-01 5.51766909e-04 3.72278917e-02] [ 4.35463487e-03 -5.77703773e-04 9.99990352e-01 7.09872057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70255784399998 meters 0.2928237667683654 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.71 [[ 9.99987318e-01 3.32070916e-03 -3.78647375e-03 1.19733887e+00] [-3.31960381e-03 9.99994446e-01 2.98168224e-04 3.21652645e-02] [ 3.78744285e-03 -2.85594850e-04 9.99992787e-01 7.09085411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76255784399999 meters 0.2922856962368335 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:0.71 [[ 9.99987795e-01 3.19619199e-03 -3.76739279e-03 1.19697368e+00] [-3.19635423e-03 9.99994891e-01 -3.70448717e-05 3.35775943e-02] [ 3.76725514e-03 4.90863415e-05 9.99992903e-01 7.09874009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822557844 meters 0.29158700328286213 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:0.71 [[ 9.99988495e-01 3.05393716e-03 -3.69913668e-03 1.19656232e+00] [-3.05555106e-03 9.99995239e-01 -4.30718164e-04 3.51971724e-02] [ 3.69780368e-03 4.42016109e-04 9.99993065e-01 7.10503538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882557844 meters 0.2924818151699998 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:0.71 [[ 9.99988517e-01 2.95617002e-03 -3.77194879e-03 1.19686788e+00] [-2.95880271e-03 9.99995383e-01 -6.92576148e-04 3.62887618e-02] [ 3.76988400e-03 7.03728647e-04 9.99992646e-01 7.10267822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942557844 meters 0.2929854982221558 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:0.71 [[ 9.99988446e-01 2.86624993e-03 -3.85904856e-03 1.19726186e+00] [-2.86987272e-03 9.99995446e-01 -9.33568199e-04 3.73165320e-02] [ 3.85635514e-03 9.44632391e-04 9.99992118e-01 7.09913787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002557844 meters 0.29294560843092976 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:0.71 [[ 9.99955514e-01 -5.97460264e-03 -7.29894968e-03 1.17912787e+00] [ 5.97374250e-03 9.99982147e-01 -1.39640337e-04 3.60196943e-02] [ 7.29965367e-03 9.60320795e-05 9.99973353e-01 7.09119984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters 0.29181575290739376 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 9.99956678e-01 -5.71699214e-03 -7.34565720e-03 1.17942728e+00] [ 5.72258872e-03 9.99983351e-01 7.41097200e-04 3.25661344e-02] [ 7.34129806e-03 -7.83101269e-04 9.99972746e-01 7.08563688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters 0.29240787163542736 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.99996035 -0.00540111 -0.00707989 1.17850648] [ 0.00541348 0.99998385 0.00172889 0.02849501] [ 0.00707044 -0.00176715 0.99997344 0.70907255] [ 0. 0. 0. 1. ]] SLAMing on 159.182557844 meters 0.2922376324086114 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.9999627 -0.00514794 -0.00693592 1.17794935] [ 0.00516408 0.999984 0.00231074 0.02607484] [ 0.00692391 -0.00234647 0.99997328 0.70940495] [ 0. 0. 0. 1. ]] SLAMing on 159.24255784399998 meters 0.2920604062324395 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.99996052 -0.00513773 -0.00724955 1.17869354] [ 0.00515477 0.99998399 0.00233491 0.02600148] [ 0.00723744 -0.00237219 0.999971 0.70944015] [ 0. 0. 0. 1. ]] SLAMing on 159.30255784399998 meters 0.2917355224771238 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.99995934 -0.00522004 -0.00735307 1.17884271] [ 0.00523508 0.99998424 0.0020274 0.02720423] [ 0.00734237 -0.00206582 0.99997091 0.70973908] [ 0. 0. 0. 1. ]] SLAMing on 159.36255784399998 meters 0.2911383267953408 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.99996035 -0.00529409 -0.00716015 1.17820273] [ 0.00530732 0.99998424 0.00182937 0.02802675] [ 0.00715035 -0.00186729 0.99997269 0.7101568 ] [ 0. 0. 0. 1. ]] SLAMing on 159.42255784399998 meters 0.29081807126949266 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:0.71 [[ 0.99996293 -0.00523882 -0.00683392 1.17731984] [ 0.00525285 0.99998413 0.00203621 0.02719105] [ 0.00682314 -0.00207204 0.99997458 0.71042896] [ 0. 0. 0. 1. ]] SLAMing on 159.48255784399998 meters 0.2916757691477697 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.71 [[ 0.99995904 -0.00505133 -0.00750981 1.1791541 ] [ 0.00507207 0.99998337 0.00274559 0.0245337 ] [ 0.00749581 -0.00278357 0.99996803 0.70952562] [ 0. 0. 0. 1. ]] SLAMing on 159.542557844 meters 0.2918376880459002 Centerline is valid? [False, False] Translation: X:1.18, Y:0.02, Z:0.71 [[ 0.99995885 -0.00486262 -0.00765817 1.17976373] [ 0.00488841 0.99998243 0.00335237 0.02210482] [ 0.00764173 -0.00338967 0.99996506 0.7087846 ] [ 0. 0. 0. 1. ]] SLAMing on 159.602557844 meters 0.29384698070006937 Centerline is valid? [False, False] Translation: X:1.20, Y:0.01, Z:0.71 [[ 9.99980118e-01 2.66683315e-04 -6.30019993e-03 1.20118169e+00] [-2.66221726e-04 9.99999962e-01 7.41044275e-05 1.27654203e-02] [ 6.30021945e-03 -7.24257040e-05 9.99980151e-01 7.08097831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662557844 meters 0.29051560228533174 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:0.71 [[ 9.99993049e-01 2.45048952e-04 -3.72051286e-03 1.15814395e+00] [-2.41488936e-04 9.99999513e-01 9.57280802e-04 1.11952851e-02] [ 3.72074563e-03 -9.56375685e-04 9.99992621e-01 7.05782572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722557844 meters 0.2926958376611249 Centerline is valid? [False, False] Translation: X:1.20, Y:0.00, Z:0.71 [[ 9.99988005e-01 -4.51498053e-05 -4.89766907e-03 1.19836388e+00] [ 5.10217450e-05 9.99999280e-01 1.19880707e-03 4.39573803e-03] [ 4.89761142e-03 -1.19904257e-03 9.99987288e-01 7.08401866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782557844 meters 0.29214712680805194 Centerline is valid? [False, False] Translation: X:1.20, Y:0.00, Z:0.71 [[ 9.99987525e-01 8.10958441e-05 -4.99428320e-03 1.19863101e+00] [-7.34907513e-05 9.99998838e-01 1.52292431e-03 3.06756246e-03] [ 4.99440090e-03 -1.52253828e-03 9.99986369e-01 7.08316712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842557844 meters 0.29140312532867124 Centerline is valid? [False, False] Translation: X:1.20, Y:0.00, Z:0.71 [[ 9.99987178e-01 1.70030253e-04 -5.06109603e-03 1.19867381e+00] [-1.61149445e-04 9.99998447e-01 1.75507630e-03 2.13272314e-03] [ 5.06138658e-03 -1.75423820e-03 9.99985652e-01 7.08560250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902557844 meters 0.29375897178816623 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:0.71 [[ 9.99980579e-01 -8.34272632e-04 -6.17616875e-03 1.23850907e+00] [ 8.38562755e-04 9.99999409e-01 6.92068261e-04 -2.21803151e-03] [ 6.17558772e-03 -6.97233925e-04 9.99980688e-01 7.11724218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962557844 meters 0.29251381949880917 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:0.71 [[ 9.99979575e-01 -7.62114759e-04 -6.34583633e-03 1.23895102e+00] [ 7.67756817e-04 9.99999312e-01 8.86707381e-04 -2.99695933e-03] [ 6.34515620e-03 -8.91561329e-04 9.99979472e-01 7.11655863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02255784399998 meters 0.29325772608583256 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:0.71 [[ 0.9999803 0.00483474 -0.00400219 1.25995961] [-0.00484507 0.99998495 -0.00257577 -0.00687794] [ 0.00398968 0.00259511 0.99998867 0.71115167] [ 0. 0. 0. 1. ]] SLAMing on 160.08255784399998 meters 0.29238271415106315 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:0.71 [[ 0.99998032 0.00497063 -0.00382766 1.25923254] [-0.00497908 0.99998519 -0.00219901 -0.00848095] [ 0.00381667 0.00221803 0.99999026 0.71178993] [ 0. 0. 0. 1. ]] SLAMing on 160.14255784399998 meters 0.2920811795070368 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:0.71 [[ 0.99997885 0.00521773 -0.00388364 1.2595787 ] [-0.0052235 0.99998526 -0.00147908 -0.01145731] [ 0.00387587 0.00149934 0.99999136 0.71122218] [ 0. 0. 0. 1. ]] SLAMing on 160.20255784399998 meters 0.29189679063508883 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.01, Z:0.71 [[ 9.99978157e-01 5.35354840e-03 -3.87625462e-03 1.25952641e+00] [-5.35796973e-03 9.99985006e-01 -1.13113436e-03 -1.28911323e-02] [ 3.87014092e-03 1.15187851e-03 9.99991848e-01 7.11244765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26255784399999 meters 0.2918995964648087 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.01, Z:0.72 [[ 9.99998962e-01 -1.43177454e-03 1.58391863e-04 1.27426758e+00] [ 1.43156370e-03 9.99998100e-01 1.32332006e-03 -1.23562220e-02] [-1.60286258e-04 -1.32309194e-03 9.99999112e-01 7.15015094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322557844 meters 0.2920903110606555 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.01, Z:0.72 [[ 9.99999083e-01 -1.32400805e-03 2.83153291e-04 1.27391283e+00] [ 1.32354756e-03 9.99997811e-01 1.62033585e-03 -1.35778441e-02] [-2.85298009e-04 -1.61995960e-03 9.99998647e-01 7.15068601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382557844 meters 0.29149186135507216 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.71 [[ 0.99998834 0.00258915 -0.00407689 1.25585669] [-0.00259927 0.99999355 -0.00247752 -0.01619972] [ 0.00407045 0.00248809 0.99998862 0.713604 ] [ 0. 0. 0. 1. ]] SLAMing on 160.442557844 meters 0.2911469996776552 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.71 [[ 0.9999883 0.00269477 -0.00401714 1.25552031] [-0.00270358 0.99999395 -0.00218874 -0.01740144] [ 0.00401122 0.00219957 0.99998954 0.7139981 ] [ 0. 0. 0. 1. ]] SLAMing on 160.502557844 meters 0.29251758733579314 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.71 [[ 0.99998747 0.00267383 -0.0042317 1.2561864 ] [-0.00268337 0.99999387 -0.00224966 -0.01713226] [ 0.00422566 0.00226099 0.99998852 0.71371183] [ 0. 0. 0. 1. ]] SLAMing on 160.562557844 meters 0.29171514491944744 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.71 [[ 0.99998789 0.00262615 -0.004161 1.25606177] [-0.00263608 0.99999369 -0.00238231 -0.0165897 ] [ 0.00415472 0.00239325 0.99998851 0.71359009] [ 0. 0. 0. 1. ]] SLAMing on 160.622557844 meters 0.290769846326081 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.72 [[ 0.99998847 0.00259444 -0.00404156 1.25522245] [-0.00260449 0.99999352 -0.00248345 -0.01622347] [ 0.00403509 0.00249394 0.99998875 0.71505109] [ 0. 0. 0. 1. ]] SLAMing on 160.682557844 meters 0.2923230398454156 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.02, Z:0.71 [[ 9.99992869e-01 -3.48970003e-03 -1.44346758e-03 1.27918357e+00] [ 3.49031239e-03 9.99993820e-01 4.21926189e-04 -2.00308086e-02] [ 1.44198626e-03 -4.26961333e-04 9.99998869e-01 7.11914607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74255784399998 meters 0.2925284249414622 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.02, Z:0.71 [[ 9.99993071e-01 -3.41534380e-03 -1.48124967e-03 1.27972010e+00] [ 3.41628521e-03 9.99993964e-01 6.33488069e-04 -2.09285164e-02] [ 1.47907715e-03 -6.38544050e-04 9.99998702e-01 7.10703767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80255784399998 meters 0.291615198459842 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.02, Z:0.71 [[ 9.99993130e-01 -3.39394621e-03 -1.49010903e-03 1.27971549e+00] [ 3.39497684e-03 9.99993999e-01 6.89666967e-04 -2.11618314e-02] [ 1.48775939e-03 -6.94721115e-04 9.99998652e-01 7.10759855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86255784399998 meters 0.2924075567942169 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.02, Z:0.71 [[ 9.99992030e-01 -3.60018585e-03 -1.72569245e-03 1.28023765e+00] [ 3.60025536e-03 9.99993518e-01 3.71789677e-05 -1.85469533e-02] [ 1.72554741e-03 -4.33916049e-05 9.99998510e-01 7.10992529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92255784399998 meters 0.29232525431038914 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.02, Z:0.71 [[ 9.99991582e-01 -3.70762362e-03 -1.75745484e-03 1.28055839e+00] [ 3.70719458e-03 9.99993098e-01 -2.47321130e-04 -1.73534153e-02] [ 1.75835968e-03 2.40803821e-04 9.99998425e-01 7.10490556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98255784399998 meters 0.2902354035354217 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.02, Z:0.71 [[ 9.99985847e-01 5.22497120e-03 -1.00316043e-03 1.25707844e+00] [-5.22597964e-03 9.99985839e-01 -1.00529093e-03 -1.82016293e-02] [ 9.97893611e-04 1.01051920e-03 9.99998992e-01 7.10655982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042557844 meters 0.2907884379791903 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.01, Z:0.71 [[ 9.99997038e-01 -2.34835664e-03 6.39795846e-04 1.27492337e+00] [ 2.34815460e-03 9.99997193e-01 3.16365903e-04 -1.08027007e-02] [-6.40536990e-04 -3.14862626e-04 9.99999745e-01 7.13619328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102557844 meters 0.29222325144367384 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:0.71 [[ 9.99996395e-01 -2.63020363e-03 5.40999171e-04 1.27512127e+00] [ 2.63045047e-03 9.99996436e-01 -4.56075153e-04 -7.65515289e-03] [-5.39797673e-04 4.57496581e-04 9.99999750e-01 7.13806971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162557844 meters 0.2904447741436381 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.72 [[ 9.99999248e-01 -1.71399351e-04 1.21438139e-03 1.27108841e+00] [ 1.70584764e-04 9.99999760e-01 6.70855180e-04 8.47120343e-04] [-1.21449608e-03 -6.70647521e-04 9.99999038e-01 7.17511389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222557844 meters 0.28999825385601624 Centerline is valid? [False, False] Translation: X:1.27, Y:0.00, Z:0.72 [[ 9.99999044e-01 -4.45784980e-04 1.30902031e-03 1.27077785e+00] [ 4.45936219e-04 9.99999894e-01 -1.15246852e-04 4.02789308e-03] [-1.30896880e-03 1.15830481e-04 9.99999137e-01 7.17744596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters 0.2898739518461447 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:0.72 [[ 9.99999055e-01 -7.84846962e-04 1.12889667e-03 1.27165062e+00] [ 7.86046501e-04 9.99999127e-01 -1.06252563e-03 8.16414704e-03] [-1.12806176e-03 1.06341199e-03 9.99998798e-01 7.16731889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters 0.29042629959695004 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:0.72 [[ 9.99994131e-01 3.24864429e-03 1.08842459e-03 1.27195459e+00] [-3.25129277e-03 9.99991737e-01 2.44045493e-03 1.15925245e-02] [-1.08048743e-03 -2.44397939e-03 9.99996430e-01 7.16347784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402557844 meters 0.2898173244881622 Centerline is valid? [False, False] Translation: X:1.27, Y:0.01, Z:0.72 [[ 9.99994754e-01 3.02075170e-03 1.16918562e-03 1.27166642e+00] [-3.02289149e-03 9.99993752e-01 1.83273795e-03 1.41407380e-02] [-1.16364207e-03 -1.83626266e-03 9.99997637e-01 7.16634538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462557844 meters 0.2902801207042523 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:0.72 [[ 9.99995501e-01 2.77145550e-03 1.14775545e-03 1.27172555e+00] [-2.77285117e-03 9.99995416e-01 1.21619369e-03 1.67234525e-02] [-1.14437956e-03 -1.21937078e-03 9.99998602e-01 7.16684039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52255784399998 meters 0.28993721485599294 Centerline is valid? [False, False] Translation: X:1.27, Y:0.02, Z:0.72 [[ 9.99996917e-01 2.36241469e-03 7.65396552e-04 1.27282712e+00] [-2.36242786e-03 9.99997209e-01 1.63065682e-05 2.17043867e-02] [-7.65355893e-04 -1.81147121e-05 9.99999707e-01 7.16472983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58255784399998 meters 0.2903815144839202 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:0.72 [[ 9.99997665e-01 2.03284439e-03 7.32554826e-04 1.27275846e+00] [-2.03210718e-03 9.99997430e-01 -1.00570380e-03 2.58544911e-02] [-7.34597382e-04 1.00421282e-03 9.99999226e-01 7.16882016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64255784399998 meters 0.2912562612526179 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:0.72 [[ 9.99998488e-01 1.70004252e-03 3.66226664e-04 1.27383292e+00] [-1.69921957e-03 9.99996057e-01 -2.23582831e-03 3.07077848e-02] [-3.70026223e-04 2.23520262e-03 9.99997433e-01 7.16572544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70255784399998 meters 0.2901318829840339 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:0.72 [[ 9.99998924e-01 1.46327997e-03 1.08426128e-04 1.27453769e+00] [-1.46294297e-03 9.99994292e-01 -3.04563434e-03 3.39320760e-02] [-1.12882125e-04 3.04547244e-03 9.99995356e-01 7.16432070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76255784399999 meters 0.2892413805216357 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:0.72 [[ 9.99987212e-01 -4.28337453e-03 2.68870510e-03 1.25278212e+00] [ 4.28498862e-03 9.99990642e-01 -5.94848080e-04 4.42419675e-02] [-2.68613198e-03 6.06361544e-04 9.99996209e-01 7.15931023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822557844 meters 0.29054777341185706 Centerline is valid? [False, False] Translation: X:1.29, Y:0.04, Z:0.72 [[ 9.99993674e-01 -2.87806469e-03 2.08999231e-03 1.29177726e+00] [ 2.87704382e-03 9.99995741e-01 4.91299156e-04 4.49310583e-02] [-2.09139740e-03 -4.85283049e-04 9.99997695e-01 7.19282442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882557844 meters 0.2899023099079968 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:0.72 [[ 9.99992778e-01 -3.02122867e-03 2.30585096e-03 1.29112292e+00] [ 3.02113353e-03 9.99995435e-01 4.47406653e-05 4.67349358e-02] [-2.30597561e-03 -3.77740585e-05 9.99997341e-01 7.19588714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942557844 meters 0.28960986408913325 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:0.72 [[ 9.99992283e-01 -3.18555932e-03 2.29925387e-03 1.29120784e+00] [ 3.18667264e-03 9.99994807e-01 -4.80710549e-04 4.88364982e-02] [-2.29771060e-03 4.88033809e-04 9.99997241e-01 7.19436334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002557844 meters 0.28935907927026644 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:0.72 [[ 9.99992622e-01 -3.25272714e-03 2.04367751e-03 1.29193031e+00] [ 3.25417566e-03 9.99994456e-01 -7.05857741e-04 4.97646771e-02] [-2.04137022e-03 7.12503018e-04 9.99997663e-01 7.19202299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062557844 meters 0.2898647363314755 Centerline is valid? [False, False] Translation: X:1.31, Y:0.05, Z:0.72 [[ 9.99965753e-01 6.63768182e-03 4.94300828e-03 1.31169100e+00] [-6.63434419e-03 9.99977754e-01 -6.91315184e-04 5.29242906e-02] [-4.94748704e-03 6.58497890e-04 9.99987544e-01 7.19508604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122557844 meters 0.2885112901413103 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:0.72 [[ 9.99992419e-01 -2.39375625e-03 3.07105877e-03 1.29167772e+00] [ 2.39706468e-03 9.99996550e-01 -1.07406519e-03 6.13566081e-02] [-3.06847713e-03 1.08141858e-03 9.99994707e-01 7.19959628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182557844 meters 0.2890238860799582 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:0.72 [[ 0.99999322 -0.00255837 0.00265024 1.29300824] [ 0.00256289 0.99999527 -0.00170195 0.06398765] [-0.00264587 0.00170873 0.99999504 0.71915252] [ 0. 0. 0. 1. ]] SLAMing on 162.24255784399998 meters 0.2891185567795015 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:0.72 [[ 0.99999276 -0.0026837 0.00269654 1.29289744] [ 0.00268919 0.99999432 -0.00203253 0.06536843] [-0.00269107 0.00203977 0.9999943 0.71913748] [ 0. 0. 0. 1. ]] SLAMing on 162.30255784399998 meters 0.28814972075964523 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:0.72 [[ 0.99999298 -0.0026883 0.00260979 1.29287425] [ 0.00269365 0.99999427 -0.00204827 0.06542475] [-0.00260427 0.00205528 0.9999945 0.71971343] [ 0. 0. 0. 1. ]] SLAMing on 162.36255784399998 meters 0.2899485556522112 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:0.72 [[ 9.99998970e-01 -8.78580001e-04 1.13495171e-03 1.33271326e+00] [ 8.78642134e-04 9.99999613e-01 -5.42482794e-05 6.71106508e-02] [-1.13490361e-03 5.52454400e-05 9.99999354e-01 7.23243151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42255784399998 meters 0.2890081995822996 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:0.72 [[ 9.99998714e-01 -9.49373499e-04 1.29238917e-03 1.33211729e+00] [ 9.49715741e-04 9.99999514e-01 -2.64226205e-04 6.79728868e-02] [-1.29213769e-03 2.65453268e-04 9.99999130e-01 7.23810162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48255784399998 meters 0.28766388606885546 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:0.72 [[ 9.99996667e-01 -5.20733491e-04 2.52886413e-03 1.29101728e+00] [ 5.22101522e-04 9.99999718e-01 -5.40336594e-04 6.87196232e-02] [-2.52858205e-03 5.41655117e-04 9.99996656e-01 7.22508384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542557844 meters 0.28803226290241873 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:0.72 [[ 9.99997115e-01 -4.11515342e-04 2.36641277e-03 1.29145752e+00] [ 4.12094116e-04 9.99999885e-01 -2.44096418e-04 6.75084846e-02] [-2.36631205e-03 2.45070899e-04 9.99997170e-01 7.22418009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602557844 meters 0.28947974181486513 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:0.72 [[ 9.99997000e-01 -3.02397030e-04 2.43067121e-03 1.29109181e+00] [ 3.02194479e-04 9.99999951e-01 8.36981450e-05 6.61838725e-02] [-2.43069640e-03 -8.29633585e-05 9.99997042e-01 7.22963436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662557844 meters 0.2871504815957872 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:0.72 [[ 9.99996580e-01 -1.37204734e-04 2.61173804e-03 1.29040178e+00] [ 1.35845066e-04 9.99999855e-01 5.20769487e-04 6.44023418e-02] [-2.61180912e-03 -5.20412915e-04 9.99996454e-01 7.23532686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722557844 meters 0.2874504062606599 Centerline is valid? [False, False] Translation: X:1.31, Y:0.06, Z:0.73 [[ 9.99958708e-01 8.07665511e-03 4.16538764e-03 1.30945274e+00] [-8.07535915e-03 9.99967340e-01 -3.27850364e-04 5.74219308e-02] [-4.16789953e-03 2.94199825e-04 9.99991271e-01 7.25269610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782557844 meters 0.28818168449478493 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:0.72 [[ 9.99999917e-01 -2.27930602e-04 3.38529049e-04 1.29164703e+00] [ 2.27517737e-04 9.99999231e-01 1.21912296e-03 5.24380227e-02] [-3.38806664e-04 -1.21904583e-03 9.99999200e-01 7.24521821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842557844 meters 0.2893101074561202 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:0.72 [[ 9.99996295e-01 -2.58808923e-03 -8.44103634e-04 1.29668837e+00] [ 2.58792562e-03 9.99996632e-01 -1.94861162e-04 4.50967224e-02] [ 8.44605110e-04 1.92675962e-04 9.99999625e-01 7.21596170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters 0.28861144813568945 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:0.72 [[ 9.99997190e-01 -2.22876237e-03 -8.07585722e-04 1.29661173e+00] [ 2.22948460e-03 9.99997115e-01 8.94519468e-04 4.07428245e-02] [ 8.05589720e-04 -8.96317455e-04 9.99999274e-01 7.21589533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters 0.2887282204150863 Centerline is valid? [False, False] Translation: X:1.30, Y:0.04, Z:0.72 [[ 9.99997821e-01 -1.84754669e-03 -9.71967522e-04 1.29727160e+00] [ 1.84959389e-03 9.99996064e-01 2.10957792e-03 3.59258522e-02] [ 9.68066153e-04 -2.11137107e-03 9.99997302e-01 7.21075560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02255784399998 meters 0.2894250370107235 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.72 [[ 9.99998444e-01 -1.34973542e-03 -1.13626750e-03 1.29776495e+00] [ 1.35367729e-03 9.99993044e-01 3.47554927e-03 3.03888977e-02] [ 1.13156852e-03 -3.47708200e-03 9.99993315e-01 7.20925707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08255784399998 meters 0.2886958020051621 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.72 [[ 9.99998634e-01 -1.18228862e-03 -1.15517010e-03 1.29773166e+00] [ 1.18678977e-03 9.99991677e-01 3.90364040e-03 2.86342005e-02] [ 1.15054526e-03 -3.90500601e-03 9.99991714e-01 7.21134888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14255784399998 meters 0.2895303135450107 Centerline is valid? [False, False] Translation: X:1.32, Y:0.03, Z:0.72 [[ 0.99998124 0.00593463 0.00151548 1.31850953] [-0.00593735 0.99998076 0.0017979 0.02616817] [-0.00150478 -0.00180686 0.99999724 0.72049503] [ 0. 0. 0. 1. ]] SLAMing on 163.20255784399998 meters 0.2902126432319587 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 0.99998038 0.00609316 0.00145178 1.31859372] [-0.00609633 0.99997903 0.00218451 0.0245727 ] [-0.00143844 -0.00219331 0.99999656 0.7206702 ] [ 0. 0. 0. 1. ]] SLAMing on 163.26255784399999 meters 0.29081941018841184 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99989427e-01 4.58894994e-03 2.94377624e-04 1.32407171e+00] [-4.58922756e-03 9.99989019e-01 9.49434214e-04 2.29625719e-02] [-2.90017486e-04 -9.50775142e-04 9.99999506e-01 7.16873699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322557844 meters 0.2905641530554986 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99988527e-01 4.78378779e-03 2.46434548e-04 1.32422035e+00] [-4.78413739e-03 9.99987522e-01 1.43813708e-03 2.09451280e-02] [-2.39551731e-04 -1.43929956e-03 9.99998936e-01 7.16827817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382557844 meters 0.2893880298640735 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99997968e-01 1.66764432e-03 1.13269085e-03 1.32054900e+00] [-1.66655239e-03 9.99998146e-01 -9.64281427e-04 1.64289328e-02] [-1.13429683e-03 9.62391779e-04 9.99998894e-01 7.18945695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442557844 meters 0.29009385317087344 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99997831e-01 1.69974860e-03 1.20357633e-03 1.32058838e+00] [-1.69870997e-03 9.99998184e-01 -8.63445844e-04 1.60194763e-02] [-1.20504178e-03 8.61399444e-04 9.99998903e-01 7.18414691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502557844 meters 0.291981383932816 Centerline is valid? [False, False] Translation: X:1.34, Y:0.02, Z:0.72 [[ 0.99998826 -0.00366864 0.00316421 1.34278815] [ 0.00365942 0.99998906 0.0029148 0.01589382] [-0.00317487 -0.00290319 0.99999075 0.71728053] [ 0. 0. 0. 1. ]] SLAMing on 163.562557844 meters 0.28982115212695536 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99996984e-01 2.07238132e-03 1.31795675e-03 1.32154696e+00] [-2.07167068e-03 9.99997708e-01 -5.40334245e-04 1.44296039e-02] [-1.31907350e-03 5.37602243e-04 9.99998986e-01 7.17690480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622557844 meters 0.29062894984441695 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99997544e-01 1.86107012e-03 1.20336296e-03 1.32213254e+00] [-1.85975794e-03 9.99997676e-01 -1.09063611e-03 1.67267553e-02] [-1.20538991e-03 1.08839547e-03 9.99998681e-01 7.17073955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682557844 meters 0.2906298079216001 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99997788e-01 1.70800481e-03 1.22784824e-03 1.32192795e+00] [-1.70613229e-03 9.99997383e-01 -1.52446953e-03 1.85110936e-02] [-1.23044883e-03 1.52237128e-03 9.99998084e-01 7.17409442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74255784399998 meters 0.2905034276744515 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99998044e-01 1.61478901e-03 1.14247391e-03 1.32215114e+00] [-1.61276658e-03 9.99997135e-01 -1.76893249e-03 1.95172369e-02] [-1.14532709e-03 1.76708648e-03 9.99997783e-01 7.17386073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80255784399998 meters 0.289925696550865 Centerline is valid? [False, False] Translation: X:1.30, Y:0.02, Z:0.72 [[ 9.99984076e-01 -5.31740771e-03 -1.89006337e-03 1.30044378e+00] [ 5.31908073e-03 9.99985465e-01 8.81244471e-04 1.58685875e-02] [ 1.88534996e-03 -8.91283838e-04 9.99997826e-01 7.19496223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86255784399998 meters 0.29019474124534805 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99993728e-01 3.53301568e-03 2.48903465e-04 1.31988526e+00] [-3.53312230e-03 9.99993666e-01 4.29237447e-04 1.17924933e-02] [-2.47385385e-04 -4.30114161e-04 9.99999877e-01 7.20074542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92255784399998 meters 0.29068174472301234 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99994049e-01 3.44976769e-03 -1.65010119e-05 1.32075723e+00] [-3.44976481e-03 9.99994035e-01 1.71430096e-04 1.27979469e-02] [ 1.70923074e-05 -1.71372151e-04 9.99999985e-01 7.19347334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98255784399998 meters 0.29125451532989344 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999135e-01 1.16361333e-03 -6.12528203e-04 1.32434694e+00] [-1.16469976e-03 9.99997744e-01 -1.77632063e-03 1.09237721e-02] [ 6.10459871e-04 1.77703251e-03 9.99998235e-01 7.16426115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042557844 meters 0.2902294160004591 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999418e-01 1.04850396e-03 -2.56175986e-04 1.32339569e+00] [-1.04907291e-03 9.99996961e-01 -2.23098672e-03 1.26977138e-02] [ 2.53836010e-04 2.23125416e-03 9.99997479e-01 7.16661507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102557844 meters 0.28996892329291346 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999611e-01 8.81815327e-04 -2.35206229e-05 1.32266653e+00] [-8.81876126e-04 9.99995901e-01 -2.72401681e-03 1.47365119e-02] [ 2.11184467e-05 2.72403650e-03 9.99996290e-01 7.17007696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162557844 meters 0.2916744865483076 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 9.99999641e-01 8.41662794e-04 -9.52778992e-05 1.32284583e+00] [-8.41929720e-04 9.99995621e-01 -2.83706195e-03 1.51880296e-02] [ 9.28896325e-05 2.83714115e-03 9.99995971e-01 7.16997749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters 0.29073089459872736 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999516e-01 8.93421578e-04 -4.13076799e-04 1.32339829e+00] [-8.94514210e-04 9.99996082e-01 -2.65253214e-03 1.44729201e-02] [ 4.10705351e-04 2.65290036e-03 9.99996397e-01 7.17590918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282557844 meters 0.2902966639376289 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999387e-01 1.06189075e-03 -3.13714078e-04 1.32303583e+00] [-1.06254584e-03 9.99997240e-01 -2.09545033e-03 1.22975378e-02] [ 3.11488073e-04 2.09578239e-03 9.99997755e-01 7.17980753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342557844 meters 0.2907096043553641 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999266e-01 1.19818377e-03 -1.77521471e-04 1.32241461e+00] [-1.19844455e-03 9.99998192e-01 -1.47625266e-03 9.91830220e-03] [ 1.75752328e-04 1.47646432e-03 9.99998895e-01 7.18823948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402557844 meters 0.2913889016338714 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:0.72 [[ 0.99998594 -0.00439688 0.00296332 1.34337279] [ 0.00438991 0.99998759 0.00235465 0.00502416] [-0.00297364 -0.00234161 0.99999284 0.71833293] [ 0. 0. 0. 1. ]] SLAMing on 164.462557844 meters 0.29041701086581845 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:0.72 [[ 0.9999867 -0.00412521 0.00309517 1.34263195] [ 0.00411543 0.99998654 0.00315964 0.00164544] [-0.00310816 -0.00314686 0.99999022 0.71927692] [ 0. 0. 0. 1. ]] SLAMing on 164.52255784399998 meters 0.289855895410671 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99999010e-01 1.22974796e-03 -6.83941853e-04 1.32192491e+00] [-1.22989890e-03 9.99999219e-01 -2.20316894e-04 3.32994505e-03] [ 6.83670384e-04 2.21157855e-04 9.99999742e-01 7.20660009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58255784399998 meters 0.29110185740233946 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99998991e-01 1.21039327e-03 -7.43567580e-04 1.32220517e+00] [-1.21059486e-03 9.99999231e-01 -2.70719889e-04 3.52969859e-03] [ 7.43239330e-04 2.71619775e-04 9.99999687e-01 7.20350168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64255784399998 meters 0.29141143565011096 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99998858e-01 1.22807168e-03 -8.80953218e-04 1.32266293e+00] [-1.22827777e-03 9.99999218e-01 -2.33442982e-04 3.34398697e-03] [ 8.80665845e-04 2.34524770e-04 9.99999585e-01 7.20131782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70255784399998 meters 0.29150502146453394 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99998896e-01 1.14364786e-03 -9.49000126e-04 1.32308488e+00] [-1.14407552e-03 9.99999244e-01 -4.50220242e-04 4.24693209e-03] [ 9.48484515e-04 4.51305473e-04 9.99999448e-01 7.19560255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76255784399999 meters 0.2909258099927408 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99999170e-01 1.15426884e-03 -5.72334201e-04 1.32192514e+00] [-1.15450904e-03 9.99999246e-01 -4.19546776e-04 4.15280979e-03] [ 5.71849500e-04 4.20207193e-04 9.99999748e-01 7.20320002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822557844 meters 0.29189825152505106 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99999169e-01 1.21854310e-03 -4.19706709e-04 1.32121548e+00] [-1.21863650e-03 9.99999233e-01 -2.22367576e-04 3.37740149e-03] [ 4.19435422e-04 2.22878861e-04 9.99999887e-01 7.21221262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882557844 meters 0.2916382444806335 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99999235e-01 1.23136315e-03 -1.16274650e-04 1.32048258e+00] [-1.23138385e-03 9.99999226e-01 -1.78081925e-04 3.20317919e-03] [ 1.16055276e-04 1.78224967e-04 9.99999977e-01 7.21198384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942557844 meters 0.2905798491972697 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:0.72 [[ 9.99999341e-01 1.14610766e-03 -6.93245956e-05 1.32012411e+00] [-1.14613587e-03 9.99999260e-01 -4.08265891e-04 4.17932111e-03] [ 6.88566277e-05 4.08345078e-04 9.99999914e-01 7.21763455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002557844 meters 0.29162095193802345 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999516e-01 9.51387186e-04 -2.48867307e-04 1.32075794e+00] [-9.51623972e-04 9.99999093e-01 -9.53073533e-04 6.49368156e-03] [ 2.47960339e-04 9.53309900e-04 9.99999515e-01 7.21330337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062557844 meters 0.29091936153982073 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999602e-01 8.91550497e-04 -3.32083313e-05 1.32004059e+00] [-8.91587155e-04 9.99998975e-01 -1.12072824e-03 7.18421636e-03] [ 3.22091115e-05 1.12075741e-03 9.99999371e-01 7.21802586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122557844 meters 0.2907222185085174 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99999706e-01 7.64562274e-04 -5.05979804e-05 1.32023678e+00] [-7.64634700e-04 9.99998660e-01 -1.44720579e-03 8.51636230e-03] [ 4.94914337e-05 1.44724406e-03 9.99998952e-01 7.21453355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182557844 meters 0.2900292761215486 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:0.72 [[ 9.99978553e-01 -5.83502799e-03 -2.97410503e-03 1.30005833e+00] [ 5.83835281e-03 9.99982340e-01 1.11046679e-03 1.04206812e-02] [ 2.96757290e-03 -1.12780685e-03 9.99994961e-01 7.21498932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24255784399998 meters 0.29125346647936584 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99992437e-01 3.46250300e-03 -1.77135636e-03 1.31990612e+00] [-3.46183378e-03 9.99993935e-01 3.80728137e-04 7.97105615e-03] [ 1.77266389e-03 -3.74593116e-04 9.99998359e-01 7.21391977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30255784399998 meters 0.2924750236386946 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99991582e-01 3.36500706e-03 -2.34787801e-03 1.32145456e+00] [-3.36478728e-03 9.99994334e-01 9.75530096e-05 9.09612281e-03] [ 2.34819297e-03 -8.96520784e-05 9.99997239e-01 7.20844631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36255784399998 meters 0.29215235127664974 Centerline is valid? [False, False] Translation: X:1.32, Y:0.01, Z:0.72 [[ 9.99992291e-01 3.11474833e-03 -2.39102286e-03 1.32163550e+00] [-3.11597829e-03 9.99995015e-01 -5.10855358e-04 1.15984161e-02] [ 2.38941975e-03 5.18301795e-04 9.99997011e-01 7.20704140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42255784399998 meters 0.29165393870807627 Centerline is valid? [False, False] Translation: X:1.32, Y:0.02, Z:0.72 [[ 0.9999948 0.00246448 -0.00208127 1.32028872] [-0.00246921 0.99999436 -0.00227493 0.01901744] [ 0.00207565 0.00228006 0.99999525 0.72171173] [ 0. 0. 0. 1. ]] SLAMing on 165.48255784399998 meters 0.2906834143826157 Centerline is valid? [False, False] Translation: X:1.30, Y:0.03, Z:0.72 [[ 0.99998053 -0.00569746 -0.00254358 1.30177479] [ 0.00569289 0.99998218 -0.00179999 0.03055301] [ 0.00255379 0.00178547 0.99999515 0.7195124 ] [ 0. 0. 0. 1. ]] SLAMing on 165.542557844 meters 0.29151346312797194 Centerline is valid? [False, False] Translation: X:1.32, Y:0.03, Z:0.72 [[ 9.99994747e-01 3.22634944e-03 -3.09369955e-04 1.32214877e+00] [-3.22721590e-03 9.99990753e-01 -2.84237490e-03 3.16484153e-02] [ 3.00196600e-04 2.84335837e-03 9.99995913e-01 7.18841149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602557844 meters 0.29234427948914166 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:0.72 [[ 9.99976998e-01 -6.64732389e-03 1.34786946e-03 1.34172659e+00] [ 6.65139482e-03 9.99973263e-01 -3.03861652e-03 3.49267065e-02] [-1.32763475e-03 3.04751183e-03 9.99994475e-01 7.20388537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662557844 meters 0.29124263714313925 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:0.72 [[ 0.99997706 -0.00658907 0.00156798 1.34105539] [ 0.00659354 0.99997416 -0.00286284 0.0341976 ] [-0.00154908 0.00287312 0.99999467 0.72069406] [ 0. 0. 0. 1. ]] SLAMing on 165.722557844 meters 0.2911001274159912 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:0.72 [[ 0.99997652 -0.00662987 0.00173467 1.34054087] [ 0.00663503 0.99997353 -0.00298494 0.03469365] [-0.00171483 0.00299638 0.99999404 0.7209566 ] [ 0. 0. 0. 1. ]] SLAMing on 165.782557844 meters 0.2904803223804282 Centerline is valid? [False, False] Translation: X:1.34, Y:0.03, Z:0.72 [[ 9.99978837e-01 -6.45780575e-03 7.89117114e-04 1.34296324e+00] [ 6.45988520e-03 9.99975592e-01 -2.66165093e-03 3.38104218e-02] [-7.71909428e-04 2.66669220e-03 9.99996146e-01 7.20359237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842557844 meters 0.2916257078960084 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 0.99998943 0.00411785 0.00204571 1.36499566] [-0.00411349 0.99998927 -0.00212853 0.03472938] [-0.00205446 0.00212009 0.99999564 0.71970001] [ 0. 0. 0. 1. ]] SLAMing on 165.902557844 meters 0.29186830517623635 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99995848e-01 3.05945558e-04 2.86545529e-03 1.36244237e+00] [-2.90330144e-04 9.99985115e-01 -5.44837144e-03 3.22531019e-02] [-2.86707955e-03 5.44751689e-03 9.99981052e-01 7.20752943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962557844 meters 0.2915717384167568 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99995329e-01 2.84493291e-04 3.04332879e-03 1.36207947e+00] [-2.67677911e-04 9.99984705e-01 -5.52430563e-03 3.25810383e-02] [-3.04485388e-03 5.52346519e-03 9.99980110e-01 7.20562414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02255784399998 meters 0.29181430453837104 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99995196e-01 3.46085523e-04 3.08040960e-03 1.36252764e+00] [-3.29620173e-04 9.99985666e-01 -5.34408558e-03 3.17767089e-02] [-3.08221495e-03 5.34304454e-03 9.99980976e-01 7.19106136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08255784399998 meters 0.291568758572528 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99995812e-01 4.01272173e-04 2.86612173e-03 1.36317695e+00] [-3.86388585e-04 9.99986449e-01 -5.19160401e-03 3.11461105e-02] [-2.86816613e-03 5.19047483e-03 9.99982416e-01 7.18784262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14255784399998 meters 0.29227106789969914 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99995421e-01 4.02028792e-04 2.99928886e-03 1.36270754e+00] [-3.86454483e-04 9.99986450e-01 -5.19144107e-03 3.11539570e-02] [-3.00133532e-03 5.19025821e-03 9.99982026e-01 7.19136581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20255784399998 meters 0.29188729440481476 Centerline is valid? [False, False] Translation: X:1.38, Y:0.03, Z:0.72 [[ 0.99996555 -0.00550143 0.00621551 1.38285133] [ 0.00551414 0.99998274 -0.00202933 0.0325997 ] [-0.00620424 0.00206354 0.99997862 0.71804678] [ 0. 0. 0. 1. ]] SLAMing on 166.26255784399999 meters 0.2901618636270201 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:0.71 [[ 0.99996622 -0.00541203 0.00618608 1.34565047] [ 0.00542318 0.9999837 -0.00178729 0.02990733] [-0.00617631 0.00182078 0.99997927 0.71421591] [ 0. 0. 0. 1. ]] SLAMing on 166.322557844 meters 0.2920411818375082 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99997214 0.00347919 0.00660381 1.36752684] [-0.0034624 0.99999075 -0.00255215 0.02733373] [-0.00661262 0.00252921 0.99997494 0.71375871] [ 0. 0. 0. 1. ]] SLAMing on 166.382557844 meters 0.2936041773822172 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.71 [[ 9.99961421e-01 -2.22568722e-03 8.49721832e-03 1.38944971e+00] [ 2.21870284e-03 9.99997193e-01 8.31298559e-04 2.97306132e-02] [-8.49904468e-03 -8.12413686e-04 9.99963552e-01 7.13083133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442557844 meters 0.29135864757613544 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 9.99938567e-01 7.07862773e-03 8.52969865e-03 1.36670295e+00] [-7.08386558e-03 9.99974739e-01 5.84015805e-04 2.72445117e-02] [-8.52534915e-03 -6.44403166e-04 9.99963451e-01 7.14076358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters 0.29222986133891204 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 9.99938842e-01 7.05474742e-03 8.51716978e-03 1.36663190e+00] [-7.05943158e-03 9.99974947e-01 5.20027750e-04 2.75118185e-02] [-8.51328773e-03 -5.80122324e-04 9.99963593e-01 7.14321429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters 0.29081658468399463 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 9.99936111e-01 7.02926459e-03 8.85234081e-03 1.36560023e+00] [-7.03333135e-03 9.99975174e-01 4.28351316e-04 2.79714820e-02] [-8.84911005e-03 -4.90585395e-04 9.99960726e-01 7.14967599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622557844 meters 0.2911343764145259 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996453 0.00296251 0.00788468 1.36835117] [-0.00293427 0.99998925 -0.0035906 0.02755701] [-0.00789524 0.00356734 0.99996247 0.71329553] [ 0. 0. 0. 1. ]] SLAMing on 166.682557844 meters 0.29207150873910626 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996671 0.00292088 0.00761843 1.36909913] [-0.00289263 0.99998891 -0.00371682 0.02806367] [-0.0076292 0.00369466 0.99996407 0.71303864] [ 0. 0. 0. 1. ]] SLAMing on 166.74255784399998 meters 0.29254236315200827 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996969 0.00288277 0.00723247 1.37006652] [-0.00285495 0.9999885 -0.00385462 0.02862108] [-0.0072435 0.00383385 0.99996642 0.71287549] [ 0. 0. 0. 1. ]] SLAMing on 166.80255784399998 meters 0.2933876545919134 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99997091 0.00281751 0.00708759 1.37095582] [-0.0027888 0.99998788 -0.00405781 0.02937419] [-0.00709894 0.00403792 0.99996665 0.71143457] [ 0. 0. 0. 1. ]] SLAMing on 166.86255784399998 meters 0.2927587176626188 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996944 0.00284968 0.00727962 1.37022973] [-0.00282084 0.99998814 -0.00396943 0.02902705] [-0.00729085 0.00394877 0.99996562 0.71208395] [ 0. 0. 0. 1. ]] SLAMing on 166.92255784399998 meters 0.29331409781233325 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996994 0.00292159 0.00718147 1.37029579] [-0.00289455 0.99998869 -0.00377311 0.02821897] [-0.00719242 0.00375221 0.99996709 0.71253269] [ 0. 0. 0. 1. ]] SLAMing on 166.98255784399998 meters 0.29252800409555696 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:0.71 [[ 0.99996951 0.0030073 0.00720681 1.37027619] [-0.00298191 0.99998932 -0.00353163 0.02723426] [-0.00721736 0.00351003 0.99996779 0.71244751] [ 0. 0. 0. 1. ]] SLAMing on 167.042557844 meters 0.2910047535498934 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:0.71 [[ 0.99995135 -0.00685304 0.00709464 1.34623571] [ 0.00687778 0.99997034 -0.00346744 0.02519761] [-0.00707067 0.00351607 0.99996882 0.71378598] [ 0. 0. 0. 1. ]] SLAMing on 167.102557844 meters 0.291597280607238 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:0.71 [[ 0.99995974 0.00186784 0.00877619 1.36602966] [-0.0018303 0.99998915 -0.00428408 0.02352947] [-0.0087841 0.00426785 0.99995231 0.71453749] [ 0. 0. 0. 1. ]] SLAMing on 167.162557844 meters 0.2915961788105429 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:0.71 [[ 0.999959 0.00181881 0.00887127 1.3657714 ] [-0.00177961 0.99998863 -0.00442403 0.02410445] [-0.00887922 0.00440806 0.99995086 0.71457409] [ 0. 0. 0. 1. ]] SLAMing on 167.222557844 meters 0.29310682444210595 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.71 [[ 9.99931232e-01 -3.88668155e-03 1.10645387e-02 1.38874205e+00] [ 3.90102637e-03 9.99991578e-01 -1.27518126e-03 2.57082756e-02] [-1.10594893e-02 1.31825663e-03 9.99937973e-01 7.12391792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282557844 meters 0.292164788163841 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:0.71 [[ 0.99995213 0.00401065 0.00892532 1.37029428] [-0.00398606 0.99998822 -0.00277054 0.02213227] [-0.00893633 0.00273483 0.99995633 0.71130208] [ 0. 0. 0. 1. ]] SLAMing on 167.342557844 meters 0.2923871174861455 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:0.71 [[ 0.99995341 0.00406398 0.00875597 1.37076951] [-0.00404117 0.9999884 -0.00262102 0.02151215] [-0.00876652 0.00258551 0.99995823 0.71119843] [ 0. 0. 0. 1. ]] SLAMing on 167.402557844 meters 0.2909980546465847 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:0.71 [[ 0.99996375 -0.00631957 0.00570647 1.35099346] [ 0.00633646 0.99997558 -0.00294652 0.01510675] [-0.00568771 0.00298257 0.99997938 0.71161225] [ 0. 0. 0. 1. ]] SLAMing on 167.462557844 meters 0.29108037662955866 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:0.71 [[ 0.99996329 -0.00599756 0.00611895 1.34971126] [ 0.00600828 0.99998044 -0.00173538 0.01024441] [-0.00610842 0.00177209 0.99997977 0.71241634] [ 0. 0. 0. 1. ]] SLAMing on 167.52255784399998 meters 0.2918631010758836 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:0.71 [[ 9.99966772e-01 -5.48403011e-03 6.03161764e-03 1.34992650e+00] [ 5.48572972e-03 9.99984918e-01 -2.65276786e-04 4.24517450e-03] [-6.03007188e-03 2.98355795e-04 9.99981774e-01 7.12457365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58255784399998 meters 0.2913561490698422 Centerline is valid? [False, False] Translation: X:1.35, Y:0.00, Z:0.71 [[ 9.99968664e-01 -5.21888067e-03 5.95275087e-03 1.35060531e+00] [ 5.21683282e-03 9.99986328e-01 3.59493140e-04 1.58777486e-03] [-5.95454564e-03 -3.28427368e-04 9.99982218e-01 7.11502853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64255784399998 meters 0.290767267072446 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.01, Z:0.71 [[ 9.99968173e-01 3.02824782e-03 7.38127733e-03 1.32989929e+00] [-3.03188497e-03 9.99995288e-01 4.81614150e-04 -1.23940091e-02] [-7.37978410e-03 -5.03978005e-04 9.99972642e-01 7.10516428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70255784399998 meters 0.29224513247275036 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:0.71 [[ 9.99983618e-01 5.85640828e-04 5.69385086e-03 1.33563150e+00] [-5.79908512e-04 9.99999323e-01 -1.00835426e-03 -1.99712002e-02] [-5.69443754e-03 1.00503583e-03 9.99983282e-01 7.07917086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76255784399999 meters 0.29178547181158976 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.02, Z:0.71 [[ 9.99983552e-01 8.76338446e-04 5.66810719e-03 1.33591791e+00] [-8.74860649e-04 9.99999583e-01 -2.63195650e-04 -2.30481190e-02] [-5.66833547e-03 2.58232517e-04 9.99983902e-01 7.07490593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822557844 meters 0.2929964524496397 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.03, Z:0.71 [[ 9.99936808e-01 -7.87669422e-03 8.02108591e-03 1.35680793e+00] [ 7.86945913e-03 9.99968600e-01 9.33172023e-04 -2.88872511e-02] [-8.02818436e-03 -8.69991446e-04 9.99967395e-01 7.07467754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882557844 meters 0.2916484182773426 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:0.71 [[ 9.99976591e-01 1.22561608e-04 6.84119266e-03 1.33935969e+00] [-1.24849820e-04 9.99999936e-01 3.34049628e-04 -3.99815878e-02] [-6.84115128e-03 -3.34895930e-04 9.99976543e-01 7.06117881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942557844 meters 0.29293806085496954 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99973423e-01 -7.35256402e-04 7.25347584e-03 1.37579030e+00] [ 7.33430235e-04 9.99999699e-01 2.54421158e-04 -4.85036954e-02] [-7.25366072e-03 -2.49094478e-04 9.99973661e-01 7.10089760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002557844 meters 0.2918358829958999 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.05, Z:0.71 [[ 9.99972493e-01 -4.94771141e-04 7.40056290e-03 1.37495320e+00] [ 4.87561827e-04 9.99999405e-01 9.75929913e-04 -5.16043922e-02] [-7.40104136e-03 -9.72294836e-04 9.99972139e-01 7.11299353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062557844 meters 0.2910612100690554 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.06, Z:0.71 [[ 0.99997916 0.00487012 0.00423875 1.35468382] [-0.00486138 0.99998604 -0.00207036 -0.05590744] [-0.00424878 0.00204971 0.99998887 0.71166531] [ 0. 0. 0. 1. ]] SLAMing on 168.122557844 meters 0.29328701056529416 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99991360e-01 -1.68537492e-03 3.79987986e-03 1.38047760e+00] [ 1.68226317e-03 9.99998247e-01 8.21953506e-04 -5.71862497e-02] [-3.80125850e-03 -8.15554007e-04 9.99992443e-01 7.09270117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters 0.29338223289454696 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99992323e-01 -1.56207829e-03 3.59363661e-03 1.38126608e+00] [ 1.55802433e-03 9.99998147e-01 1.13061628e-03 -5.84669996e-02] [-3.59539606e-03 -1.12500862e-03 9.99992904e-01 7.08701111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24255784399998 meters 0.29096241020927466 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.06, Z:0.71 [[ 9.99991187e-01 4.09016938e-03 9.46534829e-04 1.35959838e+00] [-4.08824045e-03 9.99989581e-01 -2.03092967e-03 -5.93610297e-02] [-9.54831813e-04 2.02704211e-03 9.99997490e-01 7.09730127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30255784399998 meters 0.2930257367082704 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99996709e-01 -1.60464981e-03 2.00176648e-03 1.38300293e+00] [ 1.60258219e-03 9.99998181e-01 1.03407442e-03 -5.62120771e-02] [-2.00342217e-03 -1.03086302e-03 9.99997462e-01 7.08146353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36255784399998 meters 0.2928100179881682 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99996560e-01 -1.64628553e-03 2.04219204e-03 1.38300738e+00] [ 1.64441632e-03 9.99998228e-01 9.16634498e-04 -5.57462306e-02] [-2.04369746e-03 -9.13273130e-04 9.99997495e-01 7.07883446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42255784399998 meters 0.29276293127923875 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99996549e-01 -1.68970018e-03 2.01156898e-03 1.38314433e+00] [ 1.68809557e-03 9.99998256e-01 7.99120815e-04 -5.52674451e-02] [-2.01291574e-03 -7.95722337e-04 9.99997657e-01 7.07737832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48255784399998 meters 0.29374854869403083 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99996349e-01 -1.83412605e-03 1.98434111e-03 1.38336400e+00] [ 1.83331581e-03 9.99998235e-01 4.10058470e-04 -5.36862336e-02] [-1.98508971e-03 -4.06419049e-04 9.99997947e-01 7.07346480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542557844 meters 0.29305523535386346 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99996028e-01 -1.93325430e-03 2.05084755e-03 1.38325133e+00] [ 1.93294905e-03 9.99998120e-01 1.50813575e-04 -5.26188999e-02] [-2.05113526e-03 -1.46848792e-04 9.99997886e-01 7.07184375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602557844 meters 0.29332508296226284 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99995907e-01 -1.94427366e-03 2.09913382e-03 1.38274166e+00] [ 1.94403606e-03 9.99998104e-01 1.15224900e-04 -5.24733378e-02] [-2.09935387e-03 -1.11143636e-04 9.99997790e-01 7.08209824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662557844 meters 0.2927371506496616 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99995620e-01 -2.01372882e-03 2.16905395e-03 1.38264265e+00] [ 2.01387372e-03 9.99997970e-01 -6.46215555e-05 -5.17351707e-02] [-2.16891942e-03 6.89894732e-05 9.99997646e-01 7.08003117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722557844 meters 0.2937454526853792 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99995470e-01 -2.27124103e-03 1.97507977e-03 1.38322112e+00] [ 2.27286287e-03 9.99997081e-01 -8.19293492e-04 -4.87031250e-02] [-1.97321319e-03 8.23778866e-04 9.99997714e-01 7.07589539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782557844 meters 0.29236024893420276 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.71 [[ 0.99999641 0.00169785 0.00207518 1.38288843] [-0.00170307 0.99999538 0.00251894 -0.04455825] [-0.00207089 -0.00252247 0.99999467 0.70763391] [ 0. 0. 0. 1. ]] SLAMing on 168.842557844 meters 0.2930807967534142 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.71 [[ 0.99999641 0.001494 0.00222265 1.38230972] [-0.0014984 0.99999692 0.00198097 -0.0423008 ] [-0.00221968 -0.0019843 0.99999557 0.70801872] [ 0. 0. 0. 1. ]] SLAMing on 168.902557844 meters 0.29209444726276484 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.71 [[ 0.99999604 0.00152409 0.00236756 1.3816919 ] [-0.00152899 0.99999669 0.00207039 -0.04261351] [-0.0023644 -0.002074 0.99999505 0.70875956] [ 0. 0. 0. 1. ]] SLAMing on 168.96255784399997 meters 0.292056811781518 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.04, Z:0.71 [[ 0.99999528 0.0016568 0.00258762 1.38094065] [-0.00166352 0.99999525 0.00259374 -0.04457544] [-0.00258331 -0.00259803 0.99999329 0.70938348] [ 0. 0. 0. 1. ]] SLAMing on 169.02255784399998 meters 0.2932385799794639 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 0.99999577 0.00184639 0.00224852 1.38185654] [-0.00185363 0.99999309 0.00322247 -0.04707776] [-0.00224255 -0.00322662 0.99999228 0.7091901 ] [ 0. 0. 0. 1. ]] SLAMing on 169.08255784399998 meters 0.2925554840448147 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:0.71 [[ 0.99999548 0.00166158 0.00250625 1.34347528] [-0.00167333 0.9999876 0.00469113 -0.05455005] [-0.00249842 -0.0046953 0.99998586 0.7061929 ] [ 0. 0. 0. 1. ]] SLAMing on 169.14255784399998 meters 0.29200384713097705 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.71 [[ 9.99995955e-01 2.75796563e-03 6.95522735e-04 1.38583914e+00] [-2.76122848e-03 9.99984979e-01 4.73472743e-03 -5.30458773e-02] [-6.82454072e-04 -4.73662878e-03 9.99988549e-01 7.07544358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20255784399998 meters 0.29344005512828225 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.71 [[ 9.99995755e-01 2.85807738e-03 5.66927625e-04 1.38669703e+00] [-2.86087322e-03 9.99983439e-01 4.99363825e-03 -5.42359051e-02] [-5.52646032e-04 -4.99523896e-03 9.99987371e-01 7.06311825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26255784399999 meters 0.2923721538048001 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99998346e-01 7.83720638e-04 1.64100542e-03 1.38100942e+00] [-7.88885245e-04 9.99994731e-01 3.14894248e-03 -5.54837298e-02] [-1.63852889e-03 -3.15023184e-03 9.99993696e-01 7.10065093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322557844 meters 0.2914334306911164 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99998229e-01 8.35482032e-04 1.68631227e-03 1.38069694e+00] [-8.41013872e-04 9.99994259e-01 3.28239769e-03 -5.60018438e-02] [-1.68356020e-03 -3.28381008e-03 9.99993191e-01 7.10539797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382557844 meters 0.2922475563826521 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99998328e-01 9.09926553e-04 1.58633707e-03 1.38083707e+00] [-9.15548974e-04 9.99993290e-01 3.54716268e-03 -5.71218760e-02] [-1.58309877e-03 -3.54860911e-03 9.99992451e-01 7.10797394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442557844 meters 0.29120835143334073 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99998179e-01 1.01670526e-03 1.61509044e-03 1.38069188e+00] [-1.02291806e-03 9.99992063e-01 3.85056471e-03 -5.83339532e-02] [-1.61116273e-03 -3.85220980e-03 9.99991282e-01 7.11009830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502557844 meters 0.2929249674712662 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99993701e-01 -3.05877010e-03 1.80049308e-03 1.38008156e+00] [ 3.05828271e-03 9.99995286e-01 2.73387727e-04 -6.13916197e-02] [-1.80132082e-03 -2.67879588e-04 9.99998342e-01 7.11560492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562557844 meters 0.291854005881561 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99994068e-01 -2.85639281e-03 1.92484525e-03 1.37956812e+00] [ 2.85477573e-03 9.99995570e-01 8.42334278e-04 -6.36875939e-02] [-1.92724276e-03 -8.36834280e-04 9.99997793e-01 7.12112070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622557844 meters 0.2924720110442766 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.71 [[ 0.99999499 -0.00262683 0.00176837 1.38023113] [ 0.00262429 0.99999553 0.00143346 -0.06625602] [-0.00177213 -0.00142881 0.99999741 0.71158629] [ 0. 0. 0. 1. ]] SLAMing on 169.682557844 meters 0.2915668583697602 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.71 [[ 0.99999537 -0.00243039 0.00183034 1.37975125] [ 0.00242683 0.99999516 0.00194625 -0.06842813] [-0.00183506 -0.0019418 0.99999643 0.71241674] [ 0. 0. 0. 1. ]] SLAMing on 169.74255784399998 meters 0.29091717421878494 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.07, Z:0.71 [[ 9.99986046e-01 5.27551015e-03 -2.76498028e-04 1.36089257e+00] [-5.27527059e-03 9.99985716e-01 8.60093742e-04 -7.25923941e-02] [ 2.81031512e-04 -8.58623139e-04 9.99999592e-01 7.11023202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80255784399998 meters 0.29171374816654116 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.71 [[ 0.99999266 -0.00279447 -0.00262257 1.38234794] [ 0.00279859 0.99999486 0.00156623 -0.06711929] [ 0.00261818 -0.00157355 0.99999533 0.71204034] [ 0. 0. 0. 1. ]] SLAMing on 169.86255784399998 meters 0.2912850591574363 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.71 [[ 0.99999276 -0.00285202 -0.00251717 1.38194553] [ 0.00285553 0.99999495 0.00139533 -0.06640398] [ 0.00251318 -0.0014025 0.99999586 0.71236502] [ 0. 0. 0. 1. ]] SLAMing on 169.92255784399998 meters 0.29150766343923773 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.06, Z:0.71 [[ 9.99992199e-01 -3.03515858e-03 -2.52792272e-03 1.38236616e+00] [ 3.03729504e-03 9.99995033e-01 8.41732613e-04 -6.41471617e-02] [ 2.52535538e-03 -8.49404093e-04 9.99996451e-01 7.11378717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98255784399998 meters 0.2929076757122769 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.71 [[ 9.99977005e-01 6.71286738e-03 -9.62703041e-04 1.40372170e+00] [-6.71263369e-03 9.99977440e-01 2.45766079e-04 -6.15823682e-02] [ 9.64331117e-04 -2.39298154e-04 9.99999506e-01 7.11017655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042557844 meters 0.2907971552640341 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99996874e-01 -2.50055311e-03 -8.13671076e-06 1.38195185e+00] [ 2.50055525e-03 9.99996836e-01 2.73865588e-04 -5.24749583e-02] [ 7.45186957e-06 -2.73885078e-04 9.99999962e-01 7.10489202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102557844 meters 0.2906865728768792 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.05, Z:0.71 [[ 9.99996290e-01 -2.72361663e-03 4.63525717e-05 1.38176520e+00] [ 2.72363051e-03 9.99996245e-01 -3.02112795e-04 -5.01034486e-02] [-4.55295583e-05 3.02237921e-04 9.99999953e-01 7.10520181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162557844 meters 0.2907859680689492 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.05, Z:0.71 [[ 0.99998724 0.00386021 0.00325785 1.40379828] [-0.00384983 0.99998751 -0.00318659 -0.0456618 ] [-0.00327011 0.00317401 0.99998962 0.70861615] [ 0. 0. 0. 1. ]] SLAMing on 170.222557844 meters 0.29017081357349284 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.05, Z:0.71 [[ 0.99998625 0.00390224 0.00350254 1.40279763] [-0.00389155 0.99998777 -0.00305303 -0.04613126] [-0.00351441 0.00303936 0.99998921 0.70966947] [ 0. 0. 0. 1. ]] SLAMing on 170.282557844 meters 0.2899995349608861 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.05, Z:0.71 [[ 0.99998646 0.0039272 0.0034145 1.40297594] [-0.00391703 0.99998789 -0.00297943 -0.04642803] [-0.00342616 0.00296602 0.99998973 0.70978141] [ 0. 0. 0. 1. ]] SLAMing on 170.342557844 meters 0.2898863851892867 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.05, Z:0.71 [[ 0.99998648 0.0040394 0.00327513 1.40316307] [-0.00403082 0.99998844 -0.00262281 -0.04784569] [-0.00328568 0.00260957 0.9999912 0.71019084] [ 0. 0. 0. 1. ]] SLAMing on 170.402557844 meters 0.29069449706447337 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:0.71 [[ 9.99978390e-01 -1.23434249e-03 6.45722641e-03 1.42440698e+00] [ 1.22852809e-03 9.99998836e-01 9.04337495e-04 -4.89084908e-02] [-6.45833516e-03 -8.96385068e-04 9.99978743e-01 7.08951576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46255784399997 meters 0.28998422764602233 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.05, Z:0.71 [[ 9.99978435e-01 -1.24953869e-03 6.44727755e-03 1.42454005e+00] [ 1.24400442e-03 9.99998854e-01 8.62327439e-04 -4.87524398e-02] [-6.44834768e-03 -8.54288402e-04 9.99978844e-01 7.08672465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52255784399998 meters 0.2896102504397675 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.71 [[ 9.99980457e-01 -1.27895699e-03 6.11969772e-03 1.42551263e+00] [ 1.27427405e-03 9.99998892e-01 7.69062932e-04 -4.84008519e-02] [-6.12067454e-03 -7.61249730e-04 9.99980979e-01 7.08122848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58255784399998 meters 0.291270129103407 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.71 [[ 9.99980561e-01 -1.38822464e-03 6.07873138e-03 1.42562454e+00] [ 1.38550265e-03 9.99998938e-01 4.51978710e-04 -4.71414078e-02] [-6.07935237e-03 -4.43547825e-04 9.99981422e-01 7.08052930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64255784399998 meters 0.29154976382918485 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.71 [[ 9.99980695e-01 -1.44352119e-03 6.04360625e-03 1.42584501e+00] [ 1.44173051e-03 9.99998916e-01 3.00639475e-04 -4.65247363e-02] [-6.04403368e-03 -2.91920420e-04 9.99981692e-01 7.07739230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70255784399998 meters 0.2902461331064711 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.71 [[ 9.99981553e-01 -1.33607966e-03 5.92521298e-03 1.42597281e+00] [ 1.33242255e-03 9.99998919e-01 6.21117175e-04 -4.78095568e-02] [-5.92603644e-03 -6.13210830e-04 9.99982253e-01 7.08192098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76255784399999 meters 0.2921092629788041 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.71 [[ 9.99983070e-01 -1.15896088e-03 5.70226088e-03 1.42663095e+00] [ 1.15195076e-03 9.99998577e-01 1.23248867e-03 -5.02719266e-02] [-5.70368117e-03 -1.22589908e-03 9.99982982e-01 7.07944602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822557844 meters 0.28964366340155573 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.05, Z:0.71 [[ 0.99998848 0.00359983 0.00317417 1.40406464] [-0.00359282 0.9999911 -0.00221177 -0.05276278] [-0.0031821 0.00220034 0.99999252 0.70963902] [ 0. 0. 0. 1. ]] SLAMing on 170.882557844 meters 0.2900423505023701 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.71 [[ 9.99987631e-01 3.91648330e-03 3.06574256e-03 1.40417047e+00] [-3.91293453e-03 9.99991668e-01 -1.16270135e-03 -5.68813984e-02] [-3.07027072e-03 1.15069092e-03 9.99994625e-01 7.10061616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942557844 meters 0.28940470556959386 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.71 [[ 9.99985951e-01 4.19195357e-03 3.24424847e-03 1.40357386e+00] [-4.19090727e-03 9.99991164e-01 -3.29240090e-04 -6.02676222e-02] [-3.24559996e-03 3.15639120e-04 9.99994683e-01 7.10457684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters 0.2904896420076207 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.71 [[ 9.99984914e-01 4.53056995e-03 3.10569489e-03 1.40382707e+00] [-4.53245241e-03 9.99989549e-01 5.99362705e-04 -6.40059431e-02] [-3.10294698e-03 -6.13430078e-04 9.99994998e-01 7.10679920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062557844 meters 0.29029827296861643 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.07, Z:0.71 [[ 9.99984409e-01 4.66505095e-03 3.06891067e-03 1.40391839e+00] [-4.66796150e-03 9.99988661e-01 9.41921280e-04 -6.54100522e-02] [-3.06448176e-03 -9.56232152e-04 9.99994847e-01 7.10722561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters 0.2916294253579217 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:0.71 [[ 0.99998561 -0.00357191 0.00400154 1.42290449] [ 0.00356329 0.99999132 0.00215979 -0.06215989] [-0.00400922 -0.0021455 0.99998966 0.71124668] [ 0. 0. 0. 1. ]] SLAMing on 171.182557844 meters 0.2919501762260644 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.07, Z:0.71 [[ 0.99998639 -0.00330071 0.00403968 1.42258462] [ 0.00328904 0.99999041 0.00289098 -0.06513172] [-0.00404919 -0.00287765 0.99998766 0.71178279] [ 0. 0. 0. 1. ]] SLAMing on 171.24255784399998 meters 0.28991672472778085 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.07, Z:0.71 [[ 9.99995017e-01 1.88370046e-03 2.53313956e-03 1.39906419e+00] [-1.88402415e-03 9.99998217e-01 1.25402930e-04 -7.09764835e-02] [-2.53289882e-03 -1.30174801e-04 9.99996784e-01 7.13814366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30255784399998 meters 0.2908699722984047 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.08, Z:0.71 [[ 9.99995762e-01 2.14942325e-03 1.96380364e-03 1.40039571e+00] [-2.15185248e-03 9.99996921e-01 1.23572931e-03 -7.51957058e-02] [-1.96114148e-03 -1.23994988e-03 9.99997308e-01 7.13782398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36255784399998 meters 0.2906494347985891 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.08, Z:0.71 [[ 0.99999574 0.00227662 0.00182575 1.40074957] [-0.00227956 0.99999611 0.00160931 -0.07671907] [-0.00182207 -0.00161347 0.99999704 0.71376963] [ 0. 0. 0. 1. ]] SLAMing on 171.42255784399998 meters 0.29120249513275326 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.08, Z:0.71 [[ 0.99999512 0.00239175 0.00201058 1.40000979] [-0.00239568 0.99999522 0.00195622 -0.07811654] [-0.00200589 -0.00196103 0.99999607 0.71452331] [ 0. 0. 0. 1. ]] SLAMing on 171.48255784399998 meters 0.2892878070392278 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.08, Z:0.71 [[ 9.99997300e-01 1.45236098e-04 2.31907112e-03 1.36225167e+00] [-1.47835335e-04 9.99999361e-01 1.12067739e-03 -8.04208545e-02] [-2.31890688e-03 -1.12101721e-03 9.99996683e-01 7.11031400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542557844 meters 0.29066264490357474 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.08, Z:0.71 [[ 9.99997684e-01 2.52112094e-04 2.13749901e-03 1.36273141e+00] [-2.55261538e-04 9.99998882e-01 1.47328028e-03 -8.18152801e-02] [-2.13712519e-03 -1.47382248e-03 9.99996630e-01 7.10913697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602557844 meters 0.2910268376128544 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.08, Z:0.71 [[ 9.99997047e-01 3.39859477e-04 2.40651511e-03 1.36182323e+00] [-3.44117409e-04 9.99998376e-01 1.76914225e-03 -8.29412954e-02] [-2.40590994e-03 -1.76996515e-03 9.99995539e-01 7.11671607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662557844 meters 0.2893546100995256 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.08, Z:0.71 [[ 9.99994277e-01 3.44675215e-04 3.36561852e-03 1.35921991e+00] [-3.51335159e-04 9.99997981e-01 1.97842653e-03 -8.38423468e-02] [-3.36492981e-03 -1.97959767e-03 9.99992379e-01 7.12709251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722557844 meters 0.2895633803761864 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.71 [[ 9.99994539e-01 4.49206608e-04 3.27407420e-03 1.35941601e+00] [-4.56871439e-04 9.99997156e-01 2.34069649e-03 -8.52486991e-02] [-3.27301343e-03 -2.34217954e-03 9.99991901e-01 7.12763338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782557844 meters 0.2901893024759521 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.71 [[ 9.99996135e-01 4.80167185e-04 2.73832534e-03 1.36081369e+00] [-4.86973638e-04 9.99996793e-01 2.48550109e-03 -8.58823648e-02] [-2.73712310e-03 -2.48682497e-03 9.99993162e-01 7.12333519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842557844 meters 0.29050507928624003 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.71 [[ 9.99996149e-01 5.14449428e-04 2.72714172e-03 1.36090155e+00] [-5.21503937e-04 9.99996519e-01 2.58669796e-03 -8.62938449e-02] [-2.72580150e-03 -2.58811021e-03 9.99992936e-01 7.12175325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902557844 meters 0.2912645529804865 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.71 [[ 9.99998330e-01 4.37296498e-04 1.77464997e-03 1.36337471e+00] [-4.42029083e-04 9.99996345e-01 2.66725540e-03 -8.69218507e-02] [-1.77347710e-03 -2.66803539e-03 9.99994868e-01 7.11434131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96255784399997 meters 0.28981257956765644 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.09, Z:0.71 [[ 9.99997615e-01 5.67932919e-04 2.10903000e-03 1.36230455e+00] [-5.74572371e-04 9.99994877e-01 3.14883684e-03 -8.87837192e-02] [-2.10723087e-03 -3.15004112e-03 9.99992818e-01 7.12179569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02255784399998 meters 0.29066164550378093 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99991969e-01 -8.34833956e-04 3.91986058e-03 1.39415469e+00] [ 8.27546863e-04 9.99997927e-01 1.86027258e-03 -9.66263291e-02] [-3.92140547e-03 -1.85701377e-03 9.99990587e-01 7.18266026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08255784399998 meters 0.29073164022980286 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99991973e-01 -7.06096305e-04 3.94397349e-03 1.39447250e+00] [ 6.97445772e-04 9.99997349e-01 2.19429942e-03 -9.80057781e-02] [-3.94551242e-03 -2.19153110e-03 9.99989815e-01 7.17389682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14255784399998 meters 0.2900851452163421 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99992680e-01 -5.73438968e-04 3.78291350e-03 1.39488293e+00] [ 5.63755763e-04 9.99996564e-01 2.56029141e-03 -9.95134043e-02] [-3.78436867e-03 -2.55814003e-03 9.99989567e-01 7.17389412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20255784399998 meters 0.2907290569879574 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99992888e-01 -5.19943839e-04 3.73553169e-03 1.39492463e+00] [ 5.09855952e-04 9.99996222e-01 2.70096730e-03 -1.00083528e-01] [-3.73692193e-03 -2.69904350e-03 9.99989375e-01 7.17563160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26255784399999 meters 0.2903080429725272 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99992623e-01 -4.06889224e-04 3.81960278e-03 1.39458564e+00] [ 3.95416354e-04 9.99995410e-01 3.00395615e-03 -1.01331070e-01] [-3.82080752e-03 -3.00242366e-03 9.99988193e-01 7.17850926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322557844 meters 0.2889030677245766 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.10, Z:0.72 [[ 9.99989734e-01 4.18390797e-03 1.73978719e-03 1.37141218e+00] [-4.18265124e-03 9.99990990e-01 -7.25356705e-04 -1.01991401e-01] [-1.74280634e-03 7.18072335e-04 9.99998223e-01 7.19042969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382557844 meters 0.2894586172122817 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.10, Z:0.72 [[ 9.99989218e-01 4.31310925e-03 1.72069683e-03 1.37174102e+00] [-4.31246397e-03 9.99990630e-01 -3.78545009e-04 -1.03445500e-01] [-1.72231341e-03 3.71120484e-04 9.99998448e-01 7.18343588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442557844 meters 0.2903732496265946 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.10, Z:0.72 [[ 9.99989947e-01 4.21381211e-03 1.53256260e-03 1.37236636e+00] [-4.21275806e-03 9.99990888e-01 -6.90346206e-04 -1.02216699e-01] [-1.53545762e-03 6.83882951e-04 9.99998587e-01 7.17916701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters 0.2917743497627175 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.10, Z:0.72 [[ 9.99991289e-01 -4.16912983e-03 -1.98229161e-04 1.39500148e+00] [ 4.16909071e-03 9.99991290e-01 -1.97320344e-04 -9.76169075e-02] [ 1.99050088e-04 1.96492190e-04 9.99999961e-01 7.18565060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters 0.28934156142221945 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.10, Z:0.72 [[ 9.99979684e-01 -4.99156323e-03 -3.96440484e-03 1.35220680e+00] [ 4.99166577e-03 9.99987541e-01 1.59719801e-05 -9.74046268e-02] [ 3.96427572e-03 -3.57606395e-05 9.99992142e-01 7.20005214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters 0.2907519386104196 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.10, Z:0.72 [[ 0.99999249 0.00358866 -0.0014662 1.37054441] [-0.00359068 0.99999261 -0.00137624 -0.09912458] [ 0.00146125 0.00138149 0.99999798 0.72110346] [ 0. 0. 0. 1. ]] SLAMing on 172.682557844 meters 0.2905700195289663 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.10, Z:0.72 [[ 0.99999245 0.00358574 -0.00149414 1.37072426] [-0.0035878 0.99999261 -0.00138345 -0.09910519] [ 0.00148917 0.0013888 0.99999793 0.72084339] [ 0. 0. 0. 1. ]] SLAMing on 172.74255784399998 meters 0.2911935903966476 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99990865e-01 -3.83975050e-03 1.87765004e-03 1.38936890e+00] [ 3.83947832e-03 9.99992618e-01 1.48537015e-04 -1.00309931e-01] [-1.87820653e-03 -1.41326461e-04 9.99998226e-01 7.21705596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80255784399998 meters 0.2908767963122787 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99990503e-01 -3.86899857e-03 2.00604585e-03 1.38905751e+00] [ 3.86886765e-03 9.99992514e-01 6.91389432e-05 -9.99863729e-02] [-2.00629833e-03 -6.13771608e-05 9.99997985e-01 7.21674749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86255784399998 meters 0.29037889754463886 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.10, Z:0.72 [[ 9.99990377e-01 -3.96543424e-03 1.87648882e-03 1.38959588e+00] [ 3.96578560e-03 9.99992119e-01 -1.83561622e-04 -9.89495081e-02] [-1.87574613e-03 1.91001607e-04 9.99998223e-01 7.21198445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92255784399998 meters 0.29100881473532547 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.09, Z:0.72 [[ 0.99998827 -0.00440003 0.00202587 1.38901934] [ 0.00440293 0.99998929 -0.00142777 -0.09379467] [-0.00201957 0.00143668 0.99999693 0.72158365] [ 0. 0. 0. 1. ]] SLAMing on 172.98255784399998 meters 0.2913496627499704 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.09, Z:0.72 [[ 9.99997187e-01 -6.54595030e-04 2.27985827e-03 1.38846320e+00] [ 6.51338124e-04 9.99998767e-01 1.42900611e-03 -8.75785779e-02] [-2.28079088e-03 -1.42751713e-03 9.99996380e-01 7.21780786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042557844 meters 0.28972918588882973 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:0.72 [[ 9.99996378e-01 -9.68746733e-04 2.51121071e-03 1.38804751e+00] [ 9.67145476e-04 9.99999328e-01 6.38779297e-04 -8.43594158e-02] [-2.51182784e-03 -6.36348277e-04 9.99996643e-01 7.21463694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102557844 meters 0.29175243013255325 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:0.72 [[ 9.99998696e-01 5.14785432e-04 1.53040175e-03 1.39280664e+00] [-5.17194530e-04 9.99998627e-01 1.57418190e-03 -8.01197835e-02] [-1.52958928e-03 -1.57497137e-03 9.99997590e-01 7.18281668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162557844 meters 0.2929282025372917 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:0.72 [[ 9.99999549e-01 2.96381625e-04 9.02317087e-04 1.39477947e+00] [-2.97271082e-04 9.99999470e-01 9.85772844e-04 -7.78575071e-02] [-9.02024444e-04 -9.86040632e-04 9.99999107e-01 7.16796031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222557844 meters 0.2919028299794381 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:0.72 [[ 9.99999364e-01 1.91446324e-04 1.11145083e-03 1.39442067e+00] [-1.92250562e-04 9.99999720e-01 7.23530799e-04 -7.67891366e-02] [-1.11131200e-03 -7.23744015e-04 9.99999121e-01 7.16448118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282557844 meters 0.29228383735066 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:0.72 [[ 9.99999159e-01 7.66528791e-05 1.29433157e-03 1.39390357e+00] [-7.71980831e-05 9.99999908e-01 4.21179660e-04 -7.55444050e-02] [-1.29429916e-03 -4.21279226e-04 9.99999074e-01 7.16629305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342557844 meters 0.29124084157156666 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.07, Z:0.72 [[ 0.99999466 0.00257341 0.00201505 1.39019197] [-0.00257705 0.99999505 0.00180623 -0.06780227] [-0.00201039 -0.00181142 0.99999634 0.71944003] [ 0. 0. 0. 1. ]] SLAMing on 173.402557844 meters 0.29205760759894 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.72 [[ 0.99998158 -0.00581784 0.00172763 1.41109911] [ 0.00581408 0.99998074 0.00217226 -0.06046139] [-0.00174024 -0.00216217 0.99999615 0.72018299] [ 0. 0. 0. 1. ]] SLAMing on 173.46255784399997 meters 0.2904065391738512 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99997403e-01 6.77370442e-04 -2.17610806e-03 1.39005092e+00] [-6.78587899e-04 9.99999614e-01 -5.58775553e-04 -5.15580721e-02] [ 2.17572872e-03 5.60250783e-04 9.99997476e-01 7.21541539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52255784399998 meters 0.2910243275365123 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99997276e-01 5.79104654e-04 -2.26130234e-03 1.39027098e+00] [-5.80929125e-04 9.99999506e-01 -8.06249519e-04 -5.05364141e-02] [ 2.26083432e-03 8.07560979e-04 9.99997118e-01 7.21555983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58255784399998 meters 0.2913543905411831 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996923e-01 6.78357881e-04 -2.38629653e-03 1.39054917e+00] [-6.79542080e-04 9.99999646e-01 -4.95473721e-04 -5.17529882e-02] [ 2.38595957e-03 4.97093785e-04 9.99997030e-01 7.21580927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64255784399998 meters 0.29050720076508324 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99997665e-01 7.71428348e-04 -2.01847033e-03 1.38970726e+00] [-7.71734695e-04 9.99999691e-01 -1.50997498e-04 -5.31392453e-02] [ 2.01835323e-03 1.52554869e-04 9.99997951e-01 7.21360439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70255784399998 meters 0.29081830565380923 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.72 [[ 0.99999207 -0.00365804 0.0015769 1.41075439] [ 0.00365234 0.99998683 0.00360433 -0.05289582] [-0.00159006 -0.00359855 0.99999226 0.72054617] [ 0. 0. 0. 1. ]] SLAMing on 173.76255784399999 meters 0.291636045345576 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.72 [[ 0.99999171 -0.00379106 0.00148867 1.41098154] [ 0.00378625 0.99998766 0.00321746 -0.05132437] [-0.00150085 -0.0032118 0.99999372 0.72056607] [ 0. 0. 0. 1. ]] SLAMing on 173.822557844 meters 0.2919248725407499 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.72 [[ 0.99999117 -0.00387659 0.00162009 1.41045577] [ 0.00387172 0.99998802 0.00299598 -0.05038038] [-0.00163169 -0.00298968 0.9999942 0.7210355 ] [ 0. 0. 0. 1. ]] SLAMing on 173.882557844 meters 0.29243462009564775 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.72 [[ 0.99999134 -0.00382691 0.00163392 1.41055524] [ 0.00382178 0.99998778 0.00313444 -0.05094177] [-0.0016459 -0.00312816 0.99999375 0.7207047 ] [ 0. 0. 0. 1. ]] SLAMing on 173.942557844 meters 0.2907049309087493 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996184e-01 1.67732788e-03 -2.19523556e-03 1.38642374e+00] [-1.67594787e-03 9.99998397e-01 6.30328406e-04 -4.65874574e-02] [ 2.19628931e-03 -6.26646900e-04 9.99997392e-01 7.24529228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002557844 meters 0.2907470579469865 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996095e-01 1.66529310e-03 -2.24419864e-03 1.38664943e+00] [-1.66396488e-03 9.99998439e-01 5.93584711e-04 -4.64373136e-02] [ 2.24518363e-03 -5.89848126e-04 9.99997306e-01 7.24284756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062557844 meters 0.29211595826178616 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996191e-01 1.58908353e-03 -2.25692480e-03 1.38702231e+00] [-1.58821542e-03 9.99998664e-01 3.86381308e-04 -4.55920219e-02] [ 2.25753578e-03 -3.82795354e-04 9.99997378e-01 7.23497496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122557844 meters 0.29105886338733256 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996418e-01 1.53316017e-03 -2.19386266e-03 1.38684868e+00] [-1.53263017e-03 9.99998796e-01 2.43243286e-04 -4.50038292e-02] [ 2.19423295e-03 -2.39880034e-04 9.99997564e-01 7.23535924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters 0.29188008366330487 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995541e-01 1.60315110e-03 -2.51941325e-03 1.38777569e+00] [-1.60189435e-03 9.99998592e-01 5.00765901e-04 -4.60234126e-02] [ 2.52021250e-03 -4.96727834e-04 9.99996701e-01 7.23098151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24255784399998 meters 0.29362767474545776 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.05, Z:0.72 [[ 9.99964735e-01 -8.25385518e-03 -1.55032074e-03 1.41180544e+00] [ 8.25449758e-03 9.99965848e-01 4.08423624e-04 -5.02666998e-02] [ 1.54689673e-03 -4.21206339e-04 9.99998715e-01 7.21297793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30255784399998 meters 0.29298871366653345 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995383e-01 2.55570279e-04 -3.02794057e-03 1.39202964e+00] [-2.55948301e-04 9.99999960e-01 -1.24457896e-04 -5.47154777e-02] [ 3.02790864e-03 1.25232318e-04 9.99995408e-01 7.19897372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36255784399998 meters 0.2932703726517221 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995554e-01 2.11153346e-04 -2.97433577e-03 1.39169599e+00] [-2.11951103e-04 9.99999942e-01 -2.67900797e-04 -5.41220039e-02] [ 2.97427903e-03 2.68530020e-04 9.99995541e-01 7.20425694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42255784399998 meters 0.29211668597349133 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995191e-01 8.92862312e-05 -3.09983952e-03 1.39218389e+00] [-9.13087715e-05 9.99999783e-01 -6.52330748e-04 -5.25762566e-02] [ 3.09978060e-03 6.52610654e-04 9.99994983e-01 7.20028082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48255784399998 meters 0.29127501462851607 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995775e-01 -1.32631876e-05 -2.90669967e-03 1.39140474e+00] [ 1.05174862e-05 9.99999554e-01 -9.44624570e-04 -5.13287762e-02] [ 2.90671090e-03 9.44590008e-04 9.99995329e-01 7.20850808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542557844 meters 0.29239926592972676 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99996072e-01 -4.38299390e-05 -2.80250641e-03 1.39129281e+00] [ 4.09482121e-05 9.99999470e-01 -1.02831685e-03 -5.09987098e-02] [ 2.80255000e-03 1.02819805e-03 9.99995544e-01 7.20507731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602557844 meters 0.29152472510362865 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995208e-01 -3.66902495e-05 -3.09545678e-03 1.39231794e+00] [ 3.36174027e-05 9.99999507e-01 -9.92741934e-04 -5.11033897e-02] [ 3.09549167e-03 9.92633116e-04 9.99994716e-01 7.19699067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662557844 meters 0.29191135860111445 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995576e-01 -3.92588225e-05 -2.97436098e-03 1.39194738e+00] [ 3.62916107e-05 9.99999502e-01 -9.97643814e-04 -5.10939863e-02] [ 2.97439866e-03 9.97531456e-04 9.99995079e-01 7.19845052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722557844 meters 0.29216064149721216 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995886e-01 -1.96232357e-05 -2.86853469e-03 1.39191788e+00] [ 1.68920014e-05 9.99999547e-01 -9.52156841e-04 -5.13055824e-02] [ 2.86855207e-03 9.52104468e-04 9.99995432e-01 7.19298856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters 0.2913021037752282 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99995926e-01 -6.95555517e-05 -2.85374997e-03 1.39205891e+00] [ 6.64755948e-05 9.99999415e-01 -1.07934720e-03 -5.07621701e-02] [ 2.85382338e-03 1.07915310e-03 9.99995346e-01 7.18910816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters 0.2943094697412117 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.05, Z:0.72 [[ 9.99995307e-01 1.43753928e-04 -3.06018280e-03 1.43089750e+00] [-1.47667075e-04 9.99999172e-01 -1.27854241e-03 -5.39403961e-02] [ 3.05999647e-03 1.27898830e-03 9.99994500e-01 7.22397211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters 0.29103522794661313 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99994711e-01 3.88768272e-04 -3.22905706e-03 1.39345395e+00] [-3.92407761e-04 9.99999288e-01 -1.12654865e-03 -4.91715259e-02] [ 3.22861679e-03 1.12780980e-03 9.99994152e-01 7.18510714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96255784399997 meters 0.29153670008736143 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.05, Z:0.72 [[ 9.99993823e-01 2.03287839e-04 -3.50894890e-03 1.39442116e+00] [-2.09328418e-04 9.99998497e-01 -1.72119696e-03 -4.67195732e-02] [ 3.50859373e-03 1.72192085e-03 9.99992362e-01 7.17897501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02255784399998 meters 0.2920081835372766 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.04, Z:0.72 [[ 9.99993289e-01 5.92999105e-05 -3.66302196e-03 1.39490247e+00] [-6.72532194e-05 9.99997641e-01 -2.17115749e-03 -4.49008966e-02] [ 3.66288457e-03 2.17138927e-03 9.99990934e-01 7.17707964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08255784399998 meters 0.29097546137672825 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.04, Z:0.72 [[ 9.99992758e-01 -1.61856939e-04 -3.80242976e-03 1.39504955e+00] [ 1.50444484e-04 9.99995484e-01 -3.00145287e-03 -4.16531428e-02] [ 3.80289839e-03 3.00085907e-03 9.99988266e-01 7.18315660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14255784399998 meters 0.29091191663181437 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.04, Z:0.72 [[ 9.99993479e-01 -4.91047251e-04 -3.57785190e-03 1.39413953e+00] [ 4.76678685e-04 9.99991823e-01 -4.01572233e-03 -3.73575714e-02] [ 3.57979456e-03 4.01399066e-03 9.99985536e-01 7.19260640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20255784399998 meters 0.29091109389946923 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.04, Z:0.72 [[ 9.99993485e-01 -5.86559382e-04 -3.56163673e-03 1.39417214e+00] [ 5.71394891e-04 9.99990775e-01 -4.25725684e-03 -3.63607649e-02] [ 3.56410100e-03 4.25519401e-03 9.99984595e-01 7.19130616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26255784399999 meters 0.29224635592634535 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.04, Z:0.72 [[ 9.99992732e-01 -7.21393392e-04 -3.74361704e-03 1.39481353e+00] [ 7.04271205e-04 9.99989296e-01 -4.57300592e-03 -3.50408589e-02] [ 3.74687591e-03 4.57033616e-03 9.99982536e-01 7.18817225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322557844 meters 0.29216379156570577 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.03, Z:0.72 [[ 9.99992771e-01 -8.78461964e-04 -3.69942777e-03 1.39457642e+00] [ 8.60049855e-04 9.99987251e-01 -4.97566869e-03 -3.33555606e-02] [ 3.70375155e-03 4.97245103e-03 9.99980778e-01 7.19112325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382557844 meters 0.29108496112918175 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.03, Z:0.72 [[ 9.99992717e-01 -1.11336645e-03 -3.65045407e-03 1.39438368e+00] [ 1.09251621e-03 9.99983108e-01 -5.70871175e-03 -3.04220897e-02] [ 3.65674829e-03 5.70468199e-03 9.99977042e-01 7.19346202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442557844 meters 0.29207147672906536 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.03, Z:0.72 [[ 9.99990617e-01 -1.32001523e-03 -4.12599644e-03 1.39573166e+00] [ 1.29346156e-03 9.99978480e-01 -6.43175554e-03 -2.74654776e-02] [ 4.13439766e-03 6.42635837e-03 9.99970804e-01 7.18968106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502557844 meters 0.29084477235168116 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.03, Z:0.72 [[ 9.99962501e-01 -3.69215032e-03 -7.83360923e-03 1.37353542e+00] [ 3.69320503e-03 9.99993173e-01 1.20176739e-04 -2.99658509e-02] [ 7.83311204e-03 -1.49103358e-04 9.99969310e-01 7.21773901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562557844 meters 0.2929446351392126 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.03, Z:0.72 [[ 0.99998365 0.00286863 -0.0049458 1.39565234] [-0.00288179 0.99999232 -0.00265512 -0.02831769] [ 0.00493815 0.00266933 0.99998424 0.71971324] [ 0. 0. 0. 1. ]] SLAMing on 175.622557844 meters 0.2912120891680798 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:0.72 [[ 0.99998521 0.0024984 -0.00483042 1.39516742] [-0.00251721 0.99998926 -0.00389113 -0.02340257] [ 0.00482065 0.00390323 0.99998076 0.72025603] [ 0. 0. 0. 1. ]] SLAMing on 175.682557844 meters 0.2906256488860717 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:0.72 [[ 0.99998593 0.00209499 -0.00487327 1.39551089] [-0.00212027 0.9999843 -0.0051867 -0.01817756] [ 0.00486232 0.00519696 0.99997467 0.71981801] [ 0. 0. 0. 1. ]] SLAMing on 175.74255784399998 meters 0.2903340308253856 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.02, Z:0.72 [[ 0.99998684 0.00190453 -0.0047634 1.39540532] [-0.00193153 0.99998206 -0.00567054 -0.01616343] [ 0.00475251 0.00567966 0.99997258 0.7194709 ] [ 0. 0. 0. 1. ]] SLAMing on 175.80255784399998 meters 0.29087653719273077 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:0.72 [[ 0.99998494 0.00170813 -0.00521536 1.39683985] [-0.00174046 0.99997926 -0.00620133 -0.01400916] [ 0.00520466 0.00621032 0.99996717 0.71862611] [ 0. 0. 0. 1. ]] SLAMing on 175.86255784399998 meters 0.2914119982470906 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.01, Z:0.72 [[ 0.99998359 0.00162709 -0.00549312 1.39770357] [-0.0016623 0.99997806 -0.00641279 -0.0131308 ] [ 0.00548256 0.00642182 0.99996435 0.71822014] [ 0. 0. 0. 1. ]] SLAMing on 175.92255784399998 meters 0.292388062388815 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.01, Z:0.72 [[ 0.99998443 -0.00484243 -0.00277242 1.41897849] [ 0.00483214 0.99998146 -0.00370555 -0.01201374] [ 0.00279031 0.00369209 0.99998929 0.71725648] [ 0. 0. 0. 1. ]] SLAMing on 175.98255784399998 meters 0.29325678731553995 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.01, Z:0.72 [[ 9.99996472e-01 -5.01785861e-04 -2.60857041e-03 1.41850173e+00] [ 5.03311556e-04 9.99999703e-01 5.84254284e-04 -1.21703444e-02] [ 2.60827647e-03 -5.85565146e-04 9.99996427e-01 7.17346232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042557844 meters 0.290745656045046 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.01, Z:0.71 [[ 9.99999244e-01 -1.28264106e-04 -1.22312001e-03 1.37831433e+00] [ 1.28518847e-04 9.99999970e-01 2.08195296e-04 -6.45470485e-03] [ 1.22309327e-03 -2.08352333e-04 9.99999230e-01 7.14776650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102557844 meters 0.29202269267745223 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.00, Z:0.71 [[ 9.99983161e-01 -5.78509351e-03 -4.57914553e-04 1.40254465e+00] [ 5.78657510e-03 9.99977802e-01 3.30316873e-03 -1.89409552e-03] [ 4.38795249e-04 -3.30576287e-03 9.99994440e-01 7.13427719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162557844 meters 0.2916114580797868 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99994187e-01 3.25164966e-03 -1.02565626e-03 1.38100465e+00] [-3.24944754e-03 9.99992428e-01 2.14144818e-03 1.75415699e-04] [ 1.03261173e-03 -2.13810291e-03 9.99997181e-01 7.12946181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222557844 meters 0.29150844081465316 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99994931e-01 3.02303655e-03 -9.99579815e-04 1.38083091e+00] [-3.02148192e-03 9.99994229e-01 1.55315225e-03 2.62060985e-03] [ 1.00426928e-03 -1.55012417e-03 9.99998294e-01 7.13263641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282557844 meters 0.2914033519354101 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995293e-01 2.97746447e-03 -7.40303171e-04 1.37994725e+00] [-2.97640274e-03 9.99994546e-01 1.43117208e-03 3.07927470e-03] [ 7.44560397e-04 -1.42896190e-03 9.99998702e-01 7.13928322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342557844 meters 0.292580427442816 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995193e-01 3.01577035e-03 -7.20367057e-04 1.38006249e+00] [-3.01465992e-03 9.99994274e-01 1.53763315e-03 2.65612726e-03] [ 7.25000080e-04 -1.53545410e-03 9.99998558e-01 7.13516447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402557844 meters 0.2919737293909189 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995081e-01 3.03410450e-03 -7.95192307e-04 1.38048714e+00] [-3.03284328e-03 9.99994149e-01 1.58249141e-03 2.47481286e-03] [ 7.99989098e-04 -1.58007194e-03 9.99998432e-01 7.12981506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46255784399997 meters 0.2928903300614139 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995263e-01 2.93751675e-03 -9.19353157e-04 1.38077561e+00] [-2.93632564e-03 9.99994851e-01 1.29427452e-03 3.65900090e-03] [ 9.23150376e-04 -1.29156887e-03 9.99998740e-01 7.13073601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52255784399998 meters 0.2920271600983083 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995499e-01 2.89311585e-03 -7.95481457e-04 1.38026248e+00] [-2.89218108e-03 9.99995129e-01 1.17374925e-03 4.13766317e-03] [ 7.98873375e-04 -1.17144329e-03 9.99998995e-01 7.13597646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58255784399998 meters 0.29221950952681175 Centerline is valid? [False, False] Translation: X:1.38, Y:0.00, Z:0.71 [[ 9.99995351e-01 2.89521951e-03 -9.57314616e-04 1.38093882e+00] [-2.89409136e-03 9.99995119e-01 1.17774917e-03 4.16147651e-03] [ 9.60719786e-04 -1.17497313e-03 9.99998848e-01 7.12929994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64255784399998 meters 0.29304830439099155 Centerline is valid? [False, False] Translation: X:1.38, Y:0.01, Z:0.71 [[ 9.99995207e-01 2.81770131e-03 -1.28326853e-03 1.38193546e+00] [-2.81649568e-03 9.99995592e-01 9.40338939e-04 5.19044363e-03] [ 1.28591246e-03 -9.36720112e-04 9.99998734e-01 7.12478825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70255784399998 meters 0.2913652003680052 Centerline is valid? [False, False] Translation: X:1.38, Y:0.01, Z:0.71 [[ 9.99995398e-01 2.64489165e-03 -1.48641505e-03 1.38236954e+00] [-2.64446275e-03 9.99996461e-01 2.90440761e-04 7.75716186e-03] [ 1.48717797e-03 -2.86508655e-04 9.99998853e-01 7.12666675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76255784399999 meters 0.2913941057601884 Centerline is valid? [False, False] Translation: X:1.38, Y:0.01, Z:0.71 [[ 9.99996915e-01 2.40190978e-03 -6.33324894e-04 1.37994017e+00] [-2.40253905e-03 9.99996619e-01 -9.94705691e-04 1.26146717e-02] [ 6.30933560e-04 9.96224210e-04 9.99999305e-01 7.13964508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822557844 meters 0.2920433846998976 Centerline is valid? [False, False] Translation: X:1.38, Y:0.02, Z:0.71 [[ 9.99997842e-01 1.79406171e-03 -1.04751312e-03 1.38136804e+00] [-1.79693660e-03 9.99994604e-01 -2.75003131e-03 1.97978258e-02] [ 1.04257374e-03 2.75190769e-03 9.99995670e-01 7.13589200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882557844 meters 0.2905548018424939 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.71 [[ 9.99991016e-01 -3.95575982e-03 -1.52325739e-03 1.35808667e+00] [ 3.95573586e-03 9.99992176e-01 -1.87369032e-05 2.80619832e-02] [ 1.52331959e-03 1.27111310e-05 9.99998840e-01 7.14609034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942557844 meters 0.2903281296208457 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:0.72 [[ 9.99999626e-01 -2.85449227e-04 -8.15858586e-04 1.35618766e+00] [ 2.87605777e-04 9.99996462e-01 2.64439557e-03 3.42594307e-02] [ 8.15100859e-04 -2.64462923e-03 9.99996171e-01 7.15416717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002557844 meters 0.29205422772420586 Centerline is valid? [False, False] Translation: X:1.38, Y:0.04, Z:0.71 [[ 9.99983646e-01 5.29165053e-03 2.16923519e-03 1.37911451e+00] [-5.28933090e-03 9.99985435e-01 -1.07367687e-03 3.97781382e-02] [-2.17488512e-03 1.06218551e-03 9.99997071e-01 7.12580374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters 0.2914530913005279 Centerline is valid? [False, False] Translation: X:1.38, Y:0.04, Z:0.71 [[ 0.99998645 0.00473887 0.00215435 1.3787733 ] [-0.00473405 0.9999863 -0.00223563 0.04459584] [-0.00216492 0.0022254 0.99999518 0.71338824] [ 0. 0. 0. 1. ]] SLAMing on 177.122557844 meters 0.29189118069324005 Centerline is valid? [False, False] Translation: X:1.38, Y:0.05, Z:0.71 [[ 0.99998777 0.00451709 0.00201394 1.37926529] [-0.00451133 0.99998575 -0.00285332 0.04712199] [-0.0020268 0.0028442 0.9999939 0.71309534] [ 0. 0. 0. 1. ]] SLAMing on 177.182557844 meters 0.29167468828870075 Centerline is valid? [False, False] Translation: X:1.38, Y:0.05, Z:0.71 [[ 0.99998856 0.00437553 0.00193316 1.37955192] [-0.00436921 0.99998514 -0.0032601 0.0487565 ] [-0.00194739 0.00325162 0.99999282 0.712972 ] [ 0. 0. 0. 1. ]] SLAMing on 177.24255784399998 meters 0.29115865211665826 Centerline is valid? [False, False] Translation: X:1.38, Y:0.05, Z:0.71 [[ 0.99999003 0.00410961 0.00174933 1.3800892 ] [-0.0041026 0.99998361 -0.00399256 0.05178444] [-0.00176571 0.00398534 0.9999905 0.71288491] [ 0. 0. 0. 1. ]] SLAMing on 177.30255784399998 meters 0.2906254828276934 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:0.71 [[ 0.99999124 0.00385322 0.00163262 1.38037525] [-0.00384524 0.99998079 -0.00486235 0.05523104] [-0.00165133 0.00485603 0.99998685 0.71293692] [ 0. 0. 0. 1. ]] SLAMing on 177.36255784399998 meters 0.29201055964272493 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.71 [[ 0.99999507 -0.00264887 0.00168412 1.40351247] [ 0.00265233 0.99999437 -0.00205375 0.06096135] [-0.00167867 0.00205821 0.99999647 0.71234106] [ 0. 0. 0. 1. ]] SLAMing on 177.42255784399998 meters 0.29224737489397346 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.71 [[ 0.99999448 -0.0029725 0.00148719 1.40418138] [ 0.00297688 0.99999121 -0.00295356 0.06467482] [-0.0014784 0.00295797 0.99999453 0.71213251] [ 0. 0. 0. 1. ]] SLAMing on 177.48255784399998 meters 0.29096759788312676 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:0.71 [[ 9.99983181e-01 5.67524413e-03 -1.19549703e-03 1.38652140e+00] [-5.68027633e-03 9.99974841e-01 -4.24881247e-03 6.30524470e-02] [ 1.17135390e-03 4.25553176e-03 9.99990259e-01 7.10626450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542557844 meters 0.29046884085222024 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:0.71 [[ 9.99983427e-01 5.69583346e-03 -8.38479069e-04 1.38542157e+00] [-5.69926302e-03 9.99975163e-01 -4.14629554e-03 6.25336031e-02] [ 8.14841635e-04 4.15100553e-03 9.99991053e-01 7.11286661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602557844 meters 0.29136403167297326 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99994386e-01 -3.15693891e-03 1.12353492e-03 1.40569191e+00] [ 3.16020658e-03 9.99990747e-01 -2.91858340e-03 6.15578528e-02] [-1.11431074e-03 2.92211762e-03 9.99995110e-01 7.12171634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662557844 meters 0.29188603436854293 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99994493e-01 -3.10400867e-03 1.17441547e-03 1.40561313e+00] [ 3.10725884e-03 9.99991320e-01 -2.77585541e-03 6.09715905e-02] [-1.16578899e-03 2.77948934e-03 9.99995458e-01 7.12028328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722557844 meters 0.29250974577661 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99994370e-01 -3.16270118e-03 1.12168092e-03 1.40575794e+00] [ 3.16598246e-03 9.99990679e-01 -2.93571920e-03 6.16336848e-02] [-1.11238567e-03 2.93925389e-03 9.99995062e-01 7.12019436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782557844 meters 0.29311739962364936 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99994329e-01 -3.19717756e-03 1.05870112e-03 1.40607696e+00] [ 3.20037697e-03 9.99990275e-01 -3.03423686e-03 6.20701349e-02] [-1.04898983e-03 3.03760789e-03 9.99994836e-01 7.11651553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842557844 meters 0.29129342433942856 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:0.71 [[ 9.99997856e-01 -4.13974388e-04 2.02874620e-03 1.36579154e+00] [ 4.17920140e-04 9.99998021e-01 -1.94488364e-03 6.79343214e-02] [-2.02793705e-03 1.94572732e-03 9.99996051e-01 7.09812378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters 0.2923252726540785 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:0.71 [[ 9.99998035e-01 -4.76970198e-04 1.92437298e-03 1.36606298e+00] [ 4.81059014e-04 9.99997627e-01 -2.12484931e-03 6.86800558e-02] [-1.92335492e-03 2.12577087e-03 9.99995891e-01 7.09820725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96255784399997 meters 0.29153132197595616 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:0.71 [[ 9.99998171e-01 -6.05421516e-04 1.81402089e-03 1.36665772e+00] [ 6.09968064e-04 9.99996672e-01 -2.50683279e-03 7.03438583e-02] [-1.81249717e-03 2.50793470e-03 9.99995213e-01 7.09045079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02255784399998 meters 0.2906620519390832 Centerline is valid? [False, False] Translation: X:1.37, Y:0.07, Z:0.71 [[ 9.99997700e-01 -7.48118038e-04 2.00983624e-03 1.36615065e+00] [ 7.53897381e-04 9.99995579e-01 -2.87631248e-03 7.18731255e-02] [-2.00767553e-03 2.87782108e-03 9.99993844e-01 7.09071193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08255784399998 meters 0.2917454399740185 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99995156e-01 -2.94433186e-03 1.00892242e-03 1.40513499e+00] [ 2.94785515e-03 9.99989500e-01 -3.50861942e-03 6.49635305e-02] [-9.98581287e-04 3.51157659e-03 9.99993336e-01 7.12682190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14255784399998 meters 0.2930721936682325 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99995691e-01 -2.78618800e-03 9.24576686e-04 1.40551658e+00] [ 2.78902934e-03 9.99991348e-01 -3.08620116e-03 6.32275433e-02] [-9.15969950e-04 3.08876654e-03 9.99994810e-01 7.12242151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20255784399998 meters 0.29266333711591913 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99996256e-01 -2.61319562e-03 8.11689883e-04 1.40586984e+00] [ 2.61525426e-03 9.99993340e-01 -2.54561638e-03 6.11066703e-02] [-8.05032284e-04 2.54772963e-03 9.99996430e-01 7.11976905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26255784399999 meters 0.29160428223857304 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99996354e-01 -2.49694195e-03 1.02862064e-03 1.40511218e+00] [ 2.49926302e-03 9.99994320e-01 -2.26141992e-03 5.99010107e-02] [-1.02296816e-03 2.26398247e-03 9.99996914e-01 7.12405880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322557844 meters 0.29110670615973605 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.71 [[ 9.99996399e-01 -2.42839941e-03 1.14244373e-03 1.40471227e+00] [ 2.43075860e-03 9.99994907e-01 -2.06820496e-03 5.90864064e-02] [-1.13741548e-03 2.07097452e-03 9.99997209e-01 7.12670416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382557844 meters 0.291142222993192 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.71 [[ 9.99996449e-01 -2.44243922e-03 1.06579146e-03 1.40497349e+00] [ 2.44468285e-03 9.99994788e-01 -2.10892994e-03 5.92680789e-02] [-1.06063497e-03 2.11152797e-03 9.99997208e-01 7.12502597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442557844 meters 0.2915785092213045 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:0.71 [[ 9.99996484e-01 -2.50041475e-03 8.83415000e-04 1.40556456e+00] [ 2.50243146e-03 9.99994249e-01 -2.28917914e-03 6.00397655e-02] [-8.77686022e-04 2.29138178e-03 9.99996990e-01 7.12185128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters 0.29027347550920035 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.72 [[ 9.99997603e-01 -5.52829252e-04 2.11841297e-03 1.39960074e+00] [ 5.53752818e-04 9.99999752e-01 -4.35409183e-04 5.78698224e-02] [-2.11817174e-03 4.36581217e-04 9.99997661e-01 7.16752905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters 0.2910476167451145 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.72 [[ 9.99997622e-01 -7.27300799e-04 2.05583495e-03 1.39980308e+00] [ 7.29221987e-04 9.99999298e-01 -9.33909944e-04 5.98726054e-02] [-2.05515427e-03 9.35406884e-04 9.99997451e-01 7.16671540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622557844 meters 0.2900542536197644 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:0.72 [[ 0.99999249 0.00325299 0.00210548 1.39975311] [-0.00325832 0.99999149 0.00252975 0.06353551] [-0.00209723 -0.00253659 0.99999458 0.71664411] [ 0. 0. 0. 1. ]] SLAMing on 178.682557844 meters 0.29040126848243586 Centerline is valid? [False, False] Translation: X:1.40, Y:0.07, Z:0.72 [[ 9.99993427e-01 2.86580501e-03 2.22087271e-03 1.39926886e+00] [-2.86841428e-03 9.99995199e-01 1.17259155e-03 6.88200101e-02] [-2.21750163e-03 -1.17895423e-03 9.99996846e-01 7.17171723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74255784399998 meters 0.2905390955356364 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.72 [[ 9.99996029e-01 2.17589198e-03 1.79112074e-03 1.40071307e+00] [-2.17443801e-03 9.99997305e-01 -8.13312277e-04 7.71935012e-02] [-1.79288559e-03 8.09414366e-04 9.99998065e-01 7.16766611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80255784399998 meters 0.2904676683409504 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.72 [[ 0.99999615 0.00191145 0.00201263 1.40005772] [-0.00190832 0.99999697 -0.00155527 0.08016464] [-0.00201559 0.00155143 0.99999677 0.71715443] [ 0. 0. 0. 1. ]] SLAMing on 178.86255784399998 meters 0.2903867731475609 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.72 [[ 0.9999956 0.00178187 0.00237064 1.39909612] [-0.00177742 0.99999666 -0.00187866 0.0814245 ] [-0.00237398 0.00187444 0.99999543 0.71735649] [ 0. 0. 0. 1. ]] SLAMing on 178.92255784399998 meters 0.2920653515126887 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.72 [[ 0.99999687 0.00175319 0.00178268 1.4010358 ] [-0.00174965 0.99999649 -0.00198918 0.0818836 ] [-0.00178616 0.00198606 0.99999643 0.71549509] [ 0. 0. 0. 1. ]] SLAMing on 178.98255784399998 meters 0.29265215146978557 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.71 [[ 0.99999735 0.00163589 0.00162086 1.40184396] [-0.00163221 0.9999961 -0.00226468 0.08324531] [-0.00162456 0.00226202 0.99999612 0.71471218] [ 0. 0. 0. 1. ]] SLAMing on 179.042557844 meters 0.29359515954022425 Centerline is valid? [False, False] Translation: X:1.40, Y:0.08, Z:0.72 [[ 0.99999749 0.00149416 0.00166983 1.4013461 ] [-0.00148973 0.99999536 -0.00265617 0.08479778] [-0.00167379 0.00265367 0.99999508 0.7156983 ] [ 0. 0. 0. 1. ]] SLAMing on 179.102557844 meters 0.2909199846424568 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:0.72 [[ 9.99995608e-01 -2.77112598e-03 -1.05070284e-03 1.38028901e+00] [ 2.77219108e-03 9.99995644e-01 1.01360049e-03 8.91526283e-02] [ 1.04788944e-03 -1.01650879e-03 9.99998934e-01 7.15885951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162557844 meters 0.2923270962849467 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.71 [[ 9.99996369e-01 2.53848018e-03 9.04653893e-04 1.40328718e+00] [-2.53632706e-03 9.99993967e-01 -2.37329735e-03 8.87496680e-02] [-9.10673004e-04 2.37099423e-03 9.99996775e-01 7.14619966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222557844 meters 0.29150521875422 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99996091e-01 2.55955941e-03 1.12562259e-03 1.40229400e+00] [-2.55697872e-03 9.99994113e-01 -2.28817387e-03 8.82295488e-02] [-1.13147268e-03 2.28528673e-03 9.99996749e-01 7.15916891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters 0.29099306884060483 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99995850e-01 2.55650318e-03 1.32812018e-03 1.40170828e+00] [-2.55346577e-03 9.99994132e-01 -2.28368161e-03 8.81808062e-02] [-1.33395062e-03 2.28028083e-03 9.99996510e-01 7.16104227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342557844 meters 0.29234613793029346 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99995941e-01 2.57075583e-03 1.22818590e-03 1.40222669e+00] [-2.56798580e-03 9.99994168e-01 -2.25166259e-03 8.80780249e-02] [-1.23396721e-03 2.24849948e-03 9.99996711e-01 7.15456678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402557844 meters 0.29215979076915094 Centerline is valid? [False, False] Translation: X:1.42, Y:0.09, Z:0.72 [[ 0.99999095 -0.00344616 0.00249632 1.42339129] [ 0.00344153 0.99999236 0.00185526 0.08861651] [-0.0025027 -0.00184666 0.99999516 0.71555423] [ 0. 0. 0. 1. ]] SLAMing on 179.46255784399997 meters 0.29098977364771467 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99993593e-01 3.57776570e-03 -1.18102908e-04 1.40269597e+00] [-3.57790937e-03 9.99992831e-01 -1.23959401e-03 9.05519478e-02] [ 1.13667085e-04 1.24000863e-03 9.99999225e-01 7.16848710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52255784399998 meters 0.29155236379556043 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99992998e-01 3.63840286e-03 -8.75598750e-04 1.40487851e+00] [-3.63943818e-03 9.99992677e-01 -1.18373785e-03 9.05782716e-02] [ 8.71285423e-04 1.18691625e-03 9.99998916e-01 7.15613042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58255784399998 meters 0.2900170776328923 Centerline is valid? [False, False] Translation: X:1.38, Y:0.10, Z:0.72 [[ 0.99998122 -0.00587032 -0.00175882 1.38393304] [ 0.00586691 0.99998092 -0.00193421 0.09707139] [ 0.00177014 0.00192385 0.99999658 0.71617389] [ 0. 0. 0. 1. ]] SLAMing on 179.64255784399998 meters 0.2909092180218025 Centerline is valid? [False, False] Translation: X:1.40, Y:0.10, Z:0.72 [[ 9.99993278e-01 3.63878287e-03 4.51223578e-04 1.40441383e+00] [-3.63807630e-03 9.99992170e-01 -1.55695328e-03 9.61025080e-02] [-4.56885460e-04 1.55530123e-03 9.99998686e-01 7.16704000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70255784399998 meters 0.2897809591493794 Centerline is valid? [False, False] Translation: X:1.38, Y:0.10, Z:0.72 [[ 0.99998375 -0.00535397 0.00196028 1.38287508] [ 0.00535699 0.99998447 -0.00153828 0.10123597] [-0.00195201 0.00154876 0.9999969 0.71670114] [ 0. 0. 0. 1. ]] SLAMing on 179.76255784399999 meters 0.29052702967434274 Centerline is valid? [False, False] Translation: X:1.41, Y:0.10, Z:0.72 [[ 0.99999246 0.00333686 0.00198746 1.40500069] [-0.00333319 0.99999274 -0.00184878 0.09666615] [-0.00199362 0.00184214 0.99999632 0.71716099] [ 0. 0. 0. 1. ]] SLAMing on 179.822557844 meters 0.28888181629124704 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:0.72 [[ 9.99996966e-01 -1.94935233e-03 -1.50591913e-03 1.38330647e+00] [ 1.95135170e-03 9.99997215e-01 1.32734671e-03 9.40064057e-02] [ 1.50332747e-03 -1.33028126e-03 9.99997985e-01 7.18680348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882557844 meters 0.28954192571213877 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:0.72 [[ 9.99991118e-01 3.75141054e-03 1.92108020e-03 1.40545018e+00] [-3.74953694e-03 9.99992492e-01 -9.77961755e-04 9.13875539e-02] [-1.92473451e-03 9.70749907e-04 9.99997677e-01 7.16189218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942557844 meters 0.2888442890095964 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99990146e-01 3.94544456e-03 2.03498707e-03 1.40486656e+00] [-3.94451651e-03 9.99992115e-01 -4.59858400e-04 8.91753350e-02] [-2.03678537e-03 4.51826828e-04 9.99997824e-01 7.16860650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002557844 meters 0.2886383222981786 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99989220e-01 4.11249926e-03 2.15577951e-03 1.40462648e+00] [-4.11250501e-03 9.99991544e-01 -1.76505078e-06 8.73446345e-02] [-2.15576854e-03 -7.10062230e-06 9.99997676e-01 7.16724103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062557844 meters 0.2884994625135267 Centerline is valid? [False, False] Translation: X:1.40, Y:0.09, Z:0.72 [[ 9.99989351e-01 4.09011465e-03 2.13742335e-03 1.40473659e+00] [-4.08999270e-03 9.99991634e-01 -6.14202456e-05 8.75935529e-02] [-2.13765668e-03 5.26775457e-05 9.99997714e-01 7.16566199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122557844 meters 0.29061854345018423 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:0.71 [[ 9.99995100e-01 -2.92080744e-03 1.12648717e-03 1.42854034e+00] [ 2.91786036e-03 9.99992340e-01 2.60899733e-03 9.30164466e-02] [-1.13409892e-03 -2.60569761e-03 9.99995962e-01 7.14984039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182557844 meters 0.2893516365980184 Centerline is valid? [False, False] Translation: X:1.41, Y:0.10, Z:0.71 [[ 9.99974579e-01 7.02664278e-03 -1.21125579e-03 1.40852450e+00] [-7.02476222e-03 9.99974125e-01 1.54989501e-03 1.01375533e-01] [ 1.22211501e-03 -1.54134683e-03 9.99998065e-01 7.14722908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24255784399998 meters 0.2899296886667864 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:0.72 [[ 9.99997426e-01 -2.06513799e-03 -9.39929872e-04 1.42853377e+00] [ 2.06678001e-03 9.99996334e-01 1.74935393e-03 1.11015049e-01] [ 9.36313769e-04 -1.75129205e-03 9.99998028e-01 7.15367737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30255784399998 meters 0.28853029469802044 Centerline is valid? [False, False] Translation: X:1.41, Y:0.11, Z:0.72 [[ 9.99973200e-01 7.29220522e-03 -6.50240672e-04 1.40543083e+00] [-7.29199014e-03 9.99973358e-01 3.32519235e-04 1.13864824e-01] [ 6.52648146e-04 -3.27768775e-04 9.99999733e-01 7.16297663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36255784399998 meters 0.28914745457868263 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:0.72 [[ 9.99997728e-01 -1.99214415e-03 -7.58700890e-04 1.42634631e+00] [ 1.99272922e-03 9.99997717e-01 7.71175991e-04 1.19588801e-01] [ 7.57162864e-04 -7.72686125e-04 9.99999415e-01 7.17390425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42255784399998 meters 0.2902539789363882 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:0.72 [[ 9.99997400e-01 -2.07366802e-03 -9.48711958e-04 1.42709534e+00] [ 2.07418195e-03 9.99997703e-01 5.41048136e-04 1.20602192e-01] [ 9.47587824e-04 -5.43014530e-04 9.99999404e-01 7.16705087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48255784399998 meters 0.29014631372362976 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:0.72 [[ 9.99997597e-01 -2.01011744e-03 -8.74760159e-04 1.42652877e+00] [ 2.01073638e-03 9.99997728e-01 7.07254269e-04 1.19835004e-01] [ 8.73336507e-04 -7.09011481e-04 9.99999367e-01 7.17632006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542557844 meters 0.2887803043889435 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:0.72 [[ 9.99998099e-01 -1.74476070e-03 -8.70332049e-04 1.42631782e+00] [ 1.74606343e-03 9.99997353e-01 1.49831233e-03 1.16727001e-01] [ 8.67715549e-04 -1.49982913e-03 9.99998499e-01 7.18210607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602557844 meters 0.2889326438055521 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:0.72 [[ 9.99998406e-01 -1.53207354e-03 -9.16995836e-04 1.42682887e+00] [ 1.53390595e-03 9.99996822e-01 2.00091940e-03 1.14688709e-01] [ 9.13927365e-04 -2.00232279e-03 9.99997578e-01 7.17416665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662557844 meters 0.2891715061719499 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:0.72 [[ 9.99977218e-01 6.72749389e-03 5.52144634e-04 1.44668974e+00] [-6.72865141e-03 9.99975111e-01 2.12204076e-03 1.05173112e-01] [-5.37854876e-04 -2.12570761e-03 9.99997596e-01 7.19330187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722557844 meters 0.2884402233763726 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:0.72 [[ 0.99999204 -0.0021728 -0.00334596 1.42589811] [ 0.00217958 0.99999558 0.00202262 0.09969736] [ 0.00334155 -0.0020299 0.99999236 0.72021629] [ 0. 0. 0. 1. ]] SLAMing on 180.782557844 meters 0.29052987290721355 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:0.72 [[ 0.99997342 0.00684704 -0.00250364 1.44892074] [-0.00684103 0.99997372 0.00240039 0.09520036] [ 0.00252001 -0.0023832 0.99999398 0.7198055 ] [ 0. 0. 0. 1. ]] SLAMing on 180.842557844 meters 0.2894885207595361 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:0.72 [[ 9.99993178e-01 2.77126736e-03 -2.44232530e-03 1.44877076e+00] [-2.77404589e-03 9.99995508e-01 -1.13500729e-03 9.20955997e-02] [ 2.43916892e-03 1.14177467e-03 9.99996373e-01 7.19758135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902557844 meters 0.28955690540307005 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:0.72 [[ 9.99992313e-01 3.00366703e-03 -2.52048778e-03 1.44918433e+00] [-3.00480772e-03 9.99995385e-01 -4.48903846e-04 8.93431954e-02] [ 2.51912779e-03 4.56473976e-04 9.99996723e-01 7.19299353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96255784399997 meters 0.29053436710321107 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:0.72 [[ 9.99975441e-01 -7.00632537e-03 1.67930767e-04 1.46875605e+00] [ 7.00627797e-03 9.99975416e-01 2.81182445e-04 8.11401501e-02] [-1.69896695e-04 -2.79998970e-04 9.99999946e-01 7.19877639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02255784399998 meters 0.2909460563920644 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:0.72 [[ 9.99978002e-01 -6.61968735e-03 -4.19192319e-04 1.47030973e+00] [ 6.62043289e-03 9.99976460e-01 1.80284651e-03 7.53894966e-02] [ 4.07248170e-04 -1.80558208e-03 9.99998287e-01 7.19577449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08255784399998 meters 0.29061214787310613 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:0.72 [[ 9.99980040e-01 -6.31223512e-03 2.73940077e-04 1.46830429e+00] [ 6.31133240e-03 9.99975028e-01 3.17973506e-03 6.96739369e-02] [-2.94004472e-04 -3.17794266e-03 9.99994907e-01 7.20405487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14255784399998 meters 0.2886442780931483 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:0.72 [[ 9.99999207e-01 -1.72705270e-04 -1.24730206e-03 1.44431550e+00] [ 1.73785414e-04 9.99999610e-01 8.65928015e-04 6.24860318e-02] [ 1.24715202e-03 -8.66144092e-04 9.99998847e-01 7.22995445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20255784399998 meters 0.2900642677855299 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:0.73 [[ 9.99993681e-01 -2.89994467e-03 -2.05610506e-03 1.48300729e+00] [ 2.89952424e-03 9.99995775e-01 -2.07429495e-04 5.21646043e-02] [ 2.05669791e-03 2.01466457e-04 9.99997865e-01 7.26299869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26255784399999 meters 0.2891863637959313 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:0.73 [[ 9.99994407e-01 -2.65619753e-03 -2.03217222e-03 1.48295794e+00] [ 2.65719339e-03 9.99996351e-01 4.87504497e-04 4.93989348e-02] [ 2.03086990e-03 -4.92901646e-04 9.99997816e-01 7.26355968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322557844 meters 0.2901979743945941 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:0.73 [[ 9.99978254e-01 6.49054851e-03 -1.16843866e-03 1.50411102e+00] [-6.48992436e-03 9.99978796e-01 5.37182771e-04 4.24938626e-02] [ 1.17190049e-03 -5.29588010e-04 9.99999173e-01 7.26702998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382557844 meters 0.28926069280991235 Centerline is valid? [False, False] Translation: X:1.48, Y:0.04, Z:0.73 [[ 9.99991097e-01 -2.73200798e-03 -3.21595565e-03 1.48371100e+00] [ 2.73630322e-03 9.99995369e-01 1.33196040e-03 3.99691632e-02] [ 3.21230183e-03 -1.34074837e-03 9.99993942e-01 7.27239058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442557844 meters 0.29006792337019743 Centerline is valid? [False, False] Translation: X:1.48, Y:0.04, Z:0.73 [[ 0.99999196 -0.00239384 -0.00321799 1.48373746] [ 0.00240118 0.99999452 0.00227951 0.03616914] [ 0.00321251 -0.00228722 0.99999222 0.72729973] [ 0. 0. 0. 1. ]] SLAMing on 181.502557844 meters 0.28974878518987984 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:0.73 [[ 0.99999134 -0.00204323 -0.00362506 1.48515297] [ 0.00205555 0.99999211 0.00339911 0.03164986] [ 0.00361808 -0.00340653 0.99998765 0.72659147] [ 0. 0. 0. 1. ]] SLAMing on 181.562557844 meters 0.28799435420972475 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.73 [[ 9.99982402e-01 3.39378986e-03 -4.86601269e-03 1.46278058e+00] [-3.38935927e-03 9.99993834e-01 9.18473531e-04 2.06925531e-02] [ 4.86909979e-03 -9.01964702e-04 9.99987739e-01 7.27304471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters 0.2894934147834122 Centerline is valid? [False, False] Translation: X:1.48, Y:0.01, Z:0.73 [[ 9.99994495e-01 -3.15864502e-03 -1.01615155e-03 1.48497686e+00] [ 3.16234136e-03 9.99988314e-01 3.65678303e-03 1.12875652e-02] [ 1.00458920e-03 -3.65997632e-03 9.99992798e-01 7.25269902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters 0.2904144275874124 Centerline is valid? [False, False] Translation: X:1.49, Y:0.01, Z:0.72 [[ 9.99995138e-01 -2.89638135e-03 -1.15562255e-03 1.48564019e+00] [ 2.90141737e-03 9.99986198e-01 4.38021960e-03 8.31337942e-03] [ 1.14291981e-03 -4.38355125e-03 9.99989739e-01 7.24581085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74255784399998 meters 0.29023146732605504 Centerline is valid? [False, False] Translation: X:1.49, Y:0.01, Z:0.72 [[ 9.99995638e-01 -2.61689291e-03 -1.36984065e-03 1.48621355e+00] [ 2.62391413e-03 9.99983301e-01 5.14911947e-03 5.22987089e-03] [ 1.35634308e-03 -5.15269135e-03 9.99985805e-01 7.24642774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80255784399998 meters 0.28929499793344227 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:0.73 [[ 9.99994083e-01 3.22358566e-03 -1.20114474e-03 1.46234133e+00] [-3.22087431e-03 9.99992276e-01 2.25244700e-03 -1.23306386e-03] [ 1.20839642e-03 -2.24856494e-03 9.99996742e-01 7.26426599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86255784399998 meters 0.2893438748568357 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:0.73 [[ 9.99993179e-01 3.49189257e-03 -1.20370782e-03 1.46245608e+00] [-3.48801906e-03 9.99988780e-01 3.20520126e-03 -4.92281939e-03] [ 1.21488653e-03 -3.20098084e-03 9.99994139e-01 7.26198334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92255784399998 meters 0.2904575664848215 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99992492e-01 3.58832502e-03 -1.46308463e-03 1.46321882e+00] [-3.58314483e-03 9.99987357e-01 3.52797810e-03 -6.21647923e-03] [ 1.47572566e-03 -3.52270917e-03 9.99992706e-01 7.25877764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98255784399998 meters 0.2900724178471486 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99992351e-01 3.67806062e-03 -1.33059773e-03 1.46257118e+00] [-3.67295312e-03 9.99985955e-01 3.82079233e-03 -7.37112103e-03] [ 1.34463215e-03 -3.81587588e-03 9.99991815e-01 7.26778876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042557844 meters 0.28960735972639795 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99992035e-01 3.77900821e-03 -1.28416444e-03 1.46222375e+00] [-3.77358354e-03 9.99984057e-01 4.20076179e-03 -8.82008448e-03] [ 1.30001868e-03 -4.19588243e-03 9.99990352e-01 7.27454898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102557844 meters 0.28999500224082353 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99991782e-01 3.87923913e-03 -1.17758516e-03 1.46182434e+00] [-3.87390670e-03 9.99982384e-01 4.49727785e-03 -1.00066440e-02] [ 1.19501043e-03 -4.49267903e-03 9.99989194e-01 7.27803441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162557844 meters 0.29021728567158706 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99999320e-01 -4.21451925e-04 -1.08733177e-03 1.46144082e+00] [ 4.21740697e-04 9.99999876e-01 2.65362562e-04 -1.04091026e-02] [ 1.08721980e-03 -2.65820954e-04 9.99999374e-01 7.28095908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222557844 meters 0.2896582471063065 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:0.73 [[ 9.99999042e-01 -2.72404937e-04 -1.35692251e-03 1.46218313e+00] [ 2.73394377e-04 9.99999697e-01 7.29047628e-04 -1.22271835e-02] [ 1.35672350e-03 -7.29417905e-04 9.99998814e-01 7.27858175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282557844 meters 0.29137273305641564 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.02, Z:0.73 [[ 9.99983815e-01 5.68780318e-03 -1.35007055e-04 1.48441732e+00] [-5.68810365e-03 9.99981083e-01 -2.34062388e-03 -1.69403893e-02] [ 1.21691494e-04 2.34135393e-03 9.99997252e-01 7.26918703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342557844 meters 0.2901281006272483 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.03, Z:0.73 [[ 0.99997713 -0.00581443 -0.00345567 1.46561781] [ 0.00580386 0.99997847 -0.00306146 -0.02571667] [ 0.0034734 0.00304133 0.99998934 0.72602076] [ 0. 0. 0. 1. ]] SLAMing on 182.402557844 meters 0.2912399072046348 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.03, Z:0.73 [[ 0.99997629 -0.00557053 -0.00404911 1.46734952] [ 0.00556246 0.99998253 -0.00200125 -0.02980605] [ 0.00406019 0.00197868 0.9999898 0.72511975] [ 0. 0. 0. 1. ]] SLAMing on 182.46255784399997 meters 0.2912572550804458 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99979999e-01 -5.14986648e-03 -3.67164140e-03 1.46612456e+00] [ 5.14793501e-03 9.99986606e-01 -5.35309842e-04 -3.55199905e-02] [ 3.67434900e-03 5.16397764e-04 9.99993116e-01 7.25638832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52255784399998 meters 0.2908588640313864 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99980712e-01 -4.98186266e-03 -3.70903987e-03 1.46627686e+00] [ 4.98143790e-03 9.99987585e-01 -1.23749693e-04 -3.71948401e-02] [ 3.70961032e-03 1.05270954e-04 9.99993114e-01 7.25520434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58255784399998 meters 0.29132460574430175 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.72 [[ 9.99980162e-01 -4.95884563e-03 -3.88405760e-03 1.46703469e+00] [ 4.95863906e-03 9.99987704e-01 -6.28123596e-05 -3.73637127e-02] [ 3.88432132e-03 4.35514738e-05 9.99992455e-01 7.24678225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64255784399998 meters 0.2915123956717074 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99981586e-01 -4.84297599e-03 -3.65703383e-03 1.46603476e+00] [ 4.84397947e-03 9.99988233e-01 2.65589595e-04 -3.88529511e-02] [ 3.65570455e-03 -2.83299301e-04 9.99993278e-01 7.25729595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70255784399998 meters 0.2911339528510747 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.04, Z:0.72 [[ 9.99971873e-01 3.68052024e-03 -6.53500391e-03 1.44833042e+00] [-3.68235551e-03 9.99993184e-01 -2.68825739e-04 -4.37142918e-02] [ 6.53396995e-03 2.92882386e-04 9.99978610e-01 7.24775046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76255784399999 meters 0.29218323537997926 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.04, Z:0.72 [[ 9.99969989e-01 3.75755325e-03 -6.77514124e-03 1.44911836e+00] [-3.75788704e-03 9.99992938e-01 -3.65378653e-05 -4.46468857e-02] [ 6.77495611e-03 6.19969842e-05 9.99977048e-01 7.24233518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822557844 meters 0.29037016166052393 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.04, Z:0.73 [[ 9.99972628e-01 3.75249526e-03 -6.37663792e-03 1.44782986e+00] [-3.75275736e-03 9.99992958e-01 -2.91381785e-05 -4.47404498e-02] [ 6.37648368e-03 5.30673558e-05 9.99979669e-01 7.25312634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882557844 meters 0.2919026405184659 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99968069e-01 -5.24045733e-03 -6.03315922e-03 1.46992701e+00] [ 5.24215629e-03 9.99986224e-01 2.65824791e-04 -4.19988463e-02] [ 6.03168306e-03 -2.97443067e-04 9.99981765e-01 7.25605983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942557844 meters 0.29242550776830867 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99967711e-01 -5.30549141e-03 -6.03564525e-03 1.46998484e+00] [ 5.30618506e-03 9.99985917e-01 9.89170457e-05 -4.13124578e-02] [ 6.03503544e-03 -1.30940102e-04 9.99981780e-01 7.25496509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002557844 meters 0.29168112345379693 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99967782e-01 -5.40191755e-03 -5.93745216e-03 1.46923086e+00] [ 5.40101198e-03 9.99985400e-01 -1.68541923e-04 -4.02484465e-02] [ 5.93827593e-03 1.36468243e-04 9.99982359e-01 7.26811186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062557844 meters 0.2913114244458034 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99967493e-01 -5.48364200e-03 -5.91120940e-03 1.46935175e+00] [ 5.48146446e-03 9.99984903e-01 -3.84512464e-04 -3.93692804e-02] [ 5.91322868e-03 3.52097881e-04 9.99982455e-01 7.26390030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122557844 meters 0.2906964347356742 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:0.73 [[ 9.99967643e-01 -5.57807231e-03 -5.79637799e-03 1.46909049e+00] [ 5.57452458e-03 9.99984265e-01 -6.28035840e-04 -3.83739897e-02] [ 5.79979002e-03 5.95703467e-04 9.99983004e-01 7.26320274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182557844 meters 0.29285857818402894 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:0.73 [[ 9.99983900e-01 -4.00143852e-03 -4.02348776e-03 1.51241306e+00] [ 4.00422033e-03 9.99991749e-01 6.83573239e-04 -3.93247078e-02] [ 4.02071928e-03 -6.99673164e-04 9.99991672e-01 7.26096007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24255784399998 meters 0.29273147390134446 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.04, Z:0.72 [[ 9.99967564e-01 3.59737308e-03 -7.20627180e-03 1.49461448e+00] [-3.60404446e-03 9.99993089e-01 -9.13001051e-04 -4.04744165e-02] [ 7.20293759e-03 9.38943161e-04 9.99973618e-01 7.24215782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30255784399998 meters 0.2912811901799442 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.03, Z:0.72 [[ 9.99951188e-01 -4.76482932e-03 -8.65548569e-03 1.47645833e+00] [ 4.76400340e-03 9.99988645e-01 -1.16037190e-04 -3.21994611e-02] [ 8.65594031e-03 7.47967624e-05 9.99962534e-01 7.22814835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36255784399998 meters 0.291914271718332 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.03, Z:0.72 [[ 9.99969587e-01 4.41607310e-03 -6.42836458e-03 1.49687501e+00] [-4.42196281e-03 9.99989816e-01 -9.02280542e-04 -2.92210694e-02] [ 6.42431458e-03 9.30679090e-04 9.99978931e-01 7.22987833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42255784399998 meters 0.29162160690867445 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.72 [[ 0.9999729 0.00389729 -0.00624582 1.49609181] [-0.00391433 0.99998865 -0.00271772 -0.02212501] [ 0.00623516 0.00274209 0.9999768 0.72388129] [ 0. 0. 0. 1. ]] SLAMing on 183.48255784399998 meters 0.2926888681686898 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.72 [[ 0.99996949 0.00352967 -0.00696814 1.49843965] [-0.00355924 0.9999847 -0.00423445 -0.01580825] [ 0.00695309 0.00425912 0.99996676 0.7228371 ] [ 0. 0. 0. 1. ]] SLAMing on 183.542557844 meters 0.29211456853591206 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.72 [[ 0.99997193 0.00324034 -0.00675522 1.49752489] [-0.00327511 0.99998142 -0.0051421 -0.01213004] [ 0.00673844 0.00516408 0.99996396 0.72394297] [ 0. 0. 0. 1. ]] SLAMing on 183.602557844 meters 0.2910917769614325 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.01, Z:0.73 [[ 0.99996835 0.00548198 -0.00576584 1.4919184 ] [-0.00550253 0.99997854 -0.00355479 -0.00727364] [ 0.00574623 0.0035864 0.99997706 0.72823038] [ 0. 0. 0. 1. ]] SLAMing on 183.662557844 meters 0.290209332934367 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.01, Z:0.73 [[ 0.99996931 0.00539239 -0.00568329 1.4917332 ] [-0.00541401 0.99997814 -0.00379625 -0.00629166] [ 0.00566269 0.0038269 0.99997664 0.72818733] [ 0. 0. 0. 1. ]] SLAMing on 183.722557844 meters 0.290439238258647 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:0.73 [[ 9.99994482e-01 -2.78171617e-03 -1.81578634e-03 1.50808731e+00] [ 2.77541970e-03 9.99990159e-01 -3.46098689e-03 9.04710087e-04] [ 1.82539596e-03 3.45592822e-03 9.99992362e-01 7.29880315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782557844 meters 0.29034775609126506 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:0.73 [[ 0.99999446 -0.00290882 -0.00162116 1.507412 ] [ 0.00290239 0.99998797 -0.00395444 0.00275422] [ 0.00163264 0.00394971 0.99999087 0.73051263] [ 0. 0. 0. 1. ]] SLAMing on 183.842557844 meters 0.29046699247427776 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:0.73 [[ 0.9999924 -0.00291771 -0.00258689 1.5101039 ] [ 0.00290646 0.99998634 -0.00434311 0.00452608] [ 0.00259953 0.00433556 0.99998722 0.72901229] [ 0. 0. 0. 1. ]] SLAMing on 183.902557844 meters 0.2912657408440632 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:0.73 [[ 0.99999217 -0.00303994 -0.00253241 1.50997185] [ 0.00302805 0.99998444 -0.00468583 0.00590949] [ 0.00254661 0.00467812 0.99998581 0.72902409] [ 0. 0. 0. 1. ]] SLAMing on 183.96255784399997 meters 0.2921894685412178 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:0.73 [[ 0.99999201 -0.00299206 -0.00264992 1.51047763] [ 0.00297997 0.99998518 -0.00455538 0.00536924] [ 0.00266351 0.00454744 0.99998611 0.72851861] [ 0. 0. 0. 1. ]] SLAMing on 184.02255784399998 meters 0.29180996876398874 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:0.73 [[ 0.9999917 -0.00291556 -0.00284636 1.51138301] [ 0.00290319 0.99998638 -0.00433752 0.00444225] [ 0.00285897 0.00432922 0.99998654 0.72732959] [ 0. 0. 0. 1. ]] SLAMing on 184.08255784399998 meters 0.2913109774768935 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:0.73 [[ 0.99999108 -0.00294897 -0.00302408 1.51192139] [ 0.00293551 0.99998581 -0.00444587 0.00488145] [ 0.00303715 0.00443695 0.99998554 0.72705471] [ 0. 0. 0. 1. ]] SLAMing on 184.14255784399998 meters 0.2914047568757906 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:0.73 [[ 0.99999103 -0.00297256 -0.00301704 1.51170341] [ 0.0029589 0.99998541 -0.0045198 0.0051667 ] [ 0.00303043 0.00451083 0.99998523 0.72759935] [ 0. 0. 0. 1. ]] SLAMing on 184.20255784399998 meters 0.29234582547546345 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:0.73 [[ 0.99999152 -0.00299128 -0.00282949 1.51133157] [ 0.00297833 0.99998513 -0.00456929 0.0053676 ] [ 0.00284312 0.00456082 0.99998556 0.72737742] [ 0. 0. 0. 1. ]] SLAMing on 184.26255784399999 meters 0.2912896812781888 Centerline is valid? [False, False] Translation: X:1.47, Y:0.00, Z:0.73 [[ 9.99999469e-01 -8.55348803e-04 5.74888690e-04 1.46676308e+00] [ 8.56782252e-04 9.99996513e-01 -2.49783399e-03 3.75455672e-03] [-5.72750167e-04 2.49832521e-03 9.99996715e-01 7.26719947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322557844 meters 0.2908450830898622 Centerline is valid? [False, False] Translation: X:1.47, Y:0.00, Z:0.73 [[ 9.99999490e-01 -8.65560807e-04 5.20841524e-04 1.46702205e+00] [ 8.66872681e-04 9.99996439e-01 -2.52382492e-03 3.85141324e-03] [-5.18655145e-04 2.52427513e-03 9.99996680e-01 7.26438473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382557844 meters 0.2916539679746673 Centerline is valid? [False, False] Translation: X:1.47, Y:0.00, Z:0.73 [[ 9.99999453e-01 -9.37908859e-04 4.62343266e-04 1.46733694e+00] [ 9.39181748e-04 9.99995748e-01 -2.76063949e-03 4.78020713e-03] [-4.59752072e-04 2.76107220e-03 9.99996083e-01 7.25947531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442557844 meters 0.29023068978943356 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:0.72 [[ 9.99997995e-01 1.05843921e-03 1.70014536e-03 1.42639493e+00] [-1.05656777e-03 9.99998835e-01 -1.10127587e-03 5.35234188e-03] [-1.70130902e-03 1.09947735e-03 9.99997948e-01 7.24123976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502557844 meters 0.2906324532626684 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:0.72 [[ 9.99997938e-01 9.94879015e-04 1.77009617e-03 1.42633681e+00] [-9.92620904e-04 9.99998693e-01 -1.27612133e-03 6.06579963e-03] [-1.77136344e-03 1.27436166e-03 9.99997619e-01 7.23834881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562557844 meters 0.29028195375545934 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:0.72 [[ 9.99997699e-01 1.01198475e-03 1.89163819e-03 1.42590866e+00] [-1.00965697e-03 9.99998732e-01 -1.23111397e-03 5.88264272e-03] [-1.89288167e-03 1.22920123e-03 9.99997453e-01 7.24152371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622557844 meters 0.2900519518407924 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:0.72 [[ 9.99997295e-01 1.12191111e-03 2.03746762e-03 1.42530397e+00] [-1.12009355e-03 9.99998974e-01 -8.92989695e-04 4.49592687e-03] [-2.03846739e-03 8.90705125e-04 9.99997526e-01 7.24835031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682557844 meters 0.2901607563654483 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:0.72 [[ 9.99997377e-01 1.23300097e-03 1.93005133e-03 1.42563567e+00] [-1.23186935e-03 9.99999069e-01 -5.87396418e-04 3.24486899e-03] [-1.93077380e-03 5.85017306e-04 9.99997965e-01 7.24708606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74255784399998 meters 0.29075249156485206 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:0.72 [[ 9.99997465e-01 1.28018587e-03 1.85233696e-03 1.42621823e+00] [-1.27934665e-03 9.99999078e-01 -4.54171273e-04 2.69983300e-03] [-1.85291668e-03 4.51800341e-04 9.99998181e-01 7.23752562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80255784399998 meters 0.2914434746475682 Centerline is valid? [False, False] Translation: X:1.43, Y:0.00, Z:0.72 [[ 9.99997228e-01 1.50835982e-03 1.80824163e-03 1.42671676e+00] [-1.50845024e-03 9.99998861e-01 4.86465518e-05 5.85977710e-04] [-1.80816619e-03 -5.13740594e-05 9.99998364e-01 7.23035477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86255784399998 meters 0.2916624784415776 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.00, Z:0.72 [[ 9.99997118e-01 1.79625779e-03 1.59299163e-03 1.42750456e+00] [-1.79764089e-03 9.99998008e-01 8.67237213e-04 -2.78343966e-03] [-1.59143068e-03 -8.70098341e-04 9.99998355e-01 7.22469290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92255784399998 meters 0.2919413966534145 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.72 [[ 0.99999596 0.00232066 0.00163885 1.4272379 ] [-0.0023243 0.99999482 0.00222751 -0.00827972] [-0.00163368 -0.00223131 0.99999618 0.72280246] [ 0. 0. 0. 1. ]] SLAMing on 184.98255784399998 meters 0.2923881358028589 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.01, Z:0.72 [[ 0.99999585 0.00246705 0.00149068 1.42778464] [-0.00247085 0.99999369 0.00255281 -0.00962658] [-0.00148437 -0.00255648 0.99999563 0.72252692] [ 0. 0. 0. 1. ]] SLAMing on 185.042557844 meters 0.29100552290084997 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 9.99994353e-01 3.15719719e-03 1.15118623e-03 1.39081848e+00] [-3.16137212e-03 9.99988367e-01 3.64302989e-03 -1.35156150e-02] [-1.13967108e-03 -3.64664864e-03 9.99992702e-01 7.19048910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102557844 meters 0.2919802026208342 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 0.99999381 0.00315198 0.00156528 1.38962276] [-0.00315761 0.9999885 0.00360873 -0.01332844] [-0.00155389 -0.00361365 0.99999226 0.71964983] [ 0. 0. 0. 1. ]] SLAMing on 185.162557844 meters 0.292115749473111 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 9.99994388e-01 3.04908919e-03 1.38793200e-03 1.39017031e+00] [-3.05369496e-03 9.99989798e-01 3.32850440e-03 -1.21980496e-02] [-1.37776893e-03 -3.33272404e-03 9.99993497e-01 7.19344849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222557844 meters 0.2905624284238979 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 0.99999472 0.00285476 0.00155491 1.38948497] [-0.00285921 0.9999918 0.00286659 -0.01016788] [-0.00154671 -0.00287102 0.99999468 0.71978817] [ 0. 0. 0. 1. ]] SLAMing on 185.282557844 meters 0.290554909563544 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 0.9999948 0.00271618 0.00173725 1.38879334] [-0.00272048 0.99999324 0.00247308 -0.00852634] [-0.00173052 -0.00247779 0.99999543 0.72042338] [ 0. 0. 0. 1. ]] SLAMing on 185.342557844 meters 0.2908281372261992 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.01, Z:0.72 [[ 0.99999562 0.00241352 0.00171074 1.3890194 ] [-0.00241642 0.99999564 0.00169573 -0.0053516 ] [-0.00170664 -0.00169985 0.9999971 0.72003685] [ 0. 0. 0. 1. ]] SLAMing on 185.402557844 meters 0.29175939505031157 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.00, Z:0.72 [[ 9.99996115e-01 2.02711482e-03 1.91353365e-03 1.38881292e+00] [-2.02850156e-03 9.99997681e-01 7.23041767e-04 -1.30206765e-03] [-1.91206352e-03 -7.26920563e-04 9.99997908e-01 7.19261574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46255784399997 meters 0.2912397739515905 Centerline is valid? [False, False] Translation: X:1.39, Y:0.00, Z:0.72 [[ 9.99996197e-01 1.85385273e-03 2.04188518e-03 1.38820321e+00] [-1.85435976e-03 9.99998250e-01 2.46446494e-04 6.94197545e-04] [-2.04142473e-03 -2.50231947e-04 9.99997885e-01 7.19944344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52255784399998 meters 0.28992810884846026 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:0.72 [[ 9.99991093e-01 -4.22057048e-03 -2.39921033e-05 1.36520064e+00] [ 4.22062538e-03 9.99986054e-01 3.17456238e-03 1.60144363e-03] [ 1.05933044e-05 -3.17463536e-03 9.99994961e-01 7.21577747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58255784399998 meters 0.2901526680335631 Centerline is valid? [False, False] Translation: X:1.37, Y:0.00, Z:0.72 [[ 9.99990365e-01 -4.38805857e-03 -1.19506252e-04 1.36577542e+00] [ 4.38836225e-03 9.99986801e-01 2.67192583e-03 3.62191260e-03] [ 1.07780108e-04 -2.67242452e-03 9.99996423e-01 7.20630171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64255784399998 meters 0.2914390635564919 Centerline is valid? [False, False] Translation: X:1.39, Y:0.01, Z:0.72 [[ 0.99998231 0.00538666 0.00252363 1.38702497] [-0.00539218 0.99998308 0.00218415 0.01104645] [-0.00251182 -0.00219772 0.99999443 0.719403 ] [ 0. 0. 0. 1. ]] SLAMing on 185.70255784399998 meters 0.29051228200685864 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:0.72 [[ 0.99997753 0.00574777 0.0034513 1.34747723] [-0.00575341 0.99998213 0.00162608 0.01659222] [-0.00344189 -0.0016459 0.99999272 0.71659694] [ 0. 0. 0. 1. ]] SLAMing on 185.76255784399999 meters 0.2923222902282274 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.72 [[ 9.99981249e-01 5.61820496e-03 2.43679061e-03 1.38923722e+00] [-5.61879178e-03 9.99984187e-01 2.34037198e-04 2.70472229e-02] [-2.43543721e-03 -2.47724629e-04 9.99997004e-01 7.17847414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822557844 meters 0.29214042071526375 Centerline is valid? [False, False] Translation: X:1.39, Y:0.03, Z:0.72 [[ 9.99981655e-01 5.52770765e-03 2.47674156e-03 1.38899252e+00] [-5.52767787e-03 9.99984722e-01 -1.88699064e-05 2.80753479e-02] [-2.47680803e-03 5.17893073e-06 9.99996933e-01 7.18172446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882557844 meters 0.29175292590532703 Centerline is valid? [False, False] Translation: X:1.41, Y:0.03, Z:0.72 [[ 9.99991007e-01 -2.60516284e-03 3.34650858e-03 1.40832508e+00] [ 2.60093620e-03 9.99995815e-01 1.26673219e-03 3.31294898e-02] [-3.34979462e-03 -1.25801675e-03 9.99993598e-01 7.20136857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942557844 meters 0.29156108934476216 Centerline is valid? [False, False] Translation: X:1.41, Y:0.03, Z:0.72 [[ 9.99991577e-01 -2.61861457e-03 3.16056410e-03 1.40903232e+00] [ 2.61473228e-03 9.99995823e-01 1.23186012e-03 3.32612375e-02] [-3.16377666e-03 -1.22358572e-03 9.99994247e-01 7.19462291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002557844 meters 0.2914374552185638 Centerline is valid? [False, False] Translation: X:1.41, Y:0.03, Z:0.72 [[ 9.99990943e-01 -2.69126624e-03 3.29722799e-03 1.40857344e+00] [ 2.68802510e-03 9.99995900e-01 9.87026187e-04 3.42381871e-02] [-3.29987083e-03 -9.78154215e-04 9.99994077e-01 7.19771025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062557844 meters 0.2914257686733923 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.72 [[ 9.99989692e-01 -2.76402032e-03 3.60231485e-03 1.40764947e+00] [ 2.76129335e-03 9.99995897e-01 7.61758735e-04 3.51821454e-02] [-3.60440559e-03 -7.51803835e-04 9.99993222e-01 7.20203970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122557844 meters 0.2922347688933062 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.72 [[ 9.99963799e-01 6.46899867e-03 5.52739624e-03 1.42961316e+00] [-6.47087436e-03 9.99979012e-01 3.21527808e-04 3.76272899e-02] [-5.52520027e-03 -3.57283255e-04 9.99984672e-01 7.19353152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182557844 meters 0.2898429545257038 Centerline is valid? [False, False] Translation: X:1.40, Y:0.04, Z:0.72 [[ 9.99976070e-01 -3.29730873e-03 6.08177573e-03 1.40482336e+00] [ 3.29906815e-03 9.99994519e-01 -2.79284135e-04 4.07476557e-02] [-6.08082151e-03 2.99341645e-04 9.99981467e-01 7.20937749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24255784399998 meters 0.2895474193451876 Centerline is valid? [False, False] Translation: X:1.40, Y:0.04, Z:0.72 [[ 9.99975743e-01 -3.28093123e-03 6.14408236e-03 1.40469049e+00] [ 3.28245269e-03 9.99994585e-01 -2.37561757e-04 4.05828812e-02] [-6.14326966e-03 2.57723654e-04 9.99981097e-01 7.20883320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30255784399998 meters 0.2910396594587987 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.72 [[ 9.99978930e-01 -3.26490763e-03 5.61066210e-03 1.40628191e+00] [ 3.26569205e-03 9.99994659e-01 -1.30654246e-04 3.99766194e-02] [-5.61020556e-03 1.48974188e-04 9.99984252e-01 7.20115145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36255784399998 meters 0.28947669621534067 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:0.72 [[ 9.99986784e-01 4.69493540e-03 2.09487539e-03 1.38912024e+00] [-4.69226678e-03 9.99988176e-01 -1.27698210e-03 3.59062333e-02] [-2.10084597e-03 1.26713551e-03 9.99996990e-01 7.18929872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42255784399998 meters 0.2921637281931076 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.72 [[ 9.99985734e-01 -3.87312311e-03 3.67853412e-03 1.40817198e+00] [ 3.87407510e-03 9.99992464e-01 -2.51703965e-04 4.03285069e-02] [-3.67753151e-03 2.65951292e-04 9.99993202e-01 7.19154717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48255784399998 meters 0.28913949887855467 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.72 [[ 9.99984385e-01 -3.88669995e-03 4.01543783e-03 1.40718417e+00] [ 3.88795308e-03 9.99992396e-01 -3.04317675e-04 4.05725908e-02] [-4.01422450e-03 3.19924757e-04 9.99991892e-01 7.19597047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542557844 meters 0.28898461723110563 Centerline is valid? [False, False] Translation: X:1.41, Y:0.04, Z:0.72 [[ 9.99983292e-01 -3.91214942e-03 4.25578527e-03 1.40656111e+00] [ 3.91382521e-03 9.99992267e-01 -3.85511097e-04 4.09116177e-02] [-4.25424418e-03 4.02161056e-04 9.99990870e-01 7.19655047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602557844 meters 0.28933326152217864 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.72 [[ 9.99979943e-01 4.64577915e-03 4.30474421e-03 1.42766255e+00] [-4.63975731e-03 9.99988245e-01 -1.40781710e-03 3.70972057e-02] [-4.31123402e-03 1.38781590e-03 9.99989744e-01 7.20008562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662557844 meters 0.2896627600867044 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:0.72 [[ 9.99981286e-01 4.70350533e-03 3.91214202e-03 1.42862024e+00] [-4.69886498e-03 9.99988247e-01 -1.19448672e-03 3.62459067e-02] [-3.91771431e-03 1.17608174e-03 9.99991634e-01 7.20021796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722557844 meters 0.29030746590324874 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:0.72 [[ 9.99976509e-01 -4.72383980e-03 4.96652039e-03 1.44943233e+00] [ 4.72643491e-03 9.99988700e-01 -5.10915063e-04 3.53780965e-02] [-4.96405078e-03 5.34376997e-04 9.99987536e-01 7.20752439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters 0.29031287872648276 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:0.72 [[ 9.99977483e-01 -4.50826931e-03 4.97074445e-03 1.44943615e+00] [ 4.50769477e-03 9.99989832e-01 1.26781148e-04 3.28187116e-02] [-4.97126547e-03 -1.04371694e-04 9.99987638e-01 7.20764028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters 0.2882399065176003 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:0.72 [[ 9.99981765e-01 3.42158254e-03 4.97621642e-03 1.43103563e+00] [-3.41707867e-03 9.99993745e-01 -9.13300276e-04 2.23929093e-02] [-4.97931023e-03 8.96279499e-04 9.99987201e-01 7.18804012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902557844 meters 0.2891234217930751 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:0.72 [[ 9.99981404e-01 3.60585039e-03 4.91823043e-03 1.43121829e+00] [-3.60380075e-03 9.99993416e-01 -4.25542040e-04 2.04233388e-02] [-4.91973249e-03 4.07809804e-04 9.99987815e-01 7.18789317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96255784399997 meters 0.2887957070129975 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:0.72 [[ 9.99980157e-01 3.60219938e-03 5.16819740e-03 1.43069551e+00] [-3.59993593e-03 9.99993420e-01 -4.47193101e-04 2.05039845e-02] [-5.16977427e-03 4.28579047e-04 9.99986545e-01 7.18550758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02255784399998 meters 0.2878416873605965 Centerline is valid? [False, False] Translation: X:1.41, Y:0.02, Z:0.72 [[ 9.99958815e-01 -5.58181256e-03 7.15624768e-03 1.40804181e+00] [ 5.58130970e-03 9.99984420e-01 9.02373349e-05 2.41288716e-02] [-7.15663988e-03 -5.02923838e-05 9.99974390e-01 7.18260830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08255784399998 meters 0.29069932083389766 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:0.71 [[ 0.99998699 0.00196049 0.00470924 1.43877091] [-0.00195193 0.99999644 -0.00182105 0.02407102] [-0.0047128 0.00181183 0.99998725 0.71294173] [ 0. 0. 0. 1. ]] SLAMing on 187.14255784399998 meters 0.29145710546591197 Centerline is valid? [False, False] Translation: X:1.44, Y:0.02, Z:0.71 [[ 0.99998703 0.00204198 0.00466481 1.4390613 ] [-0.00203457 0.99999666 -0.00159131 0.02311368] [-0.00466804 0.0015818 0.99998785 0.71255303] [ 0. 0. 0. 1. ]] SLAMing on 187.20255784399998 meters 0.2888325086316608 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.72 [[ 9.99987624e-01 -4.63098902e-03 1.81818927e-03 1.41622652e+00] [ 4.62886835e-03 9.99988604e-01 1.16884456e-03 1.88868751e-02] [-1.82358145e-03 -1.16041394e-03 9.99997664e-01 7.15510238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26255784399999 meters 0.2888010727214556 Centerline is valid? [False, False] Translation: X:1.42, Y:0.02, Z:0.72 [[ 0.9999877 -0.00448027 0.00212675 1.41534784] [ 0.00447673 0.99998859 0.00166689 0.01691533] [-0.00213419 -0.00165735 0.99999635 0.715996 ] [ 0. 0. 0. 1. ]] SLAMing on 187.322557844 meters 0.2881005343957484 Centerline is valid? [False, False] Translation: X:1.42, Y:0.01, Z:0.72 [[ 0.99998856 -0.00426694 0.0021595 1.41527241] [ 0.00426176 0.99998805 0.00239434 0.0140672 ] [-0.00216969 -0.00238511 0.9999948 0.71603702] [ 0. 0. 0. 1. ]] SLAMing on 187.382557844 meters 0.28986131958763983 Centerline is valid? [False, False] Translation: X:1.43, Y:0.01, Z:0.72 [[ 9.99987907e-01 3.51703771e-03 3.43749464e-03 1.43319635e+00] [-3.52025789e-03 9.99993370e-01 9.31182379e-04 7.17726926e-03] [-3.43419685e-03 -9.43271986e-04 9.99993658e-01 7.18526513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442557844 meters 0.2880592136011422 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.72 [[ 0.99998487 -0.00511302 0.00202919 1.41251121] [ 0.00510846 0.99998442 0.00224879 0.00660173] [-0.00204065 -0.00223839 0.99999541 0.718328 ] [ 0. 0. 0. 1. ]] SLAMing on 187.502557844 meters 0.28786012321362797 Centerline is valid? [False, False] Translation: X:1.41, Y:0.01, Z:0.72 [[ 0.99998563 -0.00504557 0.00181346 1.4133189 ] [ 0.00504112 0.99998428 0.00245479 0.00575974] [-0.00182581 -0.00244561 0.99999534 0.71755748] [ 0. 0. 0. 1. ]] SLAMing on 187.562557844 meters 0.289029206635537 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.72 [[ 0.99998449 0.00533493 0.00159962 1.43809795] [-0.00533953 0.99998158 0.0028857 0.00622509] [-0.00158419 -0.00289419 0.99999456 0.71543214] [ 0. 0. 0. 1. ]] SLAMing on 187.622557844 meters 0.29016615890523 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.72 [[ 0.99998528 0.00518182 0.0016093 1.43807386] [-0.00518565 0.9999837 0.00238884 0.00815654] [-0.00159689 -0.00239715 0.99999585 0.71537829] [ 0. 0. 0. 1. ]] SLAMing on 187.682557844 meters 0.29066099369794823 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.71 [[ 9.99986524e-01 5.01545928e-03 1.34074590e-03 1.43892206e+00] [-5.01788668e-03 9.99985766e-01 1.81328942e-03 1.04546000e-02] [-1.33163234e-03 -1.81999269e-03 9.99997457e-01 7.14823744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74255784399998 meters 0.2889821042341166 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.71 [[ 9.99987163e-01 4.87273595e-03 1.38922313e-03 1.43889296e+00] [-4.87471488e-03 9.99987104e-01 1.42467498e-03 1.20463587e-02] [-1.38226315e-03 -1.43142876e-03 9.99998020e-01 7.14566455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80255784399998 meters 0.2900643312491301 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.71 [[ 9.99988179e-01 4.65413484e-03 1.40775382e-03 1.43862894e+00] [-4.65540005e-03 9.99988761e-01 8.96803147e-04 1.42709337e-02] [-1.40356416e-03 -9.03346203e-04 9.99998607e-01 7.14968820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86255784399998 meters 0.2899529139416831 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.72 [[ 0.99999259 -0.00334021 0.00191397 1.45772709] [ 0.00333591 0.99999192 0.00224385 0.01969225] [-0.00192145 -0.00223745 0.99999565 0.71709695] [ 0. 0. 0. 1. ]] SLAMing on 187.92255784399998 meters 0.2875390347370143 Centerline is valid? [False, False] Translation: X:1.43, Y:0.02, Z:0.72 [[ 9.99994315e-01 2.69541698e-03 2.02595841e-03 1.43357722e+00] [-2.69315617e-03 9.99995749e-01 -1.11782139e-03 1.73785307e-02] [-2.02896279e-03 1.11235881e-03 9.99997323e-01 7.18636118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98255784399998 meters 0.28916232073416503 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.72 [[ 0.99998447 -0.00374612 0.0041261 1.45534599] [ 0.00373868 0.99999138 0.00180846 0.01857469] [-0.00413284 -0.001793 0.99998985 0.7175102 ] [ 0. 0. 0. 1. ]] SLAMing on 188.042557844 meters 0.28830744239825196 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:0.72 [[ 0.99998452 -0.00365397 0.00419724 1.45490379] [ 0.0036453 0.99999121 0.00207162 0.01749918] [-0.00420477 -0.00205629 0.99998905 0.71820689] [ 0. 0. 0. 1. ]] SLAMing on 188.102557844 meters 0.2888250167319653 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:0.72 [[ 0.99998522 -0.00354015 0.00412548 1.45503947] [ 0.00353007 0.99999078 0.00244613 0.01601868] [-0.00413411 -0.00243153 0.9999885 0.71835578] [ 0. 0. 0. 1. ]] SLAMing on 188.162557844 meters 0.28759750066638434 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.72 [[ 0.99998726 0.0045548 0.00217622 1.43734713] [-0.00455814 0.99998843 0.00153593 0.00821471] [-0.0021692 -0.00154583 0.99999645 0.71690302] [ 0. 0. 0. 1. ]] SLAMing on 188.222557844 meters 0.2885543304587874 Centerline is valid? [False, False] Translation: X:1.44, Y:0.01, Z:0.72 [[ 0.99998653 0.00473982 0.00211511 1.43744953] [-0.00474403 0.99998677 0.00199016 0.00633653] [-0.00210565 -0.00200017 0.99999578 0.71707322] [ 0. 0. 0. 1. ]] SLAMing on 188.282557844 meters 0.28872884308216074 Centerline is valid? [False, False] Translation: X:1.44, Y:0.00, Z:0.72 [[ 9.99997154e-01 6.83303660e-04 2.28596900e-03 1.43707413e+00] [-6.79845059e-04 9.99998624e-01 -1.51340446e-03 3.08398629e-03] [-2.28699996e-03 1.51184605e-03 9.99996242e-01 7.16993151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters 0.28811581616056514 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.00, Z:0.72 [[ 9.99997329e-01 1.23743593e-03 1.95220308e-03 1.43843665e+00] [-1.23727780e-03 9.99999231e-01 -8.22048889e-05 -3.13575509e-03] [-1.95230330e-03 7.97892517e-05 9.99998091e-01 7.16297588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters 0.2878900043697191 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.01, Z:0.72 [[ 9.99997425e-01 1.49141554e-03 1.71030620e-03 1.43927144e+00] [-1.49243087e-03 9.99998711e-01 5.92532797e-04 -5.97759755e-03] [-1.70942028e-03 -5.95083786e-04 9.99998362e-01 7.15869273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46255784399997 meters 0.29039760245337615 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.01, Z:0.72 [[ 9.99998736e-01 1.58520340e-03 -1.24716032e-04 1.48098591e+00] [-1.58508756e-03 9.99998317e-01 9.23515543e-04 -8.77626987e-03] [ 1.26179782e-04 -9.23316690e-04 9.99999566e-01 7.17707934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52255784399998 meters 0.2883690851714467 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.01, Z:0.72 [[ 9.99997448e-01 -2.24861406e-03 -2.17199223e-04 1.48090682e+00] [ 2.24815866e-03 9.99995321e-01 -2.07462867e-03 -1.42747644e-02] [ 2.21863246e-04 2.07413508e-03 9.99997824e-01 7.18602342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58255784399998 meters 0.28859815295462526 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.02, Z:0.72 [[ 9.99998158e-01 -1.89015923e-03 -3.34922567e-04 1.48103952e+00] [ 1.88992866e-03 9.99997978e-01 -6.87401351e-04 -1.95816501e-02] [ 3.36221188e-04 6.86767105e-04 9.99999708e-01 7.19009630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64255784399998 meters 0.28715009906266215 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.03, Z:0.72 [[ 9.99991962e-01 3.97224492e-03 -5.44417422e-04 1.45762904e+00] [-3.97384264e-03 9.99987706e-01 -2.96574920e-03 -2.94178615e-02] [ 5.32630047e-04 2.96788879e-03 9.99995454e-01 7.20381969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70255784399998 meters 0.2890246280105822 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.04, Z:0.72 [[ 9.99988692e-01 4.57699803e-03 -1.29131175e-03 1.49704182e+00] [-4.57888303e-03 9.99988450e-01 -1.46060064e-03 -3.74093724e-02] [ 1.28461167e-03 1.46649689e-03 9.99998100e-01 7.23581830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76255784399999 meters 0.2883277781187289 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.04, Z:0.72 [[ 9.99980232e-01 -4.76370272e-03 -4.10391681e-03 1.47728226e+00] [ 4.76086571e-03 9.99988421e-01 -7.00784517e-04 -4.05814006e-02] [ 4.10720762e-03 6.81232467e-04 9.99991333e-01 7.23794508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822557844 meters 0.2878727584776761 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.04, Z:0.72 [[ 9.99981586e-01 -4.53984493e-03 -4.02711509e-03 1.47713098e+00] [ 4.53946515e-03 9.99989691e-01 -1.03442000e-04 -4.30078382e-02] [ 4.02754318e-03 8.51591469e-05 9.99991886e-01 7.23798148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882557844 meters 0.2891715197318673 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.72 [[ 9.99982761e-01 -4.26241808e-03 -4.03853427e-03 1.47720150e+00] [ 4.26463729e-03 9.99990760e-01 5.41055782e-04 -4.56350045e-02] [ 4.03619075e-03 -5.58269338e-04 9.99991699e-01 7.23761903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942557844 meters 0.28819691496217814 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.72 [[ 9.99983750e-01 -4.01853912e-03 -4.04374886e-03 1.47726584e+00] [ 4.02321825e-03 9.99991246e-01 1.14965823e-03 -4.81606448e-02] [ 4.03909351e-03 -1.16590843e-03 9.99991163e-01 7.23717447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002557844 meters 0.28863578852811805 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.06, Z:0.73 [[ 9.99986968e-01 4.45914732e-03 -2.48576018e-03 1.49575121e+00] [-4.45799112e-03 9.99989952e-01 4.70477293e-04 -5.64119256e-02] [ 2.48783313e-03 -4.59389665e-04 9.99996800e-01 7.25892436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062557844 meters 0.29138717553043436 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:0.73 [[ 9.99977286e-01 4.90307446e-03 -4.62454565e-03 1.53793081e+00] [-4.89974337e-03 9.99987729e-01 7.31361359e-04 -5.86173559e-02] [ 4.62807482e-03 -7.08685660e-04 9.99989039e-01 7.28404071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters 0.29087425577961984 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:0.73 [[ 9.99976335e-01 5.06470992e-03 -4.65600585e-03 1.53825363e+00] [-5.05954814e-03 9.99986573e-01 1.11973922e-03 -6.02789094e-02] [ 4.66161449e-03 -1.09615543e-03 9.99988534e-01 7.27946363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters 0.29083121790006883 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:0.73 [[ 9.99976380e-01 5.04063032e-03 -4.67238516e-03 1.53827632e+00] [-5.03574193e-03 9.99986762e-01 1.05740335e-03 -6.00221158e-02] [ 4.67765329e-03 -1.03384944e-03 9.99988525e-01 7.27985441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24255784399998 meters 0.29156868741659536 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.05, Z:0.73 [[ 0.9999902 -0.00260899 -0.00357684 1.55606103] [ 0.00261713 0.999994 0.00227101 -0.05243292] [ 0.00357089 -0.00228035 0.99999102 0.73018555] [ 0. 0. 0. 1. ]] SLAMing on 189.30255784399998 meters 0.28995412026824174 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:0.73 [[ 9.99991951e-01 2.97184144e-03 -2.69555851e-03 1.53045468e+00] [-2.97471703e-03 9.99995010e-01 -1.06340733e-03 -5.47267478e-02] [ 2.69238479e-03 1.07141730e-03 9.99995802e-01 7.32346466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36255784399998 meters 0.2889391446237302 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.73 [[ 9.99991542e-01 3.08982080e-03 -2.71440981e-03 1.53033926e+00] [-3.09162155e-03 9.99995003e-01 -6.59458944e-04 -5.63068614e-02] [ 2.71235864e-03 6.67845294e-04 9.99996099e-01 7.32777911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42255784399998 meters 0.2893832817015985 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.73 [[ 9.99989723e-01 3.26554218e-03 -3.14493685e-03 1.53149837e+00] [-3.26558351e-03 9.99994668e-01 -8.00914482e-06 -5.89214736e-02] [ 3.14489393e-03 1.82791164e-05 9.99995055e-01 7.32488587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48255784399998 meters 0.2906868968147674 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.73 [[ 9.99987622e-01 3.62812428e-03 -3.40483098e-03 1.53209077e+00] [-3.62396886e-03 9.99992682e-01 1.22582584e-03 -6.37790717e-02] [ 3.40925352e-03 -1.21347166e-03 9.99993452e-01 7.32640785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542557844 meters 0.2896554158172046 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.07, Z:0.73 [[ 0.9999867 0.00396386 -0.00330095 1.53154968] [-0.00395672 0.99998982 0.00216819 -0.0676161 ] [ 0.00330951 -0.0021551 0.9999922 0.73329204] [ 0. 0. 0. 1. ]] SLAMing on 189.602557844 meters 0.2900346265658637 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.07, Z:0.73 [[ 9.99994071e-01 2.56261703e-05 -3.44339103e-03 1.53205459e+00] [-2.87700903e-05 9.99999583e-01 -9.12983765e-04 -7.24121051e-02] [ 3.44336619e-03 9.13077419e-04 9.99993655e-01 7.32923994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662557844 meters 0.29115858364658354 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99993131e-01 3.26744425e-04 -3.69195893e-03 1.53299942e+00] [-3.27376306e-04 9.99999932e-01 -1.70547729e-04 -7.55367634e-02] [ 3.69190295e-03 1.71755218e-04 9.99993170e-01 7.32246628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722557844 meters 0.2906808800581935 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99992861e-01 6.54934174e-04 -3.72143332e-03 1.53263807e+00] [-6.52863456e-04 9.99999631e-01 5.57617749e-04 -7.86155017e-02] [ 3.72179715e-03 -5.55184181e-04 9.99992920e-01 7.33128562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters 0.2916590178659554 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99992128e-01 7.51664142e-04 -3.89608777e-03 1.53327797e+00] [-7.48461863e-04 9.99999381e-01 8.23314622e-04 -7.97690509e-02] [ 3.89670421e-03 -8.20392068e-04 9.99992071e-01 7.32661690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters 0.2916896921962822 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99992208e-01 8.38107987e-04 -3.85777542e-03 1.53314989e+00] [-8.34107219e-04 9.99999113e-01 1.03855820e-03 -8.06570314e-02] [ 3.85864242e-03 -1.03533230e-03 9.99992019e-01 7.32740810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902557844 meters 0.29101723334135476 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99997247e-01 -8.05339075e-05 -2.34519710e-03 1.49284899e+00] [ 8.47788042e-05 9.99998358e-01 1.80999519e-03 -8.46925475e-02] [ 2.34504748e-03 -1.81018903e-03 9.99995612e-01 7.30314753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96255784399997 meters 0.29195213780225177 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.08, Z:0.73 [[ 9.99978007e-01 6.59621251e-03 -6.89558311e-04 1.51563732e+00] [-6.59729897e-03 9.99976981e-01 -1.58536764e-03 -8.33390723e-02] [ 6.79085016e-04 1.58988199e-03 9.99998506e-01 7.28582058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02255784399998 meters 0.2904967409048636 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993678e-01 -1.14098625e-03 -3.36768691e-03 1.49484101e+00] [ 1.14238403e-03 9.99999262e-01 4.13160307e-04 -8.24102573e-02] [ 3.36721301e-03 -4.17004887e-04 9.99994244e-01 7.29844047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08255784399998 meters 0.29068486842130664 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993653e-01 -1.23095712e-03 -3.34344038e-03 1.49475142e+00] [ 1.23151609e-03 9.99999228e-01 1.65129604e-04 -8.13857736e-02] [ 3.34323453e-03 -1.69246057e-04 9.99994397e-01 7.29896459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14255784399998 meters 0.2917176006091544 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993677e-01 -1.35636351e-03 -3.28733525e-03 1.49446860e+00] [ 1.35579005e-03 9.99999065e-01 -1.76665270e-04 -7.99395190e-02] [ 3.28757180e-03 1.72207216e-04 9.99994581e-01 7.30185262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20255784399998 meters 0.2917994800976344 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993270e-01 -1.51201842e-03 -3.34260386e-03 1.49484928e+00] [ 1.51002875e-03 9.99998681e-01 -5.97688730e-04 -7.82177358e-02] [ 3.34350317e-03 5.92637280e-04 9.99994235e-01 7.29592199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26255784399999 meters 0.2911742700533401 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993329e-01 -1.70922856e-03 -3.22801327e-03 1.49425524e+00] [ 1.70581250e-03 9.99997983e-01 -1.06071100e-03 -7.61978169e-02] [ 3.22981975e-03 1.05519753e-03 9.99994227e-01 7.30134364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322557844 meters 0.2905671138135759 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99993634e-01 -1.69986316e-03 -3.13740799e-03 1.49372529e+00] [ 1.69660738e-03 9.99998020e-01 -1.04009903e-03 -7.62461468e-02] [ 3.13916980e-03 1.03476946e-03 9.99994537e-01 7.30894122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382557844 meters 0.29241969561519626 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99994306e-01 -1.60752660e-03 -2.96723543e-03 1.49326101e+00] [ 1.60533439e-03 9.99998437e-01 -7.41037337e-04 -7.73958282e-02] [ 2.96842203e-03 7.36269712e-04 9.99995323e-01 7.31054423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442557844 meters 0.2926797438779262 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99994615e-01 -1.48630843e-03 -2.92575182e-03 1.49303704e+00] [ 1.48539036e-03 9.99998847e-01 -3.15935679e-04 -7.90343250e-02] [ 2.92621802e-03 3.11588094e-04 9.99995670e-01 7.31411212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502557844 meters 0.2904251798374918 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99994789e-01 -1.27015907e-03 -2.96778309e-03 1.49293649e+00] [ 1.27170502e-03 9.99999057e-01 5.19084062e-04 -8.21891089e-02] [ 2.96712098e-03 -5.22855502e-04 9.99995461e-01 7.31920112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562557844 meters 0.2900887530336857 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99995267e-01 -1.06582323e-03 -2.88603907e-03 1.49265349e+00] [ 1.06917827e-03 9.99998754e-01 1.16121387e-03 -8.47460921e-02] [ 2.88479783e-03 -1.16429406e-03 9.99995161e-01 7.32109643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622557844 meters 0.29015158591614354 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99995561e-01 -8.20408427e-04 -2.86451905e-03 1.49246241e+00] [ 8.26028747e-04 9.99997735e-01 1.96141509e-03 -8.79053376e-02] [ 2.86290340e-03 -1.96377255e-03 9.99993974e-01 7.32460249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682557844 meters 0.2906865370543296 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99994987e-01 -5.55776222e-04 -3.11718483e-03 1.49320980e+00] [ 5.64737584e-04 9.99995709e-01 2.87468237e-03 -9.15941282e-02] [ 3.11557378e-03 -2.87642835e-03 9.99991010e-01 7.32219594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74255784399998 meters 0.29015754661839094 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.09, Z:0.73 [[ 9.99976156e-01 4.26489692e-03 -5.43127364e-03 1.47072454e+00] [-4.26780938e-03 9.99990755e-01 -5.24762350e-04 -9.42808368e-02] [ 5.42898537e-03 5.47929478e-04 9.99985113e-01 7.33208648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80255784399998 meters 0.29149280316153986 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99981196e-01 -3.93277017e-03 -4.70541149e-03 1.49152551e+00] [ 3.93376653e-03 9.99992242e-01 2.02510662e-04 -8.97375699e-02] [ 4.70457855e-03 -2.21016844e-04 9.99988909e-01 7.33136696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86255784399998 meters 0.29143373925226085 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99982653e-01 -4.01610985e-03 -4.30855339e-03 1.49039934e+00] [ 4.01559112e-03 9.99991929e-01 -1.29038971e-04 -8.83550721e-02] [ 4.30903685e-03 1.11735344e-04 9.99990710e-01 7.33590464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92255784399998 meters 0.2910081626184275 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99982655e-01 -4.13279274e-03 -4.19634849e-03 1.49015918e+00] [ 4.13089520e-03 9.99991362e-01 -4.60754944e-04 -8.69999196e-02] [ 4.19821645e-03 4.43412276e-04 9.99991089e-01 7.33492887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98255784399998 meters 0.29137461701894524 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99982744e-01 5.24398156e-03 -2.64813351e-03 1.51016549e+00] [-5.24721545e-03 9.99985494e-01 -1.21572924e-03 -8.92363479e-02] [ 2.64171984e-03 1.22960358e-03 9.99995755e-01 7.33655714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042557844 meters 0.2909615253705582 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99983124e-01 5.22724221e-03 -2.53537459e-03 1.50969745e+00] [-5.23045828e-03 9.99985523e-01 -1.26351433e-03 -8.90216467e-02] [ 2.52873318e-03 1.27675418e-03 9.99995988e-01 7.34110463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102557844 meters 0.29156687722796315 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:0.73 [[ 9.99997090e-01 -2.40651485e-03 -1.70845517e-04 1.52893605e+00] [ 2.40647855e-03 9.99997082e-01 -2.12313135e-04 -8.52444182e-02] [ 1.71355953e-04 2.11901381e-04 9.99999963e-01 7.34840042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162557844 meters 0.2914283849242981 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:0.73 [[ 9.99997017e-01 -2.42787293e-03 -2.68586032e-04 1.52941669e+00] [ 2.42780147e-03 9.99997017e-01 -2.66069479e-04 -8.50573295e-02] [ 2.69231214e-04 2.65416612e-04 9.99999929e-01 7.34272596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222557844 meters 0.29074290742754794 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99984945e-01 5.26919453e-03 -1.53164298e-03 1.50990238e+00] [-5.27121775e-03 9.99985236e-01 -1.31992464e-03 -8.98927007e-02] [ 1.52466543e-03 1.32797840e-03 9.99997956e-01 7.33155863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters 0.2923091263633374 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99984621e-01 5.32194524e-03 -1.56061019e-03 1.50997923e+00] [-5.32379076e-03 9.99985131e-01 -1.18080050e-03 -9.04708611e-02] [ 1.55430283e-03 1.18909070e-03 9.99998085e-01 7.33155736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters 0.2917349410821762 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99983323e-01 5.53087424e-03 -1.66218274e-03 1.51029789e+00] [-5.53192672e-03 9.99984501e-01 -6.29264938e-04 -9.27472681e-02] [ 1.65867660e-03 6.38449517e-04 9.99998421e-01 7.33046424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters 0.2915987319436367 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99982758e-01 5.66815736e-03 -1.53478627e-03 1.50992334e+00] [-5.66857187e-03 9.99983898e-01 -2.65860059e-04 -9.42165481e-02] [ 1.53325462e-03 2.74555521e-04 9.99998787e-01 7.33196316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46255784399997 meters 0.29127294378102225 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99982466e-01 5.73989991e-03 -1.45641463e-03 1.50959930e+00] [-5.74003728e-03 9.99983522e-01 -9.01597902e-05 -9.49155011e-02] [ 1.45587313e-03 9.85180836e-05 9.99998935e-01 7.33474996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52255784399998 meters 0.2910577645764464 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99982374e-01 5.66548378e-03 -1.77621448e-03 1.51067821e+00] [-5.66599851e-03 9.99983908e-01 -2.84892631e-04 -9.42332791e-02] [ 1.77457184e-03 2.94951638e-04 9.99998382e-01 7.32714795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58255784399998 meters 0.2929058696057833 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 9.99982800e-01 5.51624957e-03 -1.99284758e-03 1.51151291e+00] [-5.51782485e-03 9.99984468e-01 -7.85834779e-04 -9.22805602e-02] [ 1.98848177e-03 7.96817446e-04 9.99997706e-01 7.31849910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64255784399998 meters 0.29265021830857896 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 0.99998472 0.00516488 -0.00196837 1.51180272] [-0.0051687 0.99998476 -0.00194074 -0.0877585 ] [ 0.00195832 0.00195088 0.99999618 0.73106901] [ 0. 0. 0. 1. ]] SLAMing on 191.70255784399998 meters 0.29316153181332466 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99995953e-01 -2.52446538e-03 -1.31173294e-03 1.53085342e+00] [ 2.52297671e-03 9.99996173e-01 -1.13530870e-03 -7.97996944e-02] [ 1.31459396e-03 1.13199463e-03 9.99998495e-01 7.32448970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76255784399999 meters 0.2907454579836379 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.08, Z:0.73 [[ 9.99977254e-01 6.67428343e-03 9.72810665e-04 1.50625239e+00] [-6.67346523e-03 9.99977378e-01 -8.41901112e-04 -8.41263196e-02] [-9.78407744e-04 8.35389943e-04 9.99999172e-01 7.33866356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822557844 meters 0.290022820032569 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.08, Z:0.73 [[ 9.99994862e-01 -2.81375150e-03 1.53596937e-03 1.48302633e+00] [ 2.81408721e-03 9.99996017e-01 -2.16448469e-04 -8.17642010e-02] [-1.53535422e-03 2.20769708e-04 9.99998797e-01 7.34457010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882557844 meters 0.2912299184451584 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.08, Z:0.73 [[ 0.99998622 0.00404181 0.00334971 1.50481258] [-0.00403189 0.99998748 -0.00296309 -0.08426561] [-0.00336165 0.00294954 0.99999 0.73326446] [ 0. 0. 0. 1. ]] SLAMing on 191.942557844 meters 0.2925542183034931 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 0.99998629 0.00422877 0.00308957 1.5055293 ] [-0.00422119 0.99998807 -0.00245604 -0.08639918] [-0.00309992 0.00244297 0.99999221 0.73314948] [ 0. 0. 0. 1. ]] SLAMing on 192.002557844 meters 0.29142092156237376 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.08, Z:0.73 [[ 9.99986454e-01 -5.18403383e-03 4.66055829e-04 1.48630685e+00] [ 5.18491218e-03 9.99984746e-01 -1.90359990e-03 -8.42805436e-02] [-4.56180393e-04 1.90599057e-03 9.99998080e-01 7.33793785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters 0.2926534715054032 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.09, Z:0.73 [[ 0.99998314 0.00491888 0.00308637 1.50550445] [-0.00491323 0.99998625 -0.00183558 -0.08581904] [-0.00309536 0.00182038 0.99999355 0.73421495] [ 0. 0. 0. 1. ]] SLAMing on 192.122557844 meters 0.2924794098729054 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.09, Z:0.73 [[ 9.99981748e-01 5.06915963e-03 3.28744030e-03 1.50490382e+00] [-5.06443378e-03 9.99986133e-01 -1.44428142e-03 -8.73983795e-02] [-3.29471600e-03 1.42760604e-03 9.99993553e-01 7.34455932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182557844 meters 0.29221043475217473 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.09, Z:0.73 [[ 9.99981073e-01 5.20507732e-03 3.28043780e-03 1.50483069e+00] [-5.20153431e-03 9.99985880e-01 -1.08765103e-03 -8.88605209e-02] [-3.28605279e-03 1.07056713e-03 9.99994028e-01 7.34676758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24255784399998 meters 0.2923504966257688 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.09, Z:0.73 [[ 9.99993732e-01 -3.53574327e-03 1.86563020e-04 1.48676245e+00] [ 3.53563855e-03 9.99993594e-01 5.58695077e-04 -9.27455506e-02] [-1.88537227e-04 -5.58031956e-04 9.99999827e-01 7.33440502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30255784399998 meters 0.29306618521946637 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.10, Z:0.73 [[ 9.99983046e-01 5.32421664e-03 2.35800115e-03 1.50475757e+00] [-5.32428501e-03 9.99985826e-01 2.27195868e-05 -1.00778999e-01] [-2.35784676e-03 -3.52738718e-05 9.99997220e-01 7.34956748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36255784399998 meters 0.29193029077675825 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.10, Z:0.73 [[ 9.99982836e-01 5.47911896e-03 2.07543353e-03 1.50572581e+00] [-5.48024325e-03 9.99984839e-01 5.36416655e-04 -1.02952666e-01] [-2.07246298e-03 -5.47781328e-04 9.99997702e-01 7.34240920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42255784399998 meters 0.29100163932162376 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.11, Z:0.74 [[ 0.99999693 -0.00154509 -0.00193613 1.48543227] [ 0.00155141 0.99999346 0.00326699 -0.10845891] [ 0.00193107 -0.00326999 0.99999279 0.73575684] [ 0. 0. 0. 1. ]] SLAMing on 192.48255784399998 meters 0.29159824399563394 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.11, Z:0.74 [[ 0.9999968 -0.00151583 -0.00202612 1.48568821] [ 0.00152262 0.99999321 0.00335489 -0.1088216 ] [ 0.00202102 -0.00335796 0.99999232 0.73568951] [ 0. 0. 0. 1. ]] SLAMing on 192.542557844 meters 0.29252009531612144 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.11, Z:0.73 [[ 9.99982130e-01 5.87669203e-03 1.09760072e-03 1.50650790e+00] [-5.87763385e-03 9.99982359e-01 8.56830199e-04 -1.06992875e-01] [-1.09254603e-03 -8.63266183e-04 9.99999031e-01 7.33821486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602557844 meters 0.2926624525353104 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.11, Z:0.73 [[ 9.99982411e-01 5.83890449e-03 1.04111470e-03 1.50664621e+00] [-5.83969828e-03 9.99982659e-01 7.61036487e-04 -1.06598632e-01] [-1.03665303e-03 -7.67102897e-04 9.99999168e-01 7.33832141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662557844 meters 0.29299576032342417 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.11, Z:0.73 [[ 9.99982443e-01 5.81668116e-03 1.13122389e-03 1.50631303e+00] [-5.81746830e-03 9.99982838e-01 6.93794410e-04 -1.06305507e-01] [-1.12716890e-03 -7.00363088e-04 9.99999119e-01 7.34081584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722557844 meters 0.29103586734247666 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.10, Z:0.73 [[ 9.99990408e-01 -3.93000281e-03 1.93373105e-03 1.48334645e+00] [ 3.92763472e-03 9.99991534e-01 1.22689904e-03 -1.03524186e-01] [-1.93853640e-03 -1.21929228e-03 9.99997378e-01 7.34425037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782557844 meters 0.29127060013454853 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.10, Z:0.73 [[ 9.99990376e-01 -3.92089686e-03 1.96814311e-03 1.48328492e+00] [ 3.91843961e-03 9.99991541e-01 1.25081962e-03 -1.03623972e-01] [-1.97303080e-03 -1.24309553e-03 9.99997281e-01 7.34363677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842557844 meters 0.29162587564139225 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.11, Z:0.73 [[ 9.99993625e-01 3.56702966e-03 1.60622523e-04 1.46454486e+00] [-3.56706344e-03 9.99993616e-01 2.10540303e-04 -1.08717400e-01] [-1.59870494e-04 -2.11111912e-04 9.99999965e-01 7.32478065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902557844 meters 0.2921494994983098 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.11, Z:0.73 [[ 0.99998687 -0.00239983 0.00452769 1.48478717] [ 0.00238798 0.99999371 0.00262116 -0.11250814] [-0.00453395 -0.00261032 0.99998631 0.7311891 ] [ 0. 0. 0. 1. ]] SLAMing on 192.96255784399997 meters 0.29160286370224686 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.11, Z:0.73 [[ 0.99998703 -0.00225763 0.00456566 1.48483067] [ 0.00224401 0.99999302 0.00298671 -0.11404066] [-0.00457238 -0.00297642 0.99998512 0.73089277] [ 0. 0. 0. 1. ]] SLAMing on 193.02255784399998 meters 0.2915133955777212 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.12, Z:0.73 [[ 0.99998802 -0.00209773 0.00442211 1.48548374] [ 0.00208254 0.99999193 0.00343519 -0.11602004] [-0.00442928 -0.00342594 0.99998432 0.73024665] [ 0. 0. 0. 1. ]] SLAMing on 193.08255784399998 meters 0.29146895934517675 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.12, Z:0.73 [[ 0.99998947 -0.00188482 0.00418314 1.48614277] [ 0.00186786 0.99999004 0.00405414 -0.11856365] [-0.00419074 -0.00404628 0.99998303 0.73018763] [ 0. 0. 0. 1. ]] SLAMing on 193.14255784399998 meters 0.29089898127502123 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.12, Z:0.73 [[ 0.99998989 -0.00176531 0.00413673 1.48624364] [ 0.00174715 0.99998884 0.00438878 -0.11993003] [-0.00414444 -0.00438151 0.99998181 0.73024617] [ 0. 0. 0. 1. ]] SLAMing on 193.20255784399998 meters 0.2921235387749008 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.12, Z:0.73 [[ 9.99968336e-01 4.44936282e-03 6.59767059e-03 1.50769701e+00] [-4.45729561e-03 9.99989360e-01 1.18814612e-03 -1.23631103e-01] [-6.59231390e-03 -1.21751626e-03 9.99977529e-01 7.28758353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26255784399999 meters 0.2895676303548699 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.13, Z:0.73 [[ 9.99962933e-01 -6.72473863e-03 5.37688684e-03 1.48489325e+00] [ 6.71690055e-03 9.99976354e-01 1.47446761e-03 -1.32671577e-01] [-5.38667510e-03 -1.43829694e-03 9.99984457e-01 7.30291099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322557844 meters 0.2903344216889946 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.14, Z:0.73 [[ 0.99996498 -0.00651719 0.0052505 1.48521699] [ 0.00650531 0.99997625 0.00227804 -0.13578302] [-0.00526522 -0.0022438 0.99998362 0.73025149] [ 0. 0. 0. 1. ]] SLAMing on 193.382557844 meters 0.29056932020394655 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.14, Z:0.73 [[ 0.99996734 -0.00624788 0.0051272 1.48546272] [ 0.00623048 0.9999748 0.00340321 -0.14000852] [-0.00514834 -0.00337115 0.99998106 0.73031626] [ 0. 0. 0. 1. ]] SLAMing on 193.442557844 meters 0.2912763653563966 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.15, Z:0.73 [[ 0.99998787 0.0031289 0.00380434 1.50690703] [-0.00314143 0.99998965 0.00329019 -0.15040296] [-0.00379401 -0.0033021 0.99998735 0.73125007] [ 0. 0. 0. 1. ]] SLAMing on 193.502557844 meters 0.28913788855060424 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.16, Z:0.73 [[ 9.99990384e-01 9.23336836e-04 4.28719217e-03 1.46929581e+00] [-9.39695538e-04 9.99992280e-01 3.81526953e-03 -1.56166228e-01] [-4.28363630e-03 -3.81926149e-03 9.99983532e-01 7.27789193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562557844 meters 0.2884898573216769 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.16, Z:0.73 [[ 9.99984817e-01 -2.94724025e-03 4.65605976e-03 1.46793840e+00] [ 2.94317650e-03 9.99995282e-01 8.79398807e-04 -1.61782070e-01] [-4.65862959e-03 -8.65681850e-04 9.99988774e-01 7.29103561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622557844 meters 0.2866219859310453 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:0.73 [[ 9.99998973e-01 9.94610396e-04 1.03182640e-03 1.44781549e+00] [-9.92208944e-04 9.99996804e-01 -2.32528740e-03 -1.67542763e-01] [-1.03413586e-03 2.32426122e-03 9.99996764e-01 7.28888446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682557844 meters 0.28993745481460165 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:0.73 [[ 0.99999328 0.00176436 0.0032121 1.4917456 ] [-0.00175545 0.99999461 -0.00277493 -0.1721063 ] [-0.00321698 0.00276927 0.99999099 0.72718788] [ 0. 0. 0. 1. ]] SLAMing on 193.74255784399998 meters 0.2899353729976869 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:0.73 [[ 0.9999933 0.00181084 0.00318067 1.49176021] [-0.0018024 0.99999485 -0.00265406 -0.17260077] [-0.00318546 0.00264831 0.99999142 0.72732812] [ 0. 0. 0. 1. ]] SLAMing on 193.80255784399998 meters 0.2892303168477288 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.17, Z:0.73 [[ 9.99984708e-01 -5.52695756e-03 -1.93356215e-04 1.47270639e+00] [ 5.52697919e-03 9.99984720e-01 1.11513430e-04 -1.73555202e-01] [ 1.92736931e-04 -1.12580400e-04 9.99999975e-01 7.27628438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86255784399998 meters 0.2908190253660208 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:0.73 [[ 9.99997084e-01 2.02027705e-03 -1.32339977e-03 1.49608442e+00] [-2.02358318e-03 9.99994823e-01 -2.50164888e-03 -1.78279887e-01] [ 1.31833889e-03 2.50431959e-03 9.99995995e-01 7.26564649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92255784399998 meters 0.29003596028507467 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:0.73 [[ 9.99984692e-01 -5.19694880e-03 -1.89938672e-03 1.47357631e+00] [ 5.19790375e-03 9.99986367e-01 4.98177784e-04 -1.75833205e-01] [ 1.89677182e-03 -5.08042987e-04 9.99998072e-01 7.28021424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98255784399998 meters 0.2890594548858855 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:0.73 [[ 9.99984401e-01 -5.27383478e-03 -1.83954065e-03 1.47348183e+00] [ 5.27439799e-03 9.99986045e-01 3.01456635e-04 -1.75025335e-01] [ 1.83792514e-03 -3.11154402e-04 9.99998263e-01 7.27896095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042557844 meters 0.2903314278366583 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:0.73 [[ 9.99997577e-01 2.20139523e-03 -2.32939754e-05 1.49457744e+00] [-2.20144232e-03 9.99995015e-01 -2.26371769e-03 -1.77568225e-01] [ 1.83105219e-05 2.26376349e-03 9.99997438e-01 7.27128300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102557844 meters 0.2887609504020587 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:0.73 [[ 9.99997366e-01 2.29497506e-03 -3.41604652e-05 1.49468554e+00] [-2.29503784e-03 9.99995430e-01 -1.96796356e-03 -1.78745954e-01] [ 2.96438818e-05 1.96803677e-03 9.99998063e-01 7.26871196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162557844 meters 0.28861956920923143 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:0.73 [[ 9.99997168e-01 2.37986085e-03 3.02058734e-05 1.49444062e+00] [-2.37980673e-03 9.99995756e-01 -1.68037574e-03 -1.79862503e-01] [-3.42048056e-05 1.68029910e-03 9.99998588e-01 7.27050988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222557844 meters 0.2895365912793069 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.18, Z:0.73 [[ 0.99999122 -0.00301342 0.00291134 1.51483477] [ 0.00300834 0.99999395 0.00174713 -0.18034338] [-0.00291659 -0.00173836 0.99999424 0.726264 ] [ 0. 0. 0. 1. ]] SLAMing on 194.282557844 meters 0.2903403387281461 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:0.73 [[ 9.99991618e-01 -3.13190854e-03 2.63736745e-03 1.51567823e+00] [ 3.12817569e-03 9.99994101e-01 1.41830742e-03 -1.79029769e-01] [-2.64179390e-03 -1.41004538e-03 9.99995516e-01 7.25886694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342557844 meters 0.2889574070984254 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.18, Z:0.73 [[ 9.99992579e-01 -1.30561291e-03 3.62458405e-03 1.51011807e+00] [ 1.29511890e-03 9.99994968e-01 2.89607015e-03 -1.76520342e-01] [-3.62834696e-03 -2.89135439e-03 9.99989238e-01 7.29872076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402557844 meters 0.28853101392343916 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.17, Z:0.73 [[ 0.99999213 -0.00161546 0.00362385 1.51004875] [ 0.00160771 0.99999642 0.0021395 -0.17336022] [-0.00362729 -0.00213366 0.99999115 0.73009043] [ 0. 0. 0. 1. ]] SLAMing on 194.46255784399997 meters 0.290655956419159 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.17, Z:0.73 [[ 9.99993455e-01 -1.89409698e-03 3.08266764e-03 1.51180837e+00] [ 1.88965144e-03 9.99997171e-01 1.44438117e-03 -1.70664919e-01] [-3.08539472e-03 -1.43854654e-03 9.99994205e-01 7.28754980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52255784399998 meters 0.28991667830934537 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.17, Z:0.73 [[ 9.99992985e-01 -1.96988444e-03 3.18596572e-03 1.51139686e+00] [ 1.96604689e-03 9.99997339e-01 1.20720264e-03 -1.69711852e-01] [-3.18833530e-03 -1.20093041e-03 9.99994196e-01 7.29190486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58255784399998 meters 0.28848413597781125 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.17, Z:0.73 [[ 9.99986134e-01 -4.23062784e-03 3.13596297e-03 1.46842334e+00] [ 4.22929165e-03 9.99990963e-01 4.32596960e-04 -1.68134500e-01] [-3.13776479e-03 -4.19328060e-04 9.99994989e-01 7.29775168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64255784399998 meters 0.28881738150022673 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.17, Z:0.73 [[ 9.99973770e-01 6.32132241e-03 3.53559872e-03 1.49007514e+00] [-6.32416328e-03 9.99979688e-01 7.92901779e-04 -1.71863238e-01] [-3.53051471e-03 -8.15240685e-04 9.99993435e-01 7.28681858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70255784399998 meters 0.2896448432858235 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.17, Z:0.73 [[ 9.99985143e-01 -2.58282600e-03 4.80036399e-03 1.51188043e+00] [ 2.58137993e-03 9.99996621e-01 3.07412005e-04 -1.67276590e-01] [-4.80114176e-03 -2.95015875e-04 9.99988431e-01 7.28021059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76255784399999 meters 0.2884172986884658 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.16, Z:0.73 [[ 9.99983717e-01 -2.82148311e-03 4.96032807e-03 1.51128750e+00] [ 2.82551453e-03 9.99995683e-01 -8.05911610e-04 -1.62919720e-01] [-4.95803280e-03 8.19913966e-04 9.99987373e-01 7.28740876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822557844 meters 0.288150527208114 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.16, Z:0.73 [[ 0.9999788 -0.00329836 0.00561448 1.50972571] [ 0.00331256 0.99999133 -0.00252207 -0.15578173] [-0.00560611 0.00254061 0.99998106 0.72881902] [ 0. 0. 0. 1. ]] SLAMing on 194.882557844 meters 0.2887406564014685 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.15, Z:0.73 [[ 9.99983463e-01 6.98572691e-04 5.70839316e-03 1.50971665e+00] [-7.03337373e-04 9.99999406e-01 8.32715236e-04 -1.51984525e-01] [-5.70780806e-03 -8.36716392e-04 9.99983360e-01 7.28447949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942557844 meters 0.2895824226326418 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.15, Z:0.73 [[ 9.99984866e-01 2.58201388e-04 5.49551350e-03 1.51029188e+00] [-2.57490558e-04 9.99999958e-01 -1.30054549e-04 -1.48019475e-01] [-5.49554685e-03 1.28637538e-04 9.99984891e-01 7.28519592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002557844 meters 0.2897203749717084 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:0.73 [[ 9.99985585e-01 -3.80900197e-04 5.35576641e-03 1.51161305e+00] [ 3.88732250e-04 9.99998857e-01 -1.46139403e-03 -1.42329508e-01] [-5.35520364e-03 1.46345492e-03 9.99984590e-01 7.26906679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062557844 meters 0.29007625438004786 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.14, Z:0.73 [[ 9.99985985e-01 -5.73121200e-04 5.26314550e-03 1.51212559e+00] [ 5.83478174e-04 9.99997896e-01 -1.96650508e-03 -1.40250815e-01] [-5.26200738e-03 1.96954845e-03 9.99984216e-01 7.26328359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122557844 meters 0.2881174521344625 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.13, Z:0.73 [[ 9.99980297e-01 1.38195490e-03 6.12344429e-03 1.50760755e+00] [-1.37460330e-03 9.99998330e-01 -1.20461218e-03 -1.31566061e-01] [-6.12509878e-03 1.19617114e-03 9.99980526e-01 7.29656363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182557844 meters 0.28889826438640165 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:0.73 [[ 9.99952047e-01 -6.32299817e-03 7.47821258e-03 1.52596826e+00] [ 6.32872709e-03 9.99979698e-01 -7.42665733e-04 -1.20277749e-01] [-7.47336488e-03 7.89957686e-04 9.99971762e-01 7.31745375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24255784399998 meters 0.2890699287634676 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:0.73 [[ 0.99997052 -0.00278235 0.00715645 1.5270068 ] [ 0.00276739 0.99999397 0.00209977 -0.11667555] [-0.00716225 -0.00207991 0.99997219 0.7311664 ] [ 0. 0. 0. 1. ]] SLAMing on 195.30255784399998 meters 0.2910898859331609 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:0.73 [[ 9.99959322e-01 6.39297568e-03 6.36279049e-03 1.54781063e+00] [-6.39977792e-03 9.99978971e-01 1.04928017e-03 -1.21555610e-01] [-6.35594866e-03 -1.08995793e-03 9.99979207e-01 7.31446792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36255784399998 meters 0.29114536312003947 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:0.73 [[ 0.99998531 -0.00256729 0.00477394 1.52765895] [ 0.00255873 0.99999511 0.00179818 -0.11709772] [-0.00477853 -0.00178593 0.99998699 0.7316379 ] [ 0. 0. 0. 1. ]] SLAMing on 195.42255784399998 meters 0.29079943604336156 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:0.73 [[ 9.99955386e-01 5.91426119e-03 7.36534517e-03 1.54584121e+00] [-5.91936292e-03 9.99982255e-01 6.71060015e-04 -1.21055585e-01] [-7.36124565e-03 -7.14628227e-04 9.99972650e-01 7.32612114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48255784399998 meters 0.2899208846845293 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:0.73 [[ 9.99955008e-01 5.91672713e-03 7.41449607e-03 1.54563172e+00] [-5.92195116e-03 9.99982232e-01 6.82812809e-04 -1.21093124e-01] [-7.41032432e-03 -7.26690372e-04 9.99972279e-01 7.32826078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542557844 meters 0.2906257531062362 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:0.73 [[ 9.99955154e-01 5.94376336e-03 7.37302391e-03 1.54550494e+00] [-5.94958444e-03 9.99982006e-01 7.67827826e-04 -1.21415777e-01] [-7.36832745e-03 -8.11659821e-04 9.99972524e-01 7.33396926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602557844 meters 0.2904495741641501 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.12, Z:0.73 [[ 9.99955635e-01 5.91767912e-03 7.32871110e-03 1.54531144e+00] [-5.92296799e-03 9.99982214e-01 7.00170160e-04 -1.21094365e-01] [-7.32443737e-03 -7.43546818e-04 9.99972900e-01 7.34150918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662557844 meters 0.2887370381880704 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.12, Z:0.73 [[ 9.99966104e-01 -3.53514882e-03 7.43591660e-03 1.52412197e+00] [ 3.52783392e-03 9.99993281e-01 9.96612572e-04 -1.15564977e-01] [-7.43938981e-03 -9.70346112e-04 9.99971857e-01 7.34486038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722557844 meters 0.2900911598725844 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:0.73 [[ 9.99965343e-01 -3.71214554e-03 7.45202955e-03 1.52410774e+00] [ 3.70832244e-03 9.99992985e-01 5.26779159e-04 -1.13620341e-01] [-7.45393276e-03 -4.99126374e-04 9.99972094e-01 7.34489464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782557844 meters 0.291157076223608 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:0.73 [[ 9.99966337e-01 -3.89374238e-03 7.22245870e-03 1.52464937e+00] [ 3.89327234e-03 9.99992418e-01 7.91400481e-05 -1.11770558e-01] [-7.22271209e-03 -5.10183854e-05 9.99973915e-01 7.34623020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842557844 meters 0.29137555290276607 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:0.73 [[ 9.99970105e-01 -4.03027441e-03 6.59888156e-03 1.52648827e+00] [ 4.03182608e-03 9.99991848e-01 -2.21854800e-04 -1.10742907e-01] [-6.59793363e-03 2.48453710e-04 9.99978203e-01 7.33512535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902557844 meters 0.29264589553969816 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:0.73 [[ 9.99970554e-01 -4.08138415e-03 6.49869853e-03 1.52698261e+00] [ 4.08379616e-03 9.99991597e-01 -3.57926553e-04 -1.10166650e-01] [-6.49718309e-03 3.84455373e-04 9.99978819e-01 7.32976461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96255784399997 meters 0.29042126929727174 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:0.73 [[ 9.99969754e-01 -4.28456110e-03 6.49108718e-03 1.52685583e+00] [ 4.29117264e-03 9.99990288e-01 -1.00497131e-03 -1.07545338e-01] [-6.48671827e-03 1.03279529e-03 9.99978428e-01 7.33429954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02255784399998 meters 0.292036102382942 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:0.73 [[ 9.99969989e-01 -4.39665281e-03 6.37895118e-03 1.52703419e+00] [ 4.40542014e-03 9.99989370e-01 -1.36101622e-03 -1.06109222e-01] [-6.37289946e-03 1.38907734e-03 9.99978728e-01 7.33735301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08255784399998 meters 0.2902905733842287 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.10, Z:0.73 [[ 0.99998689 0.00399042 0.00320739 1.50793271] [-0.00398297 0.99998936 -0.0023273 -0.10358285] [-0.00321664 0.0023145 0.99999215 0.7328153 ] [ 0. 0. 0. 1. ]] SLAMing on 196.14255784399998 meters 0.2887650426503238 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.10, Z:0.73 [[ 0.99998699 0.00385685 0.00333849 1.50741459] [-0.00384757 0.99998874 -0.00277894 -0.10172409] [-0.00334917 0.00276606 0.99999057 0.73339089] [ 0. 0. 0. 1. ]] SLAMing on 196.20255784399998 meters 0.2907873330372631 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:0.73 [[ 9.99984590e-01 -1.99795642e-03 5.17955152e-03 1.53026666e+00] [ 2.00193474e-03 9.99997705e-01 -7.63010169e-04 -9.50188222e-02] [-5.17801517e-03 7.73367535e-04 9.99986295e-01 7.32250091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26255784399999 meters 0.291403649974977 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:0.73 [[ 0.99998461 -0.00245935 0.00497297 1.53113855] [ 0.00247216 0.99999364 -0.00257126 -0.08798843] [-0.00496662 0.00258352 0.99998433 0.73153985] [ 0. 0. 0. 1. ]] SLAMing on 196.322557844 meters 0.2916133366972595 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 0.99998317 -0.00292345 0.00501142 1.53089946] [ 0.00294204 0.99998881 -0.00370542 -0.08329386] [-0.00500053 0.0037201 0.99998058 0.73189699] [ 0. 0. 0. 1. ]] SLAMing on 196.382557844 meters 0.29008278024148726 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:0.73 [[ 9.99982885e-01 7.76552260e-04 5.79887034e-03 1.52930866e+00] [-7.70342075e-04 9.99999128e-01 -1.07308696e-03 -7.69129536e-02] [-5.79969859e-03 1.06860149e-03 9.99982611e-01 7.31795339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442557844 meters 0.2897258378824742 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.07, Z:0.73 [[ 9.99982860e-01 3.95371742e-04 5.84158377e-03 1.52942706e+00] [-3.83868824e-04 9.99997986e-01 -1.97013370e-03 -7.31999468e-02] [-5.84235094e-03 1.96785753e-03 9.99980997e-01 7.31385113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502557844 meters 0.2920819642434471 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.73 [[ 9.99991603e-01 5.43154051e-04 4.06198875e-03 1.57049021e+00] [-5.31999732e-04 9.99996087e-01 -2.74660063e-03 -6.91470629e-02] [-4.06346468e-03 2.74441659e-03 9.99987978e-01 7.33764356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562557844 meters 0.291263749720292 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.07, Z:0.74 [[ 9.99979121e-01 -6.30530758e-03 1.41454569e-03 1.54842741e+00] [ 6.30613446e-03 9.99979947e-01 -5.80858651e-04 -6.58262988e-02] [-1.41085484e-03 5.89766839e-04 9.99998831e-01 7.35572625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622557844 meters 0.29054185269626587 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 0.99999444 0.00231486 0.0023997 1.568005 ] [-0.00231035 0.99999557 -0.00187835 -0.06843513] [-0.00240404 0.00187279 0.99999536 0.73592812] [ 0. 0. 0. 1. ]] SLAMing on 196.682557844 meters 0.2936329200084659 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:0.73 [[ 9.99987823e-01 -3.50107985e-03 3.47796795e-03 1.59278535e+00] [ 3.49834009e-03 9.99993566e-01 7.93521433e-04 -6.48745164e-02] [-3.48072375e-03 -7.81344656e-04 9.99993637e-01 7.33928783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74255784399998 meters 0.29134275956058264 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.73 [[ 9.99987772e-01 4.93345109e-03 3.42455858e-04 1.57343978e+00] [-4.93332572e-03 9.99987764e-01 -3.65977617e-04 -6.16859104e-02] [-3.44257201e-04 3.64283695e-04 9.99999874e-01 7.33535756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80255784399998 meters 0.29137243520622164 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.73 [[ 9.99988681e-01 4.72569932e-03 5.53498750e-04 1.57249857e+00] [-4.72510169e-03 9.99988258e-01 -1.07610142e-03 -5.86392171e-02] [-5.58577582e-04 1.07347391e-03 9.99999268e-01 7.34941242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86255784399998 meters 0.29000703937685024 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:0.74 [[ 9.99997080e-01 -2.41666182e-03 -1.44929395e-05 1.54825623e+00] [ 2.41667655e-03 9.99996452e-01 1.12075643e-03 -5.65082750e-02] [ 1.17843988e-05 -1.12078818e-03 9.99999372e-01 7.37624697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92255784399998 meters 0.2906382939471138 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:0.74 [[ 9.99997472e-01 -2.24442228e-03 -1.36922061e-04 1.54873093e+00] [ 2.24465544e-03 9.99995989e-01 1.72717229e-03 -5.89013627e-02] [ 1.33045008e-04 -1.72747526e-03 9.99998499e-01 7.37065202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98255784399998 meters 0.2907129757817498 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:0.74 [[ 9.99997692e-01 -2.14832502e-03 1.05761023e-06 1.54827802e+00] [ 2.14831857e-03 9.99995678e-01 2.00730059e-03 -6.00486424e-02] [-5.36993975e-06 -2.00729369e-03 9.99997985e-01 7.37299144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042557844 meters 0.2900331822953035 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:0.74 [[ 9.99997907e-01 -2.04426951e-03 8.80890045e-05 1.54782060e+00] [ 2.04406120e-03 9.99995258e-01 2.30325038e-03 -6.12909737e-02] [-9.27970514e-05 -2.30306550e-03 9.99997344e-01 7.37868217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102557844 meters 0.29114896093412657 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:0.74 [[ 9.99997884e-01 -2.04281062e-03 -2.41601984e-04 1.54873929e+00] [ 2.04335912e-03 9.99995285e-01 2.29226586e-03 -6.12204036e-02] [ 2.36918180e-04 -2.29275469e-03 9.99997344e-01 7.37529695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162557844 meters 0.2912089590576645 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.74 [[ 0.99999154 0.00322073 0.00255967 1.56923412] [-0.00321667 0.99999357 -0.00158769 -0.06301264] [-0.00256477 0.00157945 0.99999546 0.73724032] [ 0. 0. 0. 1. ]] SLAMing on 197.222557844 meters 0.290788921358053 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99987744e-01 3.34642356e-03 3.64861035e-03 1.56641707e+00] [-3.34313619e-03 9.99994001e-01 -9.06719229e-04 -6.57397759e-02] [-3.65162273e-03 8.94510315e-04 9.99992933e-01 7.38128410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282557844 meters 0.2904547802980143 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99987768e-01 3.49425092e-03 3.50064716e-03 1.56685920e+00] [-3.49285461e-03 9.99993818e-01 -4.04906467e-04 -6.77107808e-02] [-3.50204036e-03 3.92674263e-04 9.99993791e-01 7.37843879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342557844 meters 0.29052157795600275 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99987281e-01 3.64695166e-03 3.48380049e-03 1.56677275e+00] [-3.64710996e-03 9.99993349e-01 3.90884165e-05 -6.95160037e-02] [-3.48363476e-03 -5.17937229e-05 9.99993931e-01 7.38082877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402557844 meters 0.2895406697618841 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99987522e-01 3.73611140e-03 3.31634075e-03 1.56737659e+00] [-3.73706787e-03 9.99992977e-01 2.82260858e-04 -7.05279969e-02] [-3.31526290e-03 -2.94650726e-04 9.99994461e-01 7.37569730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46255784399997 meters 0.29154808499358664 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99997318e-01 -4.56473430e-04 2.27074138e-03 1.56991369e+00] [ 4.65294507e-04 9.99992343e-01 -3.88565773e-03 -7.07378010e-02] [-2.26895029e-03 3.88670387e-03 9.99989873e-01 7.37147004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52255784399998 meters 0.2904154753900698 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.74 [[ 9.99997135e-01 -6.77218178e-04 2.29605479e-03 1.56981026e+00] [ 6.88014353e-04 9.99988697e-01 -4.70452978e-03 -6.75612047e-02] [-2.29284285e-03 4.70609602e-03 9.99986298e-01 7.37305364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58255784399998 meters 0.2923719830244507 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.74 [[ 9.99999903e-01 4.40713221e-04 2.15629319e-05 1.61248164e+00] [-4.40616949e-04 9.99990753e-01 -4.27770630e-03 -6.83480391e-02] [-2.34479743e-05 4.27769639e-03 9.99990850e-01 7.38906092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64255784399998 meters 0.2907883813850778 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:0.74 [[ 9.99979660e-01 -6.15136504e-03 -1.68530933e-03 1.59092558e+00] [ 6.14876691e-03 9.99979906e-01 -1.54250256e-03 -6.51262711e-02] [ 1.69476397e-03 1.53210861e-03 9.99997390e-01 7.39576825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70255784399998 meters 0.29244049139823297 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.74 [[ 9.99994632e-01 2.88104701e-03 -1.56032453e-03 1.61183424e+00] [-2.88457492e-03 9.99993278e-01 -2.26349751e-03 -6.91416716e-02] [ 1.55379280e-03 2.26798623e-03 9.99996221e-01 7.39195797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76255784399999 meters 0.29192501680816374 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:0.74 [[ 9.99987997e-01 -2.93906193e-03 -3.92028416e-03 1.59114284e+00] [ 2.94356649e-03 9.99995014e-01 1.14376475e-03 -6.59959595e-02] [ 3.91690302e-03 -1.15529064e-03 9.99991662e-01 7.40076427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822557844 meters 0.2916591419610487 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:0.74 [[ 9.99987514e-01 -2.94676731e-03 -4.03592191e-03 1.59149502e+00] [ 2.95130651e-03 9.99995019e-01 1.11920594e-03 -6.58828937e-02] [ 4.03260376e-03 -1.13110321e-03 9.99991229e-01 7.39939788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882557844 meters 0.2919894278608285 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:0.74 [[ 9.99988045e-01 -2.91535282e-03 -3.92570315e-03 1.59089546e+00] [ 2.92007856e-03 9.99995018e-01 1.19860053e-03 -6.62885564e-02] [ 3.92218925e-03 -1.21004956e-03 9.99991576e-01 7.40709585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942557844 meters 0.2927191878811691 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:0.74 [[ 9.99982282e-01 5.63333911e-03 -1.92373425e-03 1.61095720e+00] [-5.63284359e-03 9.99984101e-01 2.62899584e-04 -6.80566419e-02] [ 1.92518467e-03 -2.52058831e-04 9.99998115e-01 7.41468391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002557844 meters 0.2903154141722104 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:0.74 [[ 9.99989303e-01 -1.40001833e-03 -4.40843652e-03 1.58984654e+00] [ 1.40911194e-03 9.99996885e-01 2.06034401e-03 -6.31495202e-02] [ 4.40553826e-03 -2.06653395e-03 9.99988160e-01 7.42542140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062557844 meters 0.2903943415114799 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:0.74 [[ 9.99988760e-01 -1.67252805e-03 -4.43640691e-03 1.58984202e+00] [ 1.67721620e-03 9.99998039e-01 1.05323353e-03 -5.92386562e-02] [ 4.43463665e-03 -1.06066250e-03 9.99989604e-01 7.42756124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122557844 meters 0.29045728435457535 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:0.74 [[ 9.99988863e-01 -1.91816206e-03 -4.31222948e-03 1.58931399e+00] [ 1.91952309e-03 9.99998109e-01 3.11504252e-04 -5.62386857e-02] [ 4.31162381e-03 -3.19778206e-04 9.99990654e-01 7.43364720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182557844 meters 0.29137924051183917 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.05, Z:0.74 [[ 9.99990740e-01 4.28047217e-03 -4.45490055e-04 1.61047133e+00] [-4.28174576e-03 9.99986633e-01 -2.89829706e-03 -4.85489929e-02] [ 4.33078021e-04 2.90017770e-03 9.99995701e-01 7.41573140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24255784399998 meters 0.28967627341096686 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.04, Z:0.74 [[ 9.99996825e-01 -2.20338746e-03 -1.22260102e-03 1.58762574e+00] [ 2.20258626e-03 9.99997359e-01 -6.56284737e-04 -4.14624234e-02] [ 1.22404384e-03 6.53589769e-04 9.99999037e-01 7.42877410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30255784399998 meters 0.2897056607587309 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.04, Z:0.74 [[ 9.99995591e-01 -2.62253319e-03 -1.39268490e-03 1.58803865e+00] [ 2.62004110e-03 9.99994969e-01 -1.78823393e-03 -3.69079662e-02] [ 1.39736760e-03 1.78457716e-03 9.99997431e-01 7.43025432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36255784399998 meters 0.28970648379023584 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.03, Z:0.74 [[ 0.99999328 -0.00322466 -0.00174495 1.58890918] [ 0.00321797 0.99998752 -0.00382175 -0.02900624] [ 0.00175726 0.00381611 0.99999117 0.74314185] [ 0. 0. 0. 1. ]] SLAMing on 198.42255784399998 meters 0.29238288187916267 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.02, Z:0.74 [[ 9.99994682e-01 -9.50705335e-04 -3.11958033e-03 1.59445128e+00] [ 9.42092839e-04 9.99995744e-01 -2.76109571e-03 -1.97707341e-02] [ 3.12219205e-03 2.75814209e-03 9.99991322e-01 7.39829774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48255784399998 meters 0.28943751744495033 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:0.74 [[ 9.99968955e-01 -6.27423290e-03 -4.76686608e-03 1.57247017e+00] [ 6.27688715e-03 9.99980153e-01 5.42056461e-04 -1.36930276e-02] [ 4.76337048e-03 -5.71960713e-04 9.99988492e-01 7.40258639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542557844 meters 0.28997175417162196 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998923e-01 1.22497090e-03 -8.08719628e-04 1.58816849e+00] [-1.22637827e-03 9.99997731e-01 -1.74205007e-03 -1.21979548e-02] [ 8.06583832e-04 1.74303999e-03 9.99998156e-01 7.42804039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602557844 meters 0.2893638177235248 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998917e-01 1.15442914e-03 -9.12670771e-04 1.58856320e+00] [-1.15618435e-03 9.99997479e-01 -1.92496829e-03 -1.14310272e-02] [ 9.10446230e-04 1.92602142e-03 9.99997731e-01 7.42529482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662557844 meters 0.29061415317353056 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998765e-01 1.07027584e-03 -1.15113874e-03 1.58940362e+00] [-1.07274357e-03 9.99997124e-01 -2.14524581e-03 -1.04702268e-02] [ 1.14883942e-03 2.14647804e-03 9.99997036e-01 7.41981090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722557844 meters 0.28928262807392396 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998943e-01 9.45928188e-04 -1.10410697e-03 1.58882572e+00] [-9.48672202e-04 9.99996456e-01 -2.48740680e-03 -9.06831912e-03] [ 1.10175015e-03 2.48845160e-03 9.99996297e-01 7.43182613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782557844 meters 0.2892529676682961 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998957e-01 8.96059512e-04 -1.13301616e-03 1.58934380e+00] [-8.99032278e-04 9.99996148e-01 -2.62598221e-03 -8.38781029e-03] [ 1.13065876e-03 2.62699809e-03 9.99995910e-01 7.42087443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842557844 meters 0.2899292560699138 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998907e-01 9.18586322e-04 -1.15861238e-03 1.58953253e+00] [-9.21560178e-04 9.99996276e-01 -2.56882257e-03 -8.62164503e-03] [ 1.15624838e-03 2.56988749e-03 9.99996029e-01 7.41799665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters 0.28973427984515077 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998902e-01 9.03095231e-04 -1.17470709e-03 1.58942502e+00] [-9.06159388e-04 9.99996182e-01 -2.61053207e-03 -8.46493830e-03] [ 1.17234505e-03 2.61159368e-03 9.99995903e-01 7.42148644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96255784399997 meters 0.289695640479163 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99998524e-01 7.26348111e-04 -1.55726269e-03 1.59030204e+00] [-7.31311071e-04 9.99994648e-01 -3.18877981e-03 -6.15767801e-03] [ 1.55493819e-03 3.18991395e-03 9.99993703e-01 7.42417201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02255784399998 meters 0.28993410366274175 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.00, Z:0.74 [[ 9.99998783e-01 5.58761634e-04 -1.45691205e-03 1.59010761e+00] [-5.64055717e-04 9.99993231e-01 -3.63589447e-03 -4.32446667e-03] [ 1.45487059e-03 3.63671183e-03 9.99992329e-01 7.42338763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08255784399998 meters 0.29043080315532194 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.01, Z:0.74 [[ 9.99980512e-01 -6.21171658e-03 6.24849847e-04 1.61368889e+00] [ 6.21229303e-03 9.99980276e-01 -9.24869490e-04 -5.68304459e-03] [-6.19092496e-04 9.28733217e-04 9.99999377e-01 7.39606986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14255784399998 meters 0.2902036518066372 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.01, Z:0.74 [[ 9.99996153e-01 2.26868003e-03 -1.59613815e-03 1.59524712e+00] [-2.27221429e-03 9.99994963e-01 -2.21593924e-03 -7.93453342e-03] [ 1.59110286e-03 2.21955748e-03 9.99996271e-01 7.38603237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20255784399998 meters 0.2911296332026458 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.74 [[ 9.99990794e-01 -3.89997263e-03 1.78939900e-03 1.61659023e+00] [ 3.89828892e-03 9.99991957e-01 9.43464694e-04 -1.10096016e-02] [-1.79306409e-03 -9.36480414e-04 9.99997954e-01 7.36962068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26255784399999 meters 0.29096389963556085 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.74 [[ 9.99991002e-01 -3.79121553e-03 1.90322183e-03 1.61577623e+00] [ 3.78879653e-03 9.99992012e-01 1.27300056e-03 -1.25530867e-02] [-1.90803284e-03 -1.26577819e-03 9.99997379e-01 7.38313981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322557844 meters 0.28813401922179754 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:0.74 [[ 9.99996675e-01 -2.50792663e-03 -6.00829779e-04 1.57196543e+00] [ 2.50909715e-03 9.99994940e-01 1.95539173e-03 -1.16570969e-02] [ 5.95922760e-04 -1.95689276e-03 9.99997908e-01 7.40045443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382557844 meters 0.2902874673623853 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.74 [[ 9.99991116e-01 4.07019353e-03 1.09616429e-03 1.59480961e+00] [-4.06946829e-03 9.99991500e-01 -6.63029630e-04 -1.19995608e-02] [-1.09885363e-03 6.58562934e-04 9.99999179e-01 7.38334838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442557844 meters 0.29166488207646957 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.74 [[ 0.99999348 -0.00234324 0.00274669 1.61736952] [ 0.00233851 0.99999578 0.00172505 -0.00802492] [-0.00275072 -0.00171862 0.99999474 0.73771255] [ 0. 0. 0. 1. ]] SLAMing on 199.502557844 meters 0.291014057198972 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:0.74 [[ 9.99992376e-01 -2.55367390e-03 2.95422368e-03 1.61645164e+00] [ 2.55050531e-03 9.99996169e-01 1.07583198e-03 -5.34797492e-03] [-2.95695969e-03 -1.06828901e-03 9.99995058e-01 7.38841435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562557844 meters 0.2915303685515856 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.01, Z:0.74 [[ 9.99967167e-01 5.54369093e-03 5.91028258e-03 1.63478093e+00] [-5.54241239e-03 9.99984614e-01 -2.32680912e-04 -7.67690825e-03] [-5.91148156e-03 1.99916049e-04 9.99982507e-01 7.38920936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622557844 meters 0.2891951547522063 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.00, Z:0.74 [[ 9.99992277e-01 -7.44480204e-04 3.85895690e-03 1.61266323e+00] [ 7.35516087e-04 9.99997029e-01 2.32383676e-03 -4.55276031e-03] [-3.86067549e-03 -2.32098049e-03 9.99989854e-01 7.40050926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682557844 meters 0.2894106544952004 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.00, Z:0.74 [[ 9.99992415e-01 -1.02489572e-03 3.75772893e-03 1.61233243e+00] [ 1.01881959e-03 9.99998171e-01 1.61852824e-03 -1.59976758e-03] [-3.75938088e-03 -1.61468751e-03 9.99991630e-01 7.41441731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74255784399998 meters 0.29056354491319897 Centerline is valid? [False, False] Translation: X:1.61, Y:0.00, Z:0.74 [[ 9.99993642e-01 -1.34345955e-03 3.30314271e-03 1.61374861e+00] [ 1.34174620e-03 9.99998964e-01 5.20864613e-04 2.95596298e-03] [-3.30383905e-03 -5.16429322e-04 9.99994409e-01 7.40770286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80255784399998 meters 0.29144410190739817 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:0.74 [[ 9.99993450e-01 -1.58572872e-03 3.25352398e-03 1.61386996e+00] [ 1.58627229e-03 9.99998728e-01 -1.64496877e-04 5.75183375e-03] [-3.25325899e-03 1.69656774e-04 9.99994694e-01 7.40836236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86255784399998 meters 0.29104847287413216 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:0.74 [[ 9.99998783e-01 5.25549460e-04 1.46894038e-03 1.62056751e+00] [-5.27825005e-04 9.99998661e-01 1.54914815e-03 1.13352099e-02] [-1.46812426e-03 -1.54992161e-03 9.99997721e-01 7.37335999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92255784399998 meters 0.2914247631700446 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:0.74 [[ 9.99998940e-01 4.23208374e-04 1.39296317e-03 1.62086407e+00] [-4.24974705e-04 9.99999106e-01 1.26798705e-03 1.25068606e-02] [-1.39242530e-03 -1.26857768e-03 9.99998226e-01 7.37077866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98255784399998 meters 0.2922945064399551 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:0.74 [[ 9.99999167e-01 1.16193733e-04 1.28540117e-03 1.62074328e+00] [-1.16899219e-04 9.99999843e-01 5.48783493e-04 1.56774087e-02] [-1.28533720e-03 -5.48933298e-04 9.99999023e-01 7.37897763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042557844 meters 0.2933745309282056 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:0.74 [[ 9.99999359e-01 -2.61955258e-05 1.13214242e-03 1.62113412e+00] [ 2.60423084e-05 9.99999991e-01 1.35348558e-04 1.73620977e-02] [-1.13214596e-03 -1.35318988e-04 9.99999350e-01 7.37910363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102557844 meters 0.2905918214047909 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:0.74 [[ 9.99990156e-01 2.93660801e-03 3.32638137e-03 1.57710133e+00] [-2.94072940e-03 9.99994914e-01 1.23478766e-03 2.49283045e-02] [-3.32273837e-03 -1.24455749e-03 9.99993705e-01 7.38448187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162557844 meters 0.2933293182534484 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 0.99998779 0.00309026 0.00385697 1.61676816] [-0.00309698 0.99999369 0.00173781 0.02591008] [-0.00385157 -0.00174973 0.99999105 0.74056634] [ 0. 0. 0. 1. ]] SLAMing on 200.222557844 meters 0.2908741541958358 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99988063e-01 2.87399829e-03 3.95152232e-03 1.61658275e+00] [-2.87865230e-03 9.99995169e-01 1.17259543e-03 2.82537988e-02] [-3.94813319e-03 -1.18395650e-03 9.99991505e-01 7.40487272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282557844 meters 0.2921114506844328 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99988225e-01 2.77874014e-03 3.97841874e-03 1.61592765e+00] [-2.78238855e-03 9.99995713e-01 9.11810888e-04 2.93139841e-02] [-3.97586800e-03 -9.22869658e-04 9.99991670e-01 7.41928276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters 0.29230283235125 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99989206e-01 2.69127999e-03 3.78749594e-03 1.61655724e+00] [-2.69381133e-03 9.99996152e-01 6.63398048e-04 3.03539282e-02] [-3.78569597e-03 -6.73593687e-04 9.99992607e-01 7.41573616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters 0.29162124444158827 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99989190e-01 2.52302204e-03 3.90577513e-03 1.61617558e+00] [-2.52405629e-03 9.99996781e-01 2.59892185e-04 3.20181917e-02] [-3.90510684e-03 -2.69747771e-04 9.99992339e-01 7.41775177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46255784399997 meters 0.2919492327085209 Centerline is valid? [False, False] Translation: X:1.64, Y:0.03, Z:0.74 [[ 9.99965395e-01 -6.88770941e-03 4.66554863e-03 1.63732332e+00] [ 6.88446275e-03 9.99976049e-01 7.11583966e-04 3.38436834e-02] [-4.67033807e-03 -6.79439546e-04 9.99988863e-01 7.42597961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52255784399998 meters 0.29240244263702786 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99997022e-01 1.33208971e-03 2.04482445e-03 1.61995424e+00] [-1.32964140e-03 9.99998398e-01 -1.19821656e-03 3.37850967e-02] [-2.04641731e-03 1.19549411e-03 9.99997191e-01 7.40560673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58255784399998 meters 0.2928559636817929 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99997208e-01 1.31390221e-03 1.96411901e-03 1.62003905e+00] [-1.31144801e-03 9.99998358e-01 -1.25028651e-03 3.39853765e-02] [-1.96575854e-03 1.24770718e-03 9.99997290e-01 7.40844665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64255784399998 meters 0.2913357404062842 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:0.74 [[ 9.99988883e-01 -4.54097407e-03 -1.27025272e-03 1.59756160e+00] [ 4.54292363e-03 9.99988501e-01 1.53613298e-03 3.21092769e-02] [ 1.26326258e-03 -1.54188656e-03 9.99998013e-01 7.44032775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70255784399998 meters 0.2907615823594035 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:0.74 [[ 9.99989625e-01 -4.42471862e-03 -1.08229513e-03 1.59726450e+00] [ 4.42671475e-03 9.99988493e-01 1.84895947e-03 3.08240117e-02] [ 1.07410155e-03 -1.85373130e-03 9.99997705e-01 7.43584390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76255784399999 meters 0.2923663579217527 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99998551e-01 1.32459199e-03 1.06934450e-03 1.62032888e+00] [-1.32353705e-03 9.99998637e-01 -9.86634094e-04 2.95834028e-02] [-1.07064993e-03 9.85217347e-04 9.99998942e-01 7.41586455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822557844 meters 0.29319160651158943 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:0.74 [[ 9.99998590e-01 1.46035161e-03 8.28977253e-04 1.62099903e+00] [-1.45983121e-03 9.99998737e-01 -6.28010161e-04 2.81307355e-02] [-8.29893322e-04 6.26799109e-04 9.99999459e-01 7.41343244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882557844 meters 0.2915223462048467 Centerline is valid? [False, False] Translation: X:1.60, Y:0.03, Z:0.74 [[ 9.99991228e-01 -4.16887076e-03 -4.05420874e-04 1.59608414e+00] [ 4.16988896e-03 9.99988070e-01 2.54392386e-03 2.72410609e-02] [ 3.94810748e-04 -2.54559211e-03 9.99996682e-01 7.43964703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942557844 meters 0.29045603236241996 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:0.74 [[ 9.99992482e-01 -3.87103592e-03 -2.27034268e-04 1.59562099e+00] [ 3.87177351e-03 9.99986914e-01 3.34373115e-03 2.39216627e-02] [ 2.14087594e-04 -3.34458504e-03 9.99994384e-01 7.43922894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002557844 meters 0.2911976722558521 Centerline is valid? [False, False] Translation: X:1.60, Y:0.02, Z:0.74 [[ 9.99992832e-01 -3.77093728e-03 -3.40249869e-04 1.59602490e+00] [ 3.77214458e-03 9.99986332e-01 3.62028279e-03 2.28029229e-02] [ 3.26593359e-04 -3.62154031e-03 9.99993389e-01 7.43586054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters 0.2931240954846655 Centerline is valid? [False, False] Translation: X:1.62, Y:0.02, Z:0.74 [[ 9.99997904e-01 6.51886204e-04 1.94087819e-03 1.61741251e+00] [-6.51663720e-04 9.99999781e-01 -1.15261137e-04 1.75105476e-02] [-1.94095291e-03 1.13996095e-04 9.99998110e-01 7.43608758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters 0.29069020663713013 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.75 [[ 9.99985864e-01 -5.30560197e-03 3.50450786e-04 1.59394278e+00] [ 5.30451345e-03 9.99981319e-01 3.03717946e-03 1.61989249e-02] [-3.66558304e-04 -3.03527755e-03 9.99995326e-01 7.45736192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18255784399997 meters 0.29212030588298177 Centerline is valid? [False, False] Translation: X:1.59, Y:0.01, Z:0.75 [[ 9.99986564e-01 -5.17670975e-03 2.71721840e-04 1.59432650e+00] [ 5.17575748e-03 9.99980841e-01 3.39548665e-03 1.47481541e-02] [-2.89294083e-04 -3.39403466e-03 9.99994198e-01 7.45207846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24255784399998 meters 0.29152603727590337 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.75 [[ 9.99986357e-01 -5.21659316e-03 2.69784499e-04 1.59405698e+00] [ 5.21567873e-03 9.99981000e-01 3.28584632e-03 1.51581704e-02] [-2.86920296e-04 -3.28439438e-03 9.99994565e-01 7.45887264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30255784399998 meters 0.29217474520505016 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.75 [[ 9.99985556e-01 -5.36827087e-03 2.62787568e-04 1.59404998e+00] [ 5.36751353e-03 9.99981668e-01 2.80246039e-03 1.71152334e-02] [-2.77827117e-04 -2.80100940e-03 9.99996039e-01 7.45947852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36255784399998 meters 0.2911340647280919 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.75 [[ 9.99984851e-01 -5.50215854e-03 1.56176382e-04 1.59439715e+00] [ 5.50176447e-03 9.99981936e-01 2.42048670e-03 1.87123486e-02] [-1.69491462e-04 -2.41959079e-03 9.99997058e-01 7.45764762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42255784399998 meters 0.29074517522385035 Centerline is valid? [False, False] Translation: X:1.59, Y:0.02, Z:0.75 [[ 9.99984808e-01 -5.50959921e-03 1.66797422e-04 1.59423488e+00] [ 5.50918273e-03 9.99981939e-01 2.40210853e-03 1.87875086e-02] [-1.80029065e-04 -2.40115312e-03 9.99997101e-01 7.46077181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48255784399998 meters 0.2917391323807059 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:0.75 [[ 9.99994483e-01 1.94119392e-03 2.69539462e-03 1.61022539e+00] [-1.94362391e-03 9.99997707e-01 8.99204311e-04 1.16830081e-02] [-2.69364291e-03 -9.04438184e-04 9.99995963e-01 7.48046312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542557844 meters 0.29198233644055 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:0.75 [[ 9.99994493e-01 2.11339378e-03 2.55900334e-03 1.61074541e+00] [-2.11705346e-03 9.99996739e-01 1.42825846e-03 9.56577840e-03] [-2.55597652e-03 -1.43366814e-03 9.99995706e-01 7.47515321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602557844 meters 0.2914209354909257 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:0.75 [[ 0.9999944 0.00222768 0.00249839 1.61067702] [-0.00223202 0.999996 0.00173525 0.00827709] [-0.00249451 -0.00174081 0.99999537 0.74801452] [ 0. 0. 0. 1. ]] SLAMing on 201.662557844 meters 0.2939588052550642 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:0.75 [[ 9.99998163e-01 1.21964132e-03 1.47841360e-03 1.64991601e+00] [-1.22188273e-03 9.99998104e-01 1.51613504e-03 6.17800565e-03] [-1.47656166e-03 -1.51793871e-03 9.99997758e-01 7.51451242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722557844 meters 0.2913359697905821 Centerline is valid? [False, False] Translation: X:1.61, Y:0.01, Z:0.75 [[ 9.99998200e-01 7.91466086e-04 1.72461203e-03 1.61188215e+00] [-7.91923133e-04 9.99999651e-01 2.64347320e-04 1.00862124e-02] [-1.72440220e-03 -2.65712605e-04 9.99998478e-01 7.47880107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782557844 meters 0.2928872986054201 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:0.75 [[ 9.99999328e-01 -6.88083489e-04 9.32751981e-04 1.65027179e+00] [ 6.87685743e-04 9.99999673e-01 4.26675721e-04 4.08559609e-03] [-9.33045264e-04 -4.26033994e-04 9.99999474e-01 7.51148835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842557844 meters 0.2939641966895917 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:0.75 [[ 9.99999533e-01 -4.66841287e-04 8.46265449e-04 1.65079813e+00] [ 4.65817850e-04 9.99999160e-01 1.20915041e-03 1.04447253e-03] [-8.46829220e-04 -1.20875564e-03 9.99998911e-01 7.50255513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902557844 meters 0.29341945045530266 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99999630e-01 -3.08836701e-04 8.03172854e-04 1.65106973e+00] [ 3.07530138e-04 9.99998630e-01 1.62636703e-03 -6.57511403e-04] [-8.03674035e-04 -1.62611943e-03 9.99998355e-01 7.49812424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96255784399997 meters 0.2929470993730604 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99999571e-01 -2.24068597e-04 8.99100428e-04 1.65076527e+00] [ 2.22390570e-04 9.99998234e-01 1.86600610e-03 -1.63503179e-03] [-8.99516953e-04 -1.86580534e-03 9.99997855e-01 7.49954724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02255784399998 meters 0.29046643038701836 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.00, Z:0.75 [[ 9.99974214e-01 6.96441693e-03 1.75172337e-03 1.62426277e+00] [-6.96344253e-03 9.99975597e-01 -5.61733891e-04 -3.14633618e-03] [-1.75559277e-03 5.49521381e-04 9.99998308e-01 7.52627524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08255784399998 meters 0.29217728417558414 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:0.75 [[ 9.99992224e-01 -2.63811828e-03 2.93124022e-03 1.64628463e+00] [ 2.63751851e-03 9.99996500e-01 2.08458155e-04 -6.31246494e-03] [-2.93177990e-03 -2.00725334e-04 9.99995682e-01 7.51692714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14255784399998 meters 0.2921263958773586 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:0.75 [[ 9.99992932e-01 -2.47837434e-03 2.82735004e-03 1.64692886e+00] [ 2.47653307e-03 9.99996719e-01 6.54551698e-04 -8.22004870e-03] [-2.82896299e-03 -6.47545045e-04 9.99995789e-01 7.50639002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20255784399998 meters 0.2924975387590373 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:0.75 [[ 9.99992606e-01 -2.53217431e-03 2.89418601e-03 1.64651411e+00] [ 2.53077183e-03 9.99996678e-01 4.88144471e-04 -7.55347955e-03] [-2.89541247e-03 -4.80816337e-04 9.99995693e-01 7.51333133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26255784399999 meters 0.29292286350404645 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:0.75 [[ 9.99991720e-01 -2.73376453e-03 3.01439784e-03 1.64629677e+00] [ 2.73418378e-03 9.99996253e-01 -1.34970693e-04 -5.05485441e-03] [-3.01401757e-03 1.43211493e-04 9.99995448e-01 7.51148647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322557844 meters 0.2933082536243754 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99991386e-01 -2.81422476e-03 3.05091760e-03 1.64637041e+00] [ 2.81528369e-03 9.99995978e-01 -3.42849711e-04 -4.17580163e-03] [-3.04994047e-03 3.51435956e-04 9.99995287e-01 7.50775871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382557844 meters 0.2926046119386561 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99991800e-01 -2.89604152e-03 2.83069165e-03 1.64706290e+00] [ 2.89772038e-03 9.99995628e-01 -5.89168274e-04 -3.15928331e-03] [-2.82897302e-03 5.97365995e-04 9.99995820e-01 7.50350169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442557844 meters 0.2929698109937823 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99991871e-01 -3.04659421e-03 2.64122158e-03 1.64761111e+00] [ 3.04911161e-03 9.99994901e-01 -9.49619369e-04 -1.63525815e-03] [-2.63831501e-03 9.57665029e-04 9.99996061e-01 7.50272532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502557844 meters 0.29222349447714746 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99991212e-01 -3.17057010e-03 2.74272112e-03 1.64723317e+00] [ 3.17405070e-03 9.99994162e-01 -1.26561118e-03 -3.46160776e-04] [-2.73869240e-03 1.27430559e-03 9.99995438e-01 7.50562637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562557844 meters 0.2927127037273513 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99990711e-01 -3.19062617e-03 2.89780557e-03 1.64677583e+00] [ 3.19444392e-03 9.99994035e-01 -1.31379181e-03 -1.65277966e-04] [-2.89359647e-03 1.32303648e-03 9.99994938e-01 7.50740183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622557844 meters 0.2922647568120728 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99990713e-01 -3.19236833e-03 2.89534104e-03 1.64667444e+00] [ 3.19620034e-03 9.99994021e-01 -1.31985045e-03 -1.54812367e-04] [-2.89111028e-03 1.32909229e-03 9.99994937e-01 7.50992179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68255784399997 meters 0.2918935366260752 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.00, Z:0.75 [[ 9.99990903e-01 -3.18261459e-03 2.83985616e-03 1.64684647e+00] [ 3.18630535e-03 9.99994084e-01 -1.29605182e-03 -2.48625691e-04] [-2.83571453e-03 1.30508868e-03 9.99995128e-01 7.50918012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74255784399998 meters 0.291958853864777 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:0.75 [[ 9.99990293e-01 -3.29635016e-03 2.92375469e-03 1.64643833e+00] [ 3.30115200e-03 9.99993208e-01 -1.63905296e-03 1.10098924e-03] [-2.91833194e-03 1.64868881e-03 9.99994383e-01 7.51476562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80255784399998 meters 0.2931086278551004 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:0.75 [[ 9.99994480e-01 -1.99969078e-03 2.65333918e-03 1.68513071e+00] [ 1.99952745e-03 9.99997999e-01 6.42106427e-05 -5.24064796e-04] [-2.65346227e-03 -5.89048638e-05 9.99996478e-01 7.54289248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86255784399998 meters 0.29187020820122955 Centerline is valid? [False, False] Translation: X:1.66, Y:0.00, Z:0.76 [[ 9.99990162e-01 4.33851053e-03 -9.23249616e-04 1.66395710e+00] [-4.34115514e-03 9.99986424e-01 -2.88198867e-03 2.82140788e-03] [ 9.10733544e-04 2.88596828e-03 9.99995421e-01 7.56138333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92255784399998 meters 0.2928118723101789 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:0.76 [[ 9.99986062e-01 -5.27362732e-03 2.55283620e-04 1.68530126e+00] [ 5.27422839e-03 9.99983177e-01 -2.41407799e-03 1.68654699e-03] [-2.42548378e-04 2.41539077e-03 9.99997054e-01 7.56461760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98255784399998 meters 0.292830666829012 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:0.76 [[ 9.99986551e-01 -5.17991842e-03 2.57518021e-04 1.68550275e+00] [ 5.18045720e-03 9.99984297e-01 -2.13751831e-03 5.90179371e-04] [-2.46441806e-04 2.13882362e-03 9.99997682e-01 7.55919543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042557844 meters 0.2931712560484818 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.00, Z:0.76 [[ 9.99986985e-01 -5.09013004e-03 3.46603361e-04 1.68531030e+00] [ 5.09077619e-03 9.99985257e-01 -1.88960653e-03 -4.28624371e-04] [-3.36979908e-04 1.89134641e-03 9.99998155e-01 7.55820248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102557844 meters 0.293858513899155 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.00, Z:0.76 [[ 9.99987804e-01 -4.91682662e-03 4.64763995e-04 1.68491175e+00] [ 4.91748281e-03 9.99986899e-01 -1.42143058e-03 -2.38410875e-03] [-4.57768979e-04 1.42369872e-03 9.99998882e-01 7.55982940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162557844 meters 0.2918671924681148 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:0.75 [[ 9.99991480e-01 3.92765049e-03 -1.27038438e-03 1.66616363e+00] [-3.93010377e-03 9.99990406e-01 -1.93443648e-03 -7.74351778e-03] [ 1.26277440e-03 1.93941274e-03 9.99997322e-01 7.54182875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222557844 meters 0.2927577510462165 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:0.75 [[ 9.99990864e-01 4.10683865e-03 -1.18540449e-03 1.66563735e+00] [-4.10858179e-03 9.99990477e-01 -1.47183398e-03 -9.73580158e-03] [ 1.17934862e-03 1.47669087e-03 9.99998214e-01 7.54824295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282557844 meters 0.29190738881715556 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:0.75 [[ 9.99989791e-01 4.32968834e-03 -1.29288575e-03 1.66584944e+00] [-4.33083664e-03 9.99990229e-01 -8.86692111e-04 -1.21465494e-02] [ 1.28903402e-03 8.92282336e-04 9.99998771e-01 7.54895646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342557844 meters 0.29197291140555465 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:0.75 [[ 9.99989208e-01 4.49101716e-03 -1.18955442e-03 1.66573651e+00] [-4.49156468e-03 9.99989808e-01 -4.57996931e-04 -1.38985597e-02] [ 1.18748542e-03 4.63334949e-04 9.99999188e-01 7.54502071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402557844 meters 0.29182708465420765 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:0.76 [[ 9.99988609e-01 4.70149765e-03 -8.23296291e-04 1.66441499e+00] [-4.70135579e-03 9.99988933e-01 1.74159070e-04 -1.67981752e-02] [ 8.24105988e-04 -1.70286477e-04 9.99999646e-01 7.55286252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46255784399997 meters 0.2927047471602974 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:0.75 [[ 9.99988016e-01 4.79825543e-03 -9.71659076e-04 1.66509919e+00] [-4.79781173e-03 9.99988385e-01 4.58460813e-04 -1.79509144e-02] [ 9.73847603e-04 -4.53793482e-04 9.99999423e-01 7.54283028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52255784399998 meters 0.2942210819463543 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:0.75 [[ 9.99999349e-01 5.79665451e-04 -9.82826319e-04 1.66510577e+00] [-5.83106477e-04 9.99993689e-01 -3.50448982e-03 -1.94564938e-02] [ 9.80788685e-04 3.50506063e-03 9.99993376e-01 7.54232608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58255784399998 meters 0.29232676631291515 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:0.76 [[ 9.99999411e-01 6.43261042e-04 -8.73878722e-04 1.66450624e+00] [-6.46160220e-04 9.99994275e-01 -3.32137587e-03 -2.02395795e-02] [ 8.71737208e-04 3.32193858e-03 9.99994102e-01 7.55093718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64255784399998 meters 0.29185183145722104 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:0.75 [[ 9.99999221e-01 9.21145647e-04 -8.41813798e-04 1.66484196e+00] [-9.23393138e-04 9.99996000e-01 -2.67334286e-03 -2.30715820e-02] [ 8.39347893e-04 2.67411810e-03 9.99996072e-01 7.54179102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70255784399998 meters 0.2918799336461741 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:0.75 [[ 9.99999119e-01 1.05418928e-03 -8.06262729e-04 1.66454112e+00] [-1.05603226e-03 9.99996823e-01 -2.28883813e-03 -2.46349331e-02] [ 8.03847299e-04 2.28968755e-03 9.99997056e-01 7.54679602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76255784399999 meters 0.2927431882624244 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 9.99988776e-01 -4.15374564e-03 2.27920096e-03 1.68746127e+00] [ 4.15056422e-03 9.99990408e-01 1.39880572e-03 -2.80919217e-02] [-2.28498938e-03 -1.38933005e-03 9.99996424e-01 7.52577266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822557844 meters 0.2922012225629995 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 9.99988901e-01 -4.21093554e-03 2.11319824e-03 1.68793196e+00] [ 4.20835470e-03 9.99990395e-01 1.22425746e-03 -2.73651941e-02] [-2.11833321e-03 -1.21535078e-03 9.99997018e-01 7.52468094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882557844 meters 0.2935001224636387 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 9.99989038e-01 -4.13117642e-03 2.20387552e-03 1.68763346e+00] [ 4.12800911e-03 9.99990443e-01 1.43977376e-03 -2.82464120e-02] [-2.20980241e-03 -1.43066036e-03 9.99996535e-01 7.52617057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942557844 meters 0.29310747043913665 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 0.99998896 -0.00404492 0.00239106 1.6871825 ] [ 0.00404072 0.99999029 0.00175792 -0.02950205] [-0.00239814 -0.00174824 0.9999956 0.75258454] [ 0. 0. 0. 1. ]] SLAMing on 204.002557844 meters 0.29222378216542455 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 0.99998918 -0.00389442 0.00254482 1.68670789] [ 0.00388869 0.9999899 0.00225359 -0.03148169] [-0.00255357 -0.00224367 0.99999422 0.75277219] [ 0. 0. 0. 1. ]] SLAMing on 204.062557844 meters 0.2924482276045745 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.03, Z:0.75 [[ 9.99998688e-01 1.60196970e-03 -2.41220329e-04 1.66365425e+00] [-1.60218256e-03 9.99998325e-01 -8.84846978e-04 -3.10855020e-02] [ 2.39802427e-04 8.85232296e-04 9.99999579e-01 7.54420297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters 0.29183321079755536 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.04, Z:0.76 [[ 9.99999147e-01 9.12522467e-04 -9.34458068e-04 1.70225371e+00] [-9.13433296e-04 9.99999108e-01 -9.74751212e-04 -3.53313163e-02] [ 9.33567752e-04 9.75603945e-04 9.99999088e-01 7.57834015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18255784399997 meters 0.29249359217851933 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:0.76 [[ 9.99998667e-01 8.62088963e-04 -1.38653590e-03 1.70321565e+00] [-8.63712535e-04 9.99998942e-01 -1.17078403e-03 -3.45383265e-02] [ 1.38552512e-03 1.17198004e-03 9.99998353e-01 7.58206845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24255784399998 meters 0.2923164436353641 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:0.76 [[ 9.99999095e-01 6.10105851e-04 -1.19876897e-03 1.70256997e+00] [-6.12705869e-04 9.99997458e-01 -2.16973761e-03 -3.07676047e-02] [ 1.19744216e-03 2.17047014e-03 9.99996928e-01 7.58810756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30255784399998 meters 0.2920153294352962 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:0.76 [[ 9.99999032e-01 3.89065885e-04 -1.33568542e-03 1.70294605e+00] [-3.92865990e-04 9.99995873e-01 -2.84597737e-03 -2.80778254e-02] [ 1.33457263e-03 2.84649936e-03 9.99995058e-01 7.58803036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36255784399998 meters 0.2925789859458076 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.03, Z:0.76 [[ 9.99998979e-01 3.33964989e-04 -1.38947152e-03 1.70352009e+00] [-3.38158712e-04 9.99995385e-01 -3.01907536e-03 -2.73698164e-02] [ 1.38845684e-03 3.01954213e-03 9.99994477e-01 7.57481832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42255784399998 meters 0.2912840956837053 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:0.76 [[ 9.99986135e-01 -5.26557056e-03 -6.70138890e-05 1.67893624e+00] [ 5.26558463e-03 9.99986114e-01 2.11576161e-04 -2.21921100e-02] [ 6.58988893e-05 -2.11926095e-04 9.99999975e-01 7.58835646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48255784399998 meters 0.29161519658520185 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.02, Z:0.76 [[ 9.99989767e-01 4.23360300e-03 1.59454917e-03 1.70035308e+00] [-4.23301743e-03 9.99990972e-01 -3.70427726e-04 -1.73645820e-02] [-1.59610302e-03 3.63674181e-04 9.99998660e-01 7.58326140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542557844 meters 0.2909910106972093 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:0.76 [[ 9.99990512e-01 -4.01504141e-03 1.69004375e-03 1.68121386e+00] [ 4.01485491e-03 9.99991934e-01 1.13725036e-04 -8.70728603e-03] [-1.69048673e-03 -1.06938677e-04 9.99998565e-01 7.56742949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602557844 meters 0.2924169205702595 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:0.76 [[ 9.99988485e-01 1.67848608e-03 4.49575561e-03 1.70319444e+00] [-1.66438983e-03 9.99993693e-01 -3.13736576e-03 -7.46116931e-03] [-4.50099328e-03 3.12984695e-03 9.99984972e-01 7.55074017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662557844 meters 0.2923743144112224 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.01, Z:0.76 [[ 9.99988251e-01 1.48508617e-03 4.61438078e-03 1.70286011e+00] [-1.46823909e-03 9.99992253e-01 -3.65224018e-03 -5.38019656e-03] [-4.61976893e-03 3.64542225e-03 9.99982684e-01 7.55240117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722557844 meters 0.2919763597020812 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.00, Z:0.76 [[ 9.99988642e-01 1.24125290e-03 4.60154209e-03 1.70282721e+00] [-1.22189940e-03 9.99990407e-01 -4.20630036e-03 -3.08728644e-03] [-4.60671902e-03 4.20062997e-03 9.99980566e-01 7.55420810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782557844 meters 0.29032794018422314 Centerline is valid? [False, False] Translation: X:1.68, Y:0.00, Z:0.75 [[ 0.9999674 -0.00682489 0.00431512 1.68376694] [ 0.00684001 0.99997048 -0.00349926 0.00498815] [-0.00429111 0.00352866 0.99998457 0.75412451] [ 0. 0. 0. 1. ]] SLAMing on 204.842557844 meters 0.2907530102465932 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:0.75 [[ 9.99987433e-01 -2.66850913e-03 4.24420857e-03 1.68424103e+00] [ 2.66700873e-03 9.99996379e-01 3.59136929e-04 6.79407806e-03] [-4.24515156e-03 -3.47813074e-04 9.99990929e-01 7.53283359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters 0.29295977929895767 Centerline is valid? [False, False] Translation: X:1.73, Y:0.01, Z:0.76 [[ 9.99996441e-01 -2.03732406e-03 1.72262530e-03 1.72652113e+00] [ 2.03523180e-03 9.99997190e-01 1.21545767e-03 8.33486974e-03] [-1.72509675e-03 -1.21194741e-03 9.99997778e-01 7.55586745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96255784399997 meters 0.2911742907415679 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:0.76 [[ 9.99971149e-01 7.43839919e-03 1.53989336e-03 1.70427107e+00] [-7.43901365e-03 9.99972253e-01 3.93687080e-04 9.37743987e-03] [-1.53692223e-03 -4.05131010e-04 9.99998737e-01 7.55701575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02255784399998 meters 0.2910941801408645 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:0.76 [[ 9.99972072e-01 7.21404720e-03 1.95265285e-03 1.70308283e+00] [-7.21347077e-03 9.99973937e-01 -3.02083557e-04 1.21681775e-02] [-1.95478121e-03 2.87989716e-04 9.99998048e-01 7.56431945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08255784399998 meters 0.290629472827466 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:0.76 [[ 9.99972689e-01 7.17444867e-03 1.77425064e-03 1.70347653e+00] [-7.17371077e-03 9.99974180e-01 -4.21912112e-04 1.26561392e-02] [-1.77723182e-03 4.09172629e-04 9.99998337e-01 7.56573675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14255784399998 meters 0.29172934328394456 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:0.75 [[ 9.99987419e-01 4.99375549e-03 4.73846216e-04 1.70988593e+00] [-4.99262413e-03 9.99984753e-01 -2.35949012e-03 1.10688537e-02] [-4.85621708e-04 2.35709470e-03 9.99997104e-01 7.52226502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20255784399998 meters 0.29093415414371476 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:0.75 [[ 9.99986385e-01 5.18442270e-03 5.93624669e-04 1.70942143e+00] [-5.18330422e-03 9.99984817e-01 -1.87044495e-03 9.03489942e-03] [-6.03312833e-04 1.86734255e-03 9.99998075e-01 7.52567826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26255784399999 meters 0.29180709951138095 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:0.75 [[ 9.99985648e-01 5.29613254e-03 8.09545943e-04 1.70859334e+00] [-5.29486127e-03 9.99984758e-01 -1.56450659e-03 7.72610206e-03] [-8.17819439e-04 1.56019771e-03 9.99998448e-01 7.53327341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322557844 meters 0.29063344631195465 Centerline is valid? [False, False] Translation: X:1.71, Y:0.00, Z:0.75 [[ 9.99984227e-01 5.57278278e-03 7.00488864e-04 1.70934864e+00] [-5.57216710e-03 9.99984090e-01 -8.77827679e-04 4.83056773e-03] [-7.05369662e-04 8.73910591e-04 9.99999369e-01 7.52162818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382557844 meters 0.29293411213843695 Centerline is valid? [False, False] Translation: X:1.73, Y:0.00, Z:0.75 [[ 9.99992132e-01 -3.48099863e-03 1.90201275e-03 1.72995930e+00] [ 3.48048354e-03 9.99993906e-01 2.74055837e-04 4.48406685e-03] [-1.90295515e-03 -2.67433756e-04 9.99998154e-01 7.52324499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442557844 meters 0.2914160220774344 Centerline is valid? [False, False] Translation: X:1.73, Y:0.00, Z:0.75 [[ 9.99992827e-01 -3.15941398e-03 2.08879905e-03 1.72907663e+00] [ 3.15712416e-03 9.99994413e-01 1.09862543e-03 8.70006850e-04] [-2.09225840e-03 -1.09202296e-03 9.99997215e-01 7.53077850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502557844 meters 0.2898624536220761 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:0.75 [[ 9.99994794e-01 2.82800180e-03 1.55352143e-03 1.70639269e+00] [-2.82420008e-03 9.99993026e-01 -2.44392840e-03 -1.73078558e-03] [-1.56042202e-03 2.43952823e-03 9.99995807e-01 7.53555409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters 0.29144705442520225 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:0.75 [[ 9.99984304e-01 -2.89504767e-03 4.79691385e-03 1.72641696e+00] [ 2.88742115e-03 9.99994558e-01 1.59604357e-03 -5.21989959e-03] [-4.80150836e-03 -1.58216781e-03 9.99987221e-01 7.52834532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters 0.29097603395303767 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:0.75 [[ 9.99983691e-01 -2.89799184e-03 4.92133972e-03 1.72596298e+00] [ 2.89019542e-03 9.99994558e-01 1.59058071e-03 -5.20798660e-03] [-4.92592243e-03 -1.57633114e-03 9.99986625e-01 7.53138929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68255784399997 meters 0.2904015865382067 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99983674e-01 -2.98059023e-03 4.87525677e-03 1.72612373e+00] [ 2.97407900e-03 9.99994677e-01 1.34227168e-03 -4.20527531e-03] [-4.87923158e-03 -1.32775037e-03 9.99987215e-01 7.53020769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74255784399998 meters 0.28973104876930306 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99981560e-01 -3.03419216e-03 5.26050948e-03 1.72513958e+00] [ 3.02807048e-03 9.99994729e-01 1.17127967e-03 -3.55145764e-03] [-5.26403565e-03 -1.15532888e-03 9.99985477e-01 7.53172642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80255784399998 meters 0.28962003541624787 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99982360e-01 -3.05650854e-03 5.09282802e-03 1.72558435e+00] [ 3.05095450e-03 9.99994743e-01 1.09797376e-03 -3.25574595e-03] [-5.09615722e-03 -1.08241641e-03 9.99986429e-01 7.53070152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86255784399998 meters 0.2903155594776024 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99984051e-01 -3.06272591e-03 4.74531820e-03 1.72662510e+00] [ 3.05771662e-03 9.99994761e-01 1.06252293e-03 -3.07692171e-03] [-4.74854755e-03 -1.04799615e-03 9.99988176e-01 7.52506392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92255784399998 meters 0.2896112258587534 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99984717e-01 -3.07424876e-03 4.59514792e-03 1.72727092e+00] [ 3.06964328e-03 9.99994780e-01 1.00896662e-03 -2.85872462e-03] [-4.59822575e-03 -9.94845738e-04 9.99988933e-01 7.51803655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98255784399998 meters 0.29077116439372475 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.00, Z:0.75 [[ 9.99983921e-01 -3.04314637e-03 4.78507817e-03 1.72672335e+00] [ 3.03789597e-03 9.99994776e-01 1.10412999e-03 -3.25089708e-03] [-4.78841320e-03 -1.08957566e-03 9.99987942e-01 7.51993989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042557844 meters 0.2888826349845754 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.01, Z:0.75 [[ 9.99993616e-01 3.15883447e-03 1.67040499e-03 1.70652671e+00] [-3.15597772e-03 9.99993558e-01 -1.71009699e-03 -6.21912098e-03] [-1.67579614e-03 1.70481431e-03 9.99997143e-01 7.52775883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102557844 meters 0.2896328308286195 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.01, Z:0.75 [[ 9.99999550e-01 4.35215670e-04 8.42798899e-04 1.71052354e+00] [-4.32392762e-04 9.99994306e-01 -3.34673476e-03 -1.37518955e-02] [-8.44250652e-04 3.34636883e-03 9.99994045e-01 7.49773468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162557844 meters 0.29024297137884403 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:0.75 [[ 9.99999270e-01 8.11328503e-04 8.95776469e-04 1.71048062e+00] [-8.09167179e-04 9.99996767e-01 -2.41052522e-03 -1.75732487e-02] [-8.97729301e-04 2.40979863e-03 9.99996693e-01 7.49656702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222557844 meters 0.2896113474086329 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:0.75 [[ 9.99999029e-01 9.25259514e-04 1.04214331e-03 1.71005052e+00] [-9.23108925e-04 9.99997448e-01 -2.06221550e-03 -1.89576022e-02] [-1.04404873e-03 2.06125148e-03 9.99997331e-01 7.49843075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282557844 meters 0.28973971621404915 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:0.75 [[ 9.99998932e-01 1.07270935e-03 9.92513306e-04 1.71058835e+00] [-1.07105303e-03 9.99998036e-01 -1.66784307e-03 -2.05038610e-02] [-9.94300467e-04 1.66677826e-03 9.99998117e-01 7.48922877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342557844 meters 0.28861953885985875 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:0.75 [[ 9.99982326e-01 -4.70295520e-03 -3.63730027e-03 1.69089245e+00] [ 4.70906397e-03 9.99987513e-01 1.67274175e-03 -2.97208519e-02] [ 3.62938802e-03 -1.68984046e-03 9.99991986e-01 7.50157482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402557844 meters 0.28841853345841284 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:0.75 [[ 9.99997189e-01 2.36590697e-03 -1.54665096e-04 1.70650274e+00] [-2.36595892e-03 9.99997144e-01 -3.36550194e-04 -3.39287356e-02] [ 1.53868408e-04 3.36915179e-04 9.99999931e-01 7.53661318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46255784399997 meters 0.2882758633290953 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:0.75 [[ 9.99997391e-01 2.27886180e-03 1.55822400e-04 1.70566250e+00] [-2.27876517e-03 9.99997213e-01 -6.17533354e-04 -3.27765592e-02] [-1.57229239e-04 6.17176660e-04 9.99999797e-01 7.53869016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52255784399998 meters 0.2874928812103098 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:0.75 [[ 9.99997602e-01 2.18715201e-03 1.13347607e-04 1.70591349e+00] [-2.18705280e-03 9.99997232e-01 -8.68051688e-04 -3.17480507e-02] [-1.15245854e-04 8.67801709e-04 9.99999617e-01 7.53522585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58255784399998 meters 0.28818745450628636 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:0.75 [[ 9.99997916e-01 2.04077035e-03 -5.81895492e-05 1.70640381e+00] [-2.04084459e-03 9.99997065e-01 -1.30573151e-03 -2.99667240e-02] [ 5.55246802e-05 1.30584754e-03 9.99999146e-01 7.53388958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64255784399998 meters 0.287530319670572 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:0.75 [[ 9.99997772e-01 2.09820335e-03 -2.30462417e-04 1.70668850e+00] [-2.09846583e-03 9.99997143e-01 -1.14462035e-03 -3.06300938e-02] [ 2.28060112e-04 1.14510142e-03 9.99999318e-01 7.53763876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70255784399998 meters 0.2886242508670356 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:0.75 [[ 9.99977764e-01 -6.52277092e-03 1.38758332e-03 1.72706443e+00] [ 6.52294123e-03 9.99978718e-01 -1.18247943e-04 -3.02141046e-02] [-1.38678248e-03 1.27296438e-04 9.99999030e-01 7.54351336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76255784399999 meters 0.28781537774168936 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:0.75 [[ 9.99997849e-01 1.81933496e-03 9.95677635e-04 1.70821684e+00] [-1.81861042e-03 9.99998081e-01 -7.28102840e-04 -3.80366781e-02] [-9.97000387e-04 7.26290525e-04 9.99999239e-01 7.51927331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822557844 meters 0.2897835910249497 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:0.75 [[ 9.99968108e-01 -7.98565840e-03 1.06417197e-04 1.73125234e+00] [ 7.98574241e-03 9.99967782e-01 -8.13908846e-04 -3.47596522e-02] [-9.99141709e-05 8.14732710e-04 9.99999663e-01 7.50613181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882557844 meters 0.2871141244135296 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:0.75 [[ 9.99997892e-01 1.64461876e-03 -1.22942297e-03 1.71057769e+00] [-1.64566144e-03 9.99998287e-01 -8.47572921e-04 -3.82167102e-02] [ 1.22802693e-03 8.49594348e-04 9.99998885e-01 7.50136956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942557844 meters 0.28962089514364653 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:0.75 [[ 9.99992869e-01 3.14450896e-03 -2.09128044e-03 1.75110468e+00] [-3.14422613e-03 9.99995047e-01 1.38519477e-04 -3.60753673e-02] [ 2.09170566e-03 -1.31943030e-04 9.99997804e-01 7.51964865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002557844 meters 0.2888423899918428 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:0.75 [[ 9.99993222e-01 3.13858310e-03 -1.92503235e-03 1.75061723e+00] [-3.13835228e-03 9.99995068e-01 1.22912076e-04 -3.60003064e-02] [ 1.92540863e-03 -1.16869813e-04 9.99998140e-01 7.52104905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters 0.2887956712455928 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:0.75 [[ 9.99992622e-01 3.20326279e-03 -2.12018254e-03 1.75135440e+00] [-3.20259608e-03 9.99994821e-01 3.17779697e-04 -3.68646988e-02] [ 2.12118949e-03 -3.10987264e-04 9.99997702e-01 7.51411874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters 0.2881159016534065 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:0.75 [[ 9.99991630e-01 3.37214637e-03 -2.31718577e-03 1.75190092e+00] [-3.37032641e-03 9.99994009e-01 7.88873885e-04 -3.88182115e-02] [ 2.31983209e-03 -7.81057610e-04 9.99997004e-01 7.51343841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18255784399997 meters 0.28771356188860864 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.04, Z:0.75 [[ 9.99990844e-01 3.67286708e-03 -2.19604382e-03 1.75122451e+00] [-3.66911279e-03 9.99991805e-01 1.71115846e-03 -4.26761144e-02] [ 2.20231068e-03 -1.70308526e-03 9.99996125e-01 7.52271863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24255784399998 meters 0.28808670911865697 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.75 [[ 0.99998992 0.00390214 -0.00222192 1.7512593 ] [-0.003897 0.99998973 0.00231357 -0.04515685] [ 0.00223093 -0.00230488 0.99999486 0.7523853 ] [ 0. 0. 0. 1. ]] SLAMing on 207.30255784399998 meters 0.2883212437549839 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.75 [[ 0.99998912 0.00413216 -0.00216403 1.75138606] [-0.00412602 0.99998747 0.00283372 -0.047328 ] [ 0.00217571 -0.00282476 0.99999364 0.751883 ] [ 0. 0. 0. 1. ]] SLAMing on 207.36255784399998 meters 0.28776774125846677 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.75 [[ 0.99998885 0.00425083 -0.00205649 1.75090591] [-0.00424434 0.99998603 0.00314976 -0.04859913] [ 0.00206985 -0.003141 0.99999292 0.75242928] [ 0. 0. 0. 1. ]] SLAMing on 207.42255784399998 meters 0.2884392853161485 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.75 [[ 9.99997569e-01 -4.86578535e-05 -2.20440422e-03 1.75123679e+00] [ 4.63990898e-05 9.99999474e-01 -1.02469907e-03 -4.92139596e-02] [ 2.20445292e-03 1.02459429e-03 9.99997045e-01 7.52434017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48255784399998 meters 0.28927167675665416 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.05, Z:0.75 [[ 9.99997879e-01 1.54586259e-04 -2.05394541e-03 1.75075695e+00] [-1.55573878e-04 9.99999872e-01 -4.80688766e-04 -5.15231488e-02] [ 2.05387084e-03 4.81007287e-04 9.99997775e-01 7.52787180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542557844 meters 0.28758384581815544 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:0.75 [[ 0.99998133 0.00504753 -0.00344452 1.72877227] [-0.00506093 0.99997961 -0.00389423 -0.05822031] [ 0.0034248 0.00391159 0.99998649 0.75299879] [ 0. 0. 0. 1. ]] SLAMing on 207.602557844 meters 0.2872068068644552 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.06, Z:0.75 [[ 0.99997873 0.00538261 -0.00368429 1.72961812] [-0.00539347 0.99998112 -0.00294303 -0.06222485] [ 0.00366838 0.00296284 0.99998888 0.7524258 ] [ 0. 0. 0. 1. ]] SLAMing on 207.662557844 meters 0.29000936962499285 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.06, Z:0.75 [[ 9.99999370e-01 -2.27902611e-04 -1.09940411e-03 1.75279486e+00] [ 2.28364670e-04 9.99999886e-01 4.20174176e-04 -6.46321136e-02] [ 1.09930822e-03 -4.20424976e-04 9.99999307e-01 7.50014133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722557844 meters 0.28922319760404025 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.07, Z:0.75 [[ 9.99999243e-01 -1.30153480e-07 -1.23007585e-03 1.75331269e+00] [ 1.35672455e-06 9.99999503e-01 9.97149980e-04 -6.70575063e-02] [ 1.23007511e-03 -9.97150895e-04 9.99998746e-01 7.49626335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782557844 meters 0.2880062809479013 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.07, Z:0.75 [[ 0.99998451 0.00515896 -0.00208832 1.7302886 ] [-0.00516373 0.99998406 -0.00228366 -0.07290579] [ 0.00207651 0.00229441 0.99999521 0.75083007] [ 0. 0. 0. 1. ]] SLAMing on 207.842557844 meters 0.28870180753356733 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:0.75 [[ 9.99991292e-01 -4.11340253e-03 7.04192174e-04 1.74990400e+00] [ 4.11441881e-03 9.99990488e-01 -1.44786373e-03 -7.97607457e-02] [-6.98229829e-04 1.45074846e-03 9.99998704e-01 7.51005721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902557844 meters 0.28941712855239143 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.08, Z:0.75 [[ 9.99992936e-01 -3.72173269e-03 5.25374536e-04 1.75059651e+00] [ 3.72197538e-03 9.99992967e-01 -4.61713517e-04 -8.38793484e-02] [-5.23652466e-04 4.63665686e-04 9.99999755e-01 7.50570946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96255784399997 meters 0.28881592478819834 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:0.75 [[ 9.99993490e-01 -3.56235289e-03 5.74552617e-04 1.75038813e+00] [ 3.56236858e-03 9.99993654e-01 -2.62778036e-05 -8.56545917e-02] [-5.74455361e-04 2.83244007e-05 9.99999835e-01 7.50820350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02255784399998 meters 0.28860786627909457 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.09, Z:0.75 [[ 9.99992340e-01 3.85980636e-03 -6.49725675e-04 1.73282719e+00] [-3.86087235e-03 9.99991190e-01 -1.64749711e-03 -9.31899405e-02] [ 6.43360931e-04 1.64999300e-03 9.99998432e-01 7.48142752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08255784399998 meters 0.2896327652246484 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.10, Z:0.75 [[ 0.99999674 -0.00180718 0.00180128 1.75462625] [ 0.00180357 0.99999637 0.00200351 -0.09601478] [-0.0018049 -0.00200025 0.99999637 0.74691869] [ 0. 0. 0. 1. ]] SLAMing on 208.14255784399998 meters 0.2902785880575047 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.10, Z:0.75 [[ 9.99997002e-01 -1.59204491e-03 1.86035745e-03 1.75421040e+00] [ 1.58726006e-03 9.99995436e-01 2.57065688e-03 -9.83913942e-02] [-1.86444156e-03 -2.56769630e-03 9.99994965e-01 7.47519136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20255784399998 meters 0.2886145935533526 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.11, Z:0.75 [[ 9.99979644e-01 6.20688902e-03 1.47823569e-03 1.73559374e+00] [-6.20935690e-03 9.99979326e-01 1.67077605e-03 -1.06140614e-01] [-1.46783481e-03 -1.67992093e-03 9.99997512e-01 7.45062128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26255784399999 meters 0.28911168261910497 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.11, Z:0.74 [[ 9.99978660e-01 6.38755602e-03 1.37064006e-03 1.73595038e+00] [-6.39046786e-03 9.99977311e-01 2.13067722e-03 -1.08066695e-01] [-1.35699914e-03 -2.13939079e-03 9.99996791e-01 7.44923641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322557844 meters 0.289035642582731 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.11, Z:0.74 [[ 9.99996700e-01 2.24265022e-03 1.25309037e-03 1.73644223e+00] [-2.24055041e-03 9.99996088e-01 -1.67460675e-03 -1.10257743e-01] [-1.25684102e-03 1.67179362e-03 9.99997813e-01 7.44294052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382557844 meters 0.29030897176670944 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.11, Z:0.74 [[ 9.99996527e-01 2.30735473e-03 1.27395559e-03 1.73648832e+00] [-2.30543563e-03 9.99996209e-01 -1.50582410e-03 -1.10964778e-01] [-1.27742523e-03 1.50288185e-03 9.99998055e-01 7.44080941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442557844 meters 0.28985725589316735 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.11, Z:0.74 [[ 9.99995954e-01 2.45447571e-03 1.43796695e-03 1.73602973e+00] [-2.45284083e-03 9.99996345e-01 -1.13759836e-03 -1.12487757e-01] [-1.44075390e-03 1.13406665e-03 9.99998319e-01 7.44193878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502557844 meters 0.2885776322562817 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:0.75 [[ 0.99998796 -0.00377514 -0.00313597 1.7162943 ] [ 0.00378132 0.99999092 0.00196581 -0.11878693] [ 0.00312852 -0.00197764 0.99999315 0.74573187] [ 0. 0. 0. 1. ]] SLAMing on 208.562557844 meters 0.28891551484270594 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:0.75 [[ 0.99998877 -0.00359618 -0.00308739 1.71610533] [ 0.00360382 0.99999045 0.0024739 -0.12086164] [ 0.00307846 -0.002485 0.99999217 0.74592331] [ 0. 0. 0. 1. ]] SLAMing on 208.622557844 meters 0.2899855422925833 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:0.75 [[ 0.99998931 -0.00344191 -0.00308665 1.71603097] [ 0.00345085 0.99998985 0.00289573 -0.12259408] [ 0.00307665 -0.00290635 0.99999104 0.74611284] [ 0. 0. 0. 1. ]] SLAMing on 208.68255784399997 meters 0.28771240515113294 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.12, Z:0.75 [[ 0.99998872 -0.00346544 -0.0032477 1.71659799] [ 0.00347465 0.99998994 0.00283543 -0.12236506] [ 0.00323785 -0.00284668 0.99999071 0.74567577] [ 0. 0. 0. 1. ]] SLAMing on 208.74255784399998 meters 0.2914899620048166 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.12, Z:0.75 [[ 0.99999095 -0.0022962 -0.00358169 1.75392323] [ 0.00230479 0.99999447 0.00239692 -0.11681565] [ 0.00357616 -0.00240516 0.99999071 0.74966681] [ 0. 0. 0. 1. ]] SLAMing on 208.80255784399998 meters 0.2888274102835717 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:0.75 [[ 0.9999914 -0.0024791 -0.0033257 1.75292486] [ 0.00248524 0.99999521 0.00184422 -0.11438539] [ 0.00332111 -0.00185247 0.99999277 0.75051136] [ 0. 0. 0. 1. ]] SLAMing on 208.86255784399998 meters 0.28877173129605627 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:0.75 [[ 9.99990468e-01 -2.73234118e-03 -3.40559731e-03 1.75340619e+00] [ 2.73640157e-03 9.99995550e-01 1.18818179e-03 -1.11577668e-01] [ 3.40233564e-03 -1.19748955e-03 9.99993495e-01 7.49824606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92255784399998 meters 0.29007934858914847 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:0.75 [[ 9.99989931e-01 -2.85376954e-03 -3.46321593e-03 1.75345962e+00] [ 2.85679186e-03 9.99995543e-01 8.68057701e-04 -1.10258133e-01] [ 3.46072326e-03 -8.77942648e-04 9.99993626e-01 7.50016566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98255784399998 meters 0.2898046106019213 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.75 [[ 9.99976790e-01 6.59485969e-03 -1.71097313e-03 1.77410294e+00] [-6.59429542e-03 9.99978201e-01 3.35230419e-04 -1.10514721e-01] [ 1.71314663e-03 -3.23939977e-04 9.99998480e-01 7.49865391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042557844 meters 0.28889416852878136 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:0.75 [[ 9.99995626e-01 -2.89612168e-03 -6.00347293e-04 1.75091727e+00] [ 2.89670546e-03 9.99995330e-01 9.73836370e-04 -1.09440357e-01] [ 5.97524141e-04 -9.75571140e-04 9.99999346e-01 7.49552175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102557844 meters 0.2902593389892068 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.11, Z:0.75 [[ 9.99983011e-01 5.50981283e-03 1.90264174e-03 1.76983467e+00] [-5.50944525e-03 9.99984803e-01 -1.98379209e-04 -1.12109859e-01] [-1.90370585e-03 1.87893338e-04 9.99998170e-01 7.50361350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162557844 meters 0.28813576589283196 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.12, Z:0.75 [[ 9.99997755e-01 -6.99697729e-04 -1.99991897e-03 1.74921263e+00] [ 7.04921066e-04 9.99996340e-01 2.61226410e-03 -1.15010686e-01] [ 1.99808386e-03 -2.61366803e-03 9.99994588e-01 7.51012535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222557844 meters 0.29076251368780515 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99997150e-01 2.31103982e-04 -2.37607548e-03 1.78822425e+00] [-2.26029923e-04 9.99997694e-01 2.13552596e-03 -1.10987485e-01] [ 2.37656353e-03 -2.13498281e-03 9.99994897e-01 7.53268614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282557844 meters 0.2885961914835553 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:0.75 [[ 9.99998951e-01 2.83660525e-04 -1.42057674e-03 1.74714895e+00] [-2.79279752e-04 9.99995208e-01 3.08304842e-03 -1.13158894e-01] [ 1.42144447e-03 -3.08264844e-03 9.99994238e-01 7.52222737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342557844 meters 0.2912275858284213 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99994998e-01 6.08513973e-05 -3.16232605e-03 1.78835858e+00] [-5.47635391e-05 9.99998145e-01 1.92517128e-03 -1.10796786e-01] [ 3.16243733e-03 -1.92498847e-03 9.99993147e-01 7.54440659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402557844 meters 0.28972240289791207 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99994888e-01 2.56314416e-04 -3.18716264e-03 1.78859230e+00] [-2.48393046e-04 9.99996880e-01 2.48554613e-03 -1.13097601e-01] [ 3.18778978e-03 -2.48474176e-03 9.99991832e-01 7.54042165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46255784399997 meters 0.2912604451942853 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99994571e-01 3.00064270e-04 -3.28141488e-03 1.78872400e+00] [-2.91528701e-04 9.99996574e-01 2.60135464e-03 -1.13566308e-01] [ 3.28218422e-03 -2.60038390e-03 9.99991233e-01 7.54298902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52255784399998 meters 0.2919217765647016 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99993839e-01 3.19939989e-04 -3.49563710e-03 1.78953858e+00] [-3.10657380e-04 9.99996425e-01 2.65570456e-03 -1.13853954e-01] [ 3.49647427e-03 -2.65460225e-03 9.99990364e-01 7.53625857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58255784399998 meters 0.290438227963763 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99994625e-01 1.11493502e-04 -3.27682059e-03 1.78889233e+00] [-1.04505128e-04 9.99997720e-01 2.13276301e-03 -1.11626481e-01] [ 3.27705091e-03 -2.13240910e-03 9.99992357e-01 7.53716941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64255784399998 meters 0.2897010635935461 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99995015e-01 -8.69405592e-05 -3.15628229e-03 1.78839946e+00] [ 9.21383958e-05 9.99998640e-01 1.64671441e-03 -1.09548623e-01] [ 3.15613483e-03 -1.64699702e-03 9.99993663e-01 7.54025240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70255784399998 meters 0.2886988444817732 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99995706e-01 -2.29229050e-04 -2.92144466e-03 1.78768353e+00] [ 2.32905993e-04 9.99999181e-01 1.25832634e-03 -1.07936127e-01] [ 2.92115383e-03 -1.25900136e-03 9.99994941e-01 7.54337813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76255784399999 meters 0.289819210749521 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99995592e-01 -3.00770734e-04 -2.95385840e-03 1.78783857e+00] [ 3.03907523e-04 9.99999390e-01 1.06153796e-03 -1.07148802e-01] [ 2.95353732e-03 -1.06243098e-03 9.99995074e-01 7.54145375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822557844 meters 0.28891156216850294 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99995793e-01 -3.37859551e-04 -2.88089491e-03 1.78769077e+00] [ 3.40592854e-04 9.99999492e-01 9.48330975e-04 -1.06691799e-01] [ 2.88057305e-03 -9.49308198e-04 9.99995401e-01 7.54055438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882557844 meters 0.29013633538329486 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99995712e-01 -2.62938352e-04 -2.91655652e-03 1.78773148e+00] [ 2.66304598e-04 9.99999299e-01 1.15385682e-03 -1.07534850e-01] [ 2.91625108e-03 -1.15462856e-03 9.99995081e-01 7.54183635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942557844 meters 0.28886370153240054 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.11, Z:0.75 [[ 0.99998063 0.00467393 -0.00410932 1.76473991] [-0.00468366 0.99998624 -0.0023628 -0.11156199] [ 0.00409822 0.002382 0.99998877 0.75481856] [ 0. 0. 0. 1. ]] SLAMing on 210.002557844 meters 0.2886437962828639 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.11, Z:0.75 [[ 0.99998013 0.00476371 -0.00412761 1.76497986] [-0.00477259 0.99998631 -0.0021445 -0.11250191] [ 0.00411734 0.00216416 0.99998918 0.75441801] [ 0. 0. 0. 1. ]] SLAMing on 210.062557844 meters 0.2908907671501905 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.11, Z:0.75 [[ 9.99992803e-01 -7.31916662e-04 -3.72277404e-03 1.78927152e+00] [ 7.37338305e-04 9.99998669e-01 1.45518089e-03 -1.11708636e-01] [ 3.72170401e-03 -1.45791536e-03 9.99992012e-01 7.52529004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters 0.28901972059007985 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.12, Z:0.75 [[ 9.99992174e-01 -1.21122902e-03 -3.76639372e-03 1.75181365e+00] [ 1.21921890e-03 9.99997010e-01 2.11978828e-03 -1.17635303e-01] [ 3.76381490e-03 -2.12436375e-03 9.99990660e-01 7.49209659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18255784399997 meters 0.29058768397022283 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.12, Z:0.75 [[ 9.99985650e-01 5.35664698e-03 -7.61818606e-05 1.77283221e+00] [-5.35667763e-03 9.99985570e-01 -4.08003347e-04 -1.17094960e-01] [ 7.39952314e-05 4.08405574e-04 9.99999914e-01 7.47454532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24255784399998 meters 0.29027468792640077 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.12, Z:0.75 [[ 9.99999150e-01 1.28691575e-03 2.08577957e-04 1.77194601e+00] [-1.28606949e-03 9.99991142e-01 -4.00785582e-03 -1.20031041e-01] [-2.13733882e-04 4.00758417e-03 9.99991947e-01 7.47939698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30255784399998 meters 0.29013291716005063 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.12, Z:0.75 [[ 0.99997728 -0.00634469 0.00227495 1.79108599] [ 0.00635058 0.99997648 -0.00259037 -0.11755596] [-0.00225846 0.00260476 0.99999406 0.74874814] [ 0. 0. 0. 1. ]] SLAMing on 210.36255784399998 meters 0.28923155222252406 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:0.75 [[ 9.99993711e-01 2.81372295e-03 2.15898176e-03 1.76872305e+00] [-2.81023376e-03 9.99994743e-01 -1.61746714e-03 -1.26582545e-01] [-2.16352152e-03 1.61138972e-03 9.99996361e-01 7.50170548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42255784399998 meters 0.2890025676703062 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.13, Z:0.75 [[ 9.99993305e-01 3.02342141e-03 2.06116000e-03 1.76912348e+00] [-3.02131359e-03 9.99994911e-01 -1.02498361e-03 -1.29075399e-01] [-2.06424847e-03 1.01874933e-03 9.99997351e-01 7.49806680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48255784399998 meters 0.2899974394353497 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.13, Z:0.75 [[ 0.99999649 0.00183526 0.00191157 1.80597293] [-0.00183075 0.99999553 -0.00236248 -0.13345616] [-0.00191589 0.00235897 0.99999538 0.75427383] [ 0. 0. 0. 1. ]] SLAMing on 210.542557844 meters 0.28850881152512353 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.14, Z:0.76 [[ 9.99988312e-01 -4.78658365e-03 -6.81236550e-04 1.78500941e+00] [ 4.78742760e-03 9.99987768e-01 1.24266251e-03 -1.37713676e-01] [ 6.75280110e-04 -1.24590935e-03 9.99998996e-01 7.55563484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602557844 meters 0.28952348084544455 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.14, Z:0.75 [[ 9.99999059e-01 1.30715015e-03 4.16303660e-04 1.80700778e+00] [-1.30634715e-03 9.99997297e-01 -1.92336470e-03 -1.43863128e-01] [-4.18816661e-04 1.92281905e-03 9.99998064e-01 7.54929424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662557844 meters 0.2901360555716646 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.15, Z:0.76 [[ 9.99969427e-01 -6.64378059e-03 4.12383645e-03 1.82520543e+00] [ 6.64538346e-03 9.99977849e-01 -3.75103321e-04 -1.48866251e-01] [-4.12125300e-03 4.02496327e-04 9.99991427e-01 7.55936901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722557844 meters 0.290935516942919 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.15, Z:0.76 [[ 9.99971379e-01 -6.30722980e-03 4.17841189e-03 1.82507150e+00] [ 6.30505955e-03 9.99979981e-01 5.32366071e-04 -1.52624799e-01] [-4.18168600e-03 -5.06005699e-04 9.99991129e-01 7.55896774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782557844 meters 0.2892216150812915 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:0.75 [[ 9.99998927e-01 1.07621574e-03 9.94081433e-04 1.80829613e+00] [-1.07554519e-03 9.99999194e-01 -6.74830118e-04 -1.59243090e-01] [-9.94806895e-04 6.73760214e-04 9.99999278e-01 7.53320214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842557844 meters 0.28965354293744855 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:0.75 [[ 9.99999366e-01 1.03220099e-03 4.50303596e-04 1.80992896e+00] [-1.03184577e-03 9.99999157e-01 -7.88352151e-04 -1.58793914e-01] [-4.51116954e-04 7.87887007e-04 9.99999588e-01 7.52238079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902557844 meters 0.2898881270777576 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:0.75 [[ 9.99999361e-01 1.03855557e-03 4.45560039e-04 1.81019144e+00] [-1.03822062e-03 9.99999179e-01 -7.51326875e-04 -1.58968997e-01] [-4.46339968e-04 7.50863805e-04 9.99999618e-01 7.51589863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96255784399997 meters 0.28989103187819415 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:0.75 [[ 9.99999065e-01 1.27895532e-03 4.83963018e-04 1.80994983e+00] [-1.27888094e-03 9.99999170e-01 -1.53959656e-04 -1.61431030e-01] [-4.84159524e-04 1.53340581e-04 9.99999871e-01 7.51945224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02255784399998 meters 0.2891506926242564 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:0.75 [[ 9.99998930e-01 1.41610416e-03 3.67668641e-04 1.81027106e+00] [-1.41620043e-03 9.99998963e-01 2.61695368e-04 -1.63126660e-01] [-3.67297672e-04 -2.62215781e-04 9.99999898e-01 7.51875384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08255784399998 meters 0.28978333322118455 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:0.75 [[ 9.99998771e-01 1.56379682e-03 1.13125894e-04 1.81122480e+00] [-1.56388079e-03 9.99998499e-01 7.45977666e-04 -1.65227573e-01] [-1.11959166e-04 -7.46153664e-04 9.99999715e-01 7.50992870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14255784399998 meters 0.2904633209764133 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 9.99982212e-01 -5.96353537e-03 1.10685266e-04 1.83120286e+00] [ 5.96325803e-03 9.99979443e-01 2.35640716e-03 -1.62975544e-01] [-1.24735508e-04 -2.35570520e-03 9.99997218e-01 7.52904251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20255784399998 meters 0.2894764383847408 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:0.75 [[ 9.99997478e-01 1.39907038e-03 -1.75674264e-03 1.81256209e+00] [-1.39736840e-03 9.99998554e-01 9.69681903e-04 -1.66940549e-01] [ 1.75809675e-03 -9.67224641e-04 9.99997987e-01 7.50841387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26255784399999 meters 0.29075697085862195 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.17, Z:0.75 [[ 9.99993448e-01 -3.19056438e-03 1.71000641e-03 1.83319216e+00] [ 3.18275326e-03 9.99984578e-01 4.55131202e-03 -1.65168422e-01] [-1.72450129e-03 -4.54583967e-03 9.99988181e-01 7.49961914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322557844 meters 0.28966775999966415 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 0.99999285 -0.00329266 0.00185937 1.83262745] [ 0.00328468 0.99998546 0.00427683 -0.16395893] [-0.00187342 -0.00427069 0.99998913 0.7503488 ] [ 0. 0. 0. 1. ]] SLAMing on 211.382557844 meters 0.2896619689266182 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 0.99999225 -0.00343578 0.00192118 1.83252123] [ 0.00342825 0.99998648 0.00390946 -0.16242501] [-0.00193459 -0.00390284 0.99999051 0.75020322] [ 0. 0. 0. 1. ]] SLAMing on 211.442557844 meters 0.2893016743093818 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 0.99999176 -0.00356362 0.00194404 1.83255504] [ 0.00355665 0.99998727 0.00357855 -0.16105997] [-0.00195676 -0.00357161 0.99999171 0.7499695 ] [ 0. 0. 0. 1. ]] SLAMing on 211.502557844 meters 0.28937785996430876 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 0.99999156 -0.0036105 0.00196261 1.83249754] [ 0.0036037 0.99998754 0.00345462 -0.16054048] [-0.00197506 -0.00344752 0.99999211 0.74998118] [ 0. 0. 0. 1. ]] SLAMing on 211.562557844 meters 0.2887564529632708 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99993244e-01 3.50425820e-03 1.10969836e-03 1.81508998e+00] [-3.50601115e-03 9.99992603e-01 1.58166930e-03 -1.66352479e-01] [-1.10414758e-03 -1.58554923e-03 9.99998133e-01 7.46792258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622557844 meters 0.28992569997476975 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99993356e-01 3.48761263e-03 1.06022293e-03 1.81538652e+00] [-3.48924547e-03 9.99992723e-01 1.54215625e-03 -1.66212528e-01] [-1.05483677e-03 -1.54584538e-03 9.99998249e-01 7.46389930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68255784399997 meters 0.28907450229025233 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99993145e-01 3.57201705e-03 9.74852172e-04 1.81563990e+00] [-3.57373043e-03 9.99992063e-01 1.76153645e-03 -1.67134685e-01] [-9.68552196e-04 -1.76500823e-03 9.99997973e-01 7.46317640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74255784399998 meters 0.28841717227891334 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99992851e-01 3.62476803e-03 1.07686673e-03 1.81511792e+00] [-3.62681381e-03 9.99991611e-01 1.90391123e-03 -1.67666620e-01] [-1.06995646e-03 -1.90780321e-03 9.99997608e-01 7.47001902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80255784399998 meters 0.2890869888969735 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.16, Z:0.75 [[ 9.99990806e-01 -4.23976528e-03 6.41818662e-04 1.83487601e+00] [ 4.23797597e-03 9.99987200e-01 2.76402703e-03 -1.60788851e-01] [-6.53529273e-04 -2.76128160e-03 9.99995974e-01 7.47673187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86255784399998 meters 0.2902355938148096 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:0.75 [[ 9.99989788e-01 -4.50237910e-03 3.89457063e-04 1.83568986e+00] [ 4.50159511e-03 9.99987886e-01 1.99101501e-03 -1.57647963e-01] [-3.98416650e-04 -1.98924150e-03 9.99997942e-01 7.47118339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92255784399998 meters 0.28957617886408205 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:0.75 [[ 9.99989895e-01 -4.47505479e-03 4.29605746e-04 1.83535302e+00] [ 4.47415675e-03 9.99987850e-01 2.06906189e-03 -1.57890770e-01] [-4.38859692e-04 -2.06711886e-03 9.99997767e-01 7.47718644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98255784399998 meters 0.2890312690081719 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.16, Z:0.75 [[ 9.99993589e-01 3.24564696e-03 -1.51231709e-03 1.81848088e+00] [-3.24410849e-03 9.99994219e-01 1.01863628e-03 -1.64892922e-01] [ 1.51561448e-03 -1.01372363e-03 9.99998338e-01 7.46017263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042557844 meters 0.28992125063847685 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994969e-01 -2.99484671e-03 1.04496116e-03 1.84249466e+00] [ 2.99125321e-03 9.99989665e-01 3.42366012e-03 -1.67225843e-01] [-1.05520370e-03 -3.42051716e-03 9.99993593e-01 7.42736542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102557844 meters 0.2886026595043015 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.74 [[ 9.99994866e-01 3.02908208e-03 1.04556455e-03 1.81796212e+00] [-3.02983010e-03 9.99995155e-01 7.14576695e-04 -1.69509401e-01] [-1.04339497e-03 -7.17740909e-04 9.99999198e-01 7.44675839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162557844 meters 0.2899822860615749 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99983992e-01 -5.65148569e-03 -2.75799690e-04 1.84030935e+00] [ 5.65175782e-03 9.99983533e-01 9.96079038e-04 -1.65162080e-01] [ 2.70165822e-04 -9.97621846e-04 9.99999466e-01 7.43953361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222557844 meters 0.289310846114275 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99994289e-01 -4.67381555e-04 -3.34712826e-03 1.81869964e+00] [ 4.60051579e-04 9.99997495e-01 -2.19036501e-03 -1.65567730e-01] [ 3.34814361e-03 2.18881265e-03 9.99991999e-01 7.45175945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282557844 meters 0.29094870054014216 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994590e-01 -3.28891654e-03 4.59938952e-05 1.84365220e+00] [ 3.28875563e-03 9.99989646e-01 3.14505588e-03 -1.68650405e-01] [-5.63372453e-05 -3.14488760e-03 9.99995053e-01 7.40415135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters 0.2905619120196895 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994314e-01 -3.37182877e-03 -5.56757778e-05 1.84404651e+00] [ 3.37197647e-03 9.99990084e-01 2.90906393e-03 -1.67735802e-01] [ 4.58663603e-05 -2.90923513e-03 9.99995767e-01 7.40046514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters 0.2898105292307696 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994035e-01 -3.44958619e-03 -1.72017727e-04 1.84446605e+00] [ 3.45004238e-03 9.99990332e-01 2.72620380e-03 -1.66985621e-01] [ 1.62611789e-04 -2.72678101e-03 9.99996269e-01 7.39778353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46255784399997 meters 0.28951658285714654 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994213e-01 -3.40145125e-03 6.67049010e-05 1.84341372e+00] [ 3.40124679e-03 9.99990134e-01 2.85720833e-03 -1.67468045e-01] [-7.64228977e-05 -2.85696491e-03 9.99995916e-01 7.41107841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52255784399998 meters 0.28916618041952136 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.17, Z:0.74 [[ 9.99994619e-01 -3.27357039e-03 2.13816890e-04 1.84289416e+00] [ 3.27285249e-03 9.99989279e-01 3.27575761e-03 -1.69081393e-01] [-2.24538021e-04 -3.27504019e-03 9.99994612e-01 7.41574901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58255784399998 meters 0.2883845812006133 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.18, Z:0.74 [[ 9.99996894e-01 2.19317857e-03 -1.18423502e-03 1.81997329e+00] [-2.19225062e-03 9.99997289e-01 7.84314669e-04 -1.75397864e-01] [ 1.18595195e-03 -7.81716093e-04 9.99998991e-01 7.42937626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64255784399998 meters 0.28806272806379135 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.18, Z:0.74 [[ 9.99996308e-01 2.37620992e-03 -1.31781093e-03 1.82022967e+00] [-2.37447685e-03 9.99996316e-01 1.31512143e-03 -1.77539288e-01] [ 1.32093108e-03 -1.31198746e-03 9.99998267e-01 7.43131559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70255784399998 meters 0.2879204713920975 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.18, Z:0.74 [[ 9.99995627e-01 2.63949722e-03 -1.33360310e-03 1.82005044e+00] [-2.63662995e-03 9.99994219e-01 2.14722484e-03 -1.80820495e-01] [ 1.33926299e-03 -2.14369923e-03 9.99996805e-01 7.43689928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76255784399999 meters 0.2884458921492985 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.18, Z:0.74 [[ 9.99994697e-01 2.85204679e-03 -1.57209524e-03 1.82068143e+00] [-2.84762077e-03 9.99991996e-01 2.81044994e-03 -1.83505356e-01] [ 1.58009819e-03 -2.80595830e-03 9.99994815e-01 7.43611944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822557844 meters 0.2876673734092418 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.19, Z:0.74 [[ 9.99993831e-01 3.22303767e-03 -1.39643476e-03 1.81997242e+00] [-3.21742760e-03 9.99986819e-01 4.00121563e-03 -1.88178252e-01] [ 1.40931242e-03 -3.99669802e-03 9.99991020e-01 7.44322202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882557844 meters 0.2885609016857798 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.19, Z:0.74 [[ 9.99986175e-01 -4.99545041e-03 1.64168444e-03 1.84134906e+00] [ 4.98746982e-03 9.99975898e-01 4.82988290e-03 -1.94639642e-01] [-1.66577232e-03 -4.82162827e-03 9.99986988e-01 7.43834526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942557844 meters 0.2883920525283851 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.20, Z:0.74 [[ 9.99987581e-01 -4.74015763e-03 1.53913372e-03 1.84175192e+00] [ 4.73160254e-03 9.99973597e-01 5.51524028e-03 -1.97494431e-01] [-1.56523619e-03 -5.50788921e-03 9.99983606e-01 7.43560914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002557844 meters 0.28748267341999134 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.20, Z:0.74 [[ 9.99989187e-01 -4.30894051e-03 1.74898136e-03 1.84086169e+00] [ 4.29688702e-03 9.99967389e-01 6.83794471e-03 -2.02675895e-01] [-1.77838862e-03 -6.83035560e-03 9.99975091e-01 7.44419792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062557844 meters 0.2883560625148438 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.21, Z:0.74 [[ 9.99991016e-01 -4.00805378e-03 1.37959523e-03 1.84170883e+00] [ 3.99698713e-03 9.99960545e-01 7.93305984e-03 -2.06934412e-01] [-1.41133693e-03 -7.92747435e-03 9.99967581e-01 7.44586148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122557844 meters 0.28856762529299673 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.21, Z:0.74 [[ 9.99991599e-01 -3.89847309e-03 1.26641235e-03 1.84227526e+00] [ 3.88789227e-03 9.99958388e-01 8.25264784e-03 -2.08298643e-01] [-1.29853238e-03 -8.24765483e-03 9.99965144e-01 7.43880378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18255784399997 meters 0.28865695765436866 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.21, Z:0.74 [[ 9.99993624e-01 3.55967141e-03 -2.83687693e-04 1.82309860e+00] [-3.55773442e-03 9.99972163e-01 6.55859237e-03 -2.09425433e-01] [ 3.07026230e-04 -6.55754126e-03 9.99978452e-01 7.42792512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24255784399998 meters 0.2895514715801577 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.20, Z:0.75 [[ 9.99987988e-01 4.78106314e-03 -1.07944098e-03 1.86118664e+00] [-4.77536785e-03 9.99974981e-01 5.21847497e-03 -2.00902464e-01] [ 1.10436383e-03 -5.21325756e-03 9.99985801e-01 7.46066705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30255784399998 meters 0.2890443920808056 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.19, Z:0.74 [[ 0.99999332 0.00259434 -0.00257474 1.82764985] [-0.00258575 0.99999109 0.00333654 -0.18878815] [ 0.00258337 -0.00332986 0.99999112 0.7408474 ] [ 0. 0. 0. 1. ]] SLAMing on 213.36255784399998 meters 0.28960645985356487 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.18, Z:0.74 [[ 9.99982275e-01 -5.79531860e-03 -1.36509567e-03 1.84813392e+00] [ 5.79987402e-03 9.99977545e-01 3.35709208e-03 -1.80998857e-01] [ 1.34560960e-03 -3.36494996e-03 9.99993433e-01 7.41563759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42255784399998 meters 0.28886038540957376 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.18, Z:0.75 [[ 9.99992100e-01 -3.93175269e-03 5.83946353e-04 1.84066763e+00] [ 3.92904456e-03 9.99981845e-01 4.56854602e-03 -1.75958486e-01] [-6.01898144e-04 -4.56621557e-03 9.99989394e-01 7.45853699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48255784399998 meters 0.28989863578569874 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.18, Z:0.75 [[ 9.99992053e-01 -3.97325902e-03 3.28406660e-04 1.84148020e+00] [ 3.97175895e-03 9.99982217e-01 4.44868976e-03 -1.75532338e-01] [-3.46076617e-04 -4.44735005e-03 9.99990051e-01 7.45353859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542557844 meters 0.2885262249270078 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.18, Z:0.75 [[ 9.99992126e-01 -3.95390979e-03 3.37907905e-04 1.84129903e+00] [ 3.95234845e-03 9.99982052e-01 4.50269435e-03 -1.75736197e-01] [-3.55705087e-04 -4.50132337e-03 9.99989806e-01 7.45746100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602557844 meters 0.2872961745695307 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:0.75 [[ 9.99998798e-01 1.37787026e-03 -7.11178952e-04 1.81752514e+00] [-1.37726940e-03 9.99998695e-01 8.44676168e-04 -1.74583866e-01] [ 7.12341878e-04 -8.43695667e-04 9.99999390e-01 7.47501824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662557844 meters 0.28910638728408194 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.17, Z:0.75 [[ 9.99997082e-01 1.61074440e-03 -1.80049358e-03 1.85787641e+00] [-1.61199919e-03 9.99998459e-01 -6.95678923e-04 -1.72105008e-01] [ 1.79937025e-03 6.98579287e-04 9.99998137e-01 7.49280586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722557844 meters 0.28967992836510986 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.17, Z:0.75 [[ 9.99997195e-01 1.42899434e-03 -1.88870658e-03 1.85831448e+00] [-1.43127960e-03 9.99998245e-01 -1.20916235e-03 -1.70038928e-01] [ 1.88697537e-03 1.21186222e-03 9.99997485e-01 7.48788429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782557844 meters 0.28852456328993115 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.17, Z:0.75 [[ 9.99997270e-01 1.13619402e-03 -2.04190991e-03 1.85890732e+00] [-1.14097693e-03 9.99996605e-01 -2.34273453e-03 -1.65773303e-01] [ 2.03924118e-03 2.34505791e-03 9.99995171e-01 7.48316170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters 0.2882077143476005 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 9.99997117e-01 9.48047881e-04 -2.20632992e-03 1.85944768e+00] [-9.54496120e-04 9.99995271e-01 -2.92339317e-03 -1.63452743e-01] [ 2.20354797e-03 2.92549067e-03 9.99993293e-01 7.48011933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters 0.289041098884386 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 9.99997027e-01 7.54195500e-04 -2.31898182e-03 1.86005919e+00] [-7.62166041e-04 9.99993799e-01 -3.43812573e-03 -1.61325386e-01] [ 2.31637442e-03 3.43988296e-03 9.99991401e-01 7.47280928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96255784399997 meters 0.2900520597090508 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 9.99996697e-01 7.19282632e-04 -2.46766177e-03 1.86048036e+00] [-7.28001148e-04 9.99993490e-01 -3.53403107e-03 -1.60944762e-01] [ 2.46510374e-03 3.53581585e-03 9.99990711e-01 7.47169252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02255784399998 meters 0.2893347645367679 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.16, Z:0.75 [[ 9.99970898e-01 -5.97652071e-03 -4.74181048e-03 1.83899819e+00] [ 5.97430393e-03 9.99982038e-01 -4.81523467e-04 -1.59906239e-01] [ 4.74460314e-03 4.53180436e-04 9.99988642e-01 7.48434316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08255784399998 meters 0.29000275414776305 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 0.99999114 0.00258476 -0.00332233 1.8580413 ] [-0.00259169 0.99999447 -0.00208213 -0.16182404] [ 0.00331693 0.00209073 0.99999231 0.74976506] [ 0. 0. 0. 1. ]] SLAMing on 214.14255784399998 meters 0.2897348150836252 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 0.99999129 0.00251463 -0.00333243 1.85802943] [-0.0025222 0.99999424 -0.00227157 -0.16104929] [ 0.0033267 0.00227996 0.99999187 0.74986442] [ 0. 0. 0. 1. ]] SLAMing on 214.20255784399998 meters 0.2904949710480942 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.75 [[ 0.99999216 0.00217844 -0.00330669 1.8581031 ] [-0.00218926 0.99999225 -0.0032728 -0.15708536] [ 0.00329954 0.00328002 0.99998918 0.74961974] [ 0. 0. 0. 1. ]] SLAMing on 214.26255784399999 meters 0.2898526117933094 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.15, Z:0.75 [[ 0.99999304 0.00189347 -0.00321592 1.85762264] [-0.00190644 0.99999004 -0.00403568 -0.15387392] [ 0.00320825 0.00404179 0.99998669 0.75027888] [ 0. 0. 0. 1. ]] SLAMing on 214.322557844 meters 0.2889123966891926 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.14, Z:0.75 [[ 0.99999009 0.0040304 -0.00188962 1.85232614] [-0.00403611 0.99998728 -0.00302396 -0.14452727] [ 0.00187741 0.00303156 0.99999364 0.75338773] [ 0. 0. 0. 1. ]] SLAMing on 214.382557844 meters 0.28889493901443897 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.14, Z:0.75 [[ 9.99991910e-01 3.61109347e-03 -1.77194809e-03 1.85206015e+00] [-3.61826487e-03 9.99985209e-01 -4.06081077e-03 -1.40268416e-01] [ 1.75725792e-03 4.06718930e-03 9.99990185e-01 7.53375312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442557844 meters 0.2904348225663715 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:0.75 [[ 9.99997173e-01 -2.35622877e-03 -3.20224993e-04 1.87342972e+00] [ 2.35577643e-03 9.99996237e-01 -1.40568035e-03 -1.33415819e-01] [ 3.23535893e-04 1.40492200e-03 9.99998961e-01 7.53221452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502557844 meters 0.2895031880670844 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:0.75 [[ 9.99996829e-01 -2.49533848e-03 -3.39909152e-04 1.87350545e+00] [ 2.49472631e-03 9.99995287e-01 -1.78964948e-03 -1.31889478e-01] [ 3.44373331e-04 1.78879582e-03 9.99998341e-01 7.53179836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562557844 meters 0.2891476023462836 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:0.76 [[ 9.99999947e-01 -8.45457707e-05 3.15711694e-04 1.87004430e+00] [ 8.46997018e-05 9.99999878e-01 -4.87587327e-04 -1.24810329e-01] [-3.15670432e-04 4.87614041e-04 9.99999831e-01 7.55338485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622557844 meters 0.289270630533494 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:0.75 [[ 9.99999935e-01 -3.60092923e-04 7.20081609e-06 1.87103260e+00] [ 3.60102462e-04 9.99998994e-01 -1.37171621e-03 -1.21266820e-01] [-6.70686354e-06 1.37171872e-03 9.99999059e-01 7.54811986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68255784399997 meters 0.29019857232198315 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:0.75 [[ 9.99999697e-01 -7.74240407e-04 7.78031033e-05 1.87097913e+00] [ 7.74467583e-04 9.99995309e-01 -2.96355236e-03 -1.15291168e-01] [-7.55082363e-05 2.96361172e-03 9.99995606e-01 7.54595887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74255784399998 meters 0.28888897349290915 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:0.75 [[ 9.99999374e-01 -1.11207129e-03 -1.26431859e-04 1.87171865e+00] [ 1.11154754e-03 9.99991101e-01 -4.06980130e-03 -1.10928460e-01] [ 1.30956643e-04 4.06965821e-03 9.99991710e-01 7.54075896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80255784399998 meters 0.2895077333044558 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:0.75 [[ 9.99998761e-01 -1.52989519e-03 -3.71161743e-04 1.87249112e+00] [ 1.52794906e-03 9.99985374e-01 -5.18816636e-03 -1.06349710e-01] [ 3.79093665e-04 5.18759281e-03 9.99986472e-01 7.53859876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86255784399998 meters 0.2904889767193324 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:0.75 [[ 9.99998594e-01 -1.66265243e-03 -2.16489448e-04 1.87181527e+00] [ 1.66143099e-03 9.99983357e-01 -5.52498966e-03 -1.04958116e-01] [ 2.25671982e-04 5.52462221e-03 9.99984714e-01 7.54548600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92255784399998 meters 0.2900617257606037 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:0.75 [[ 9.99998402e-01 -1.76729572e-03 -2.70062265e-04 1.87203060e+00] [ 1.76569675e-03 9.99981560e-01 -5.81053118e-03 -1.03803463e-01] [ 2.80326212e-04 5.81004504e-03 9.99983082e-01 7.54375921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98255784399998 meters 0.29141864209468493 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:0.75 [[ 9.99997313e-01 2.23385201e-03 -6.19864370e-04 1.87307448e+00] [-2.23532028e-03 9.99994674e-01 -2.37819836e-03 -1.00151210e-01] [ 6.14548526e-04 2.37957757e-03 9.99996980e-01 7.54007363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042557844 meters 0.2895816802898802 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.09, Z:0.76 [[ 9.99989504e-01 -4.52370111e-03 -7.26996068e-04 1.84760321e+00] [ 4.52316778e-03 9.99989501e-01 -7.33583530e-04 -9.16944383e-02] [ 7.30306948e-04 7.30287505e-04 9.99999467e-01 7.57277916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102557844 meters 0.2909313118415179 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.09, Z:0.76 [[ 9.99991675e-01 3.97168103e-03 9.35339725e-04 1.86811375e+00] [-3.96957583e-03 9.99989608e-01 -2.24193284e-03 -9.09179289e-02] [-9.44234247e-04 2.23820127e-03 9.99997049e-01 7.57223333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162557844 meters 0.29161573083534675 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.09, Z:0.76 [[ 9.99992833e-01 3.65541321e-03 9.85604617e-04 1.86787493e+00] [-3.65250163e-03 9.99989008e-01 -2.93990100e-03 -8.80248152e-02] [-9.96340336e-04 2.93628001e-03 9.99995193e-01 7.57449415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222557844 meters 0.28944461940785443 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.09, Z:0.76 [[ 9.99993714e-01 -3.14543613e-03 -1.63625621e-03 1.84573919e+00] [ 3.14456829e-03 9.99994914e-01 -5.32682586e-04 -8.79078801e-02] [ 1.63792341e-03 5.27533919e-04 9.99998519e-01 7.59217284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282557844 meters 0.28983594132552926 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.09, Z:0.76 [[ 9.99993984e-01 -3.17714059e-03 -1.39177138e-03 1.84514876e+00] [ 3.17629456e-03 9.99994770e-01 -6.09662435e-04 -8.76048518e-02] [ 1.39370109e-03 6.05238092e-04 9.99998846e-01 7.59183510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters 0.29013607758888604 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.09, Z:0.76 [[ 9.99994140e-01 -3.15124295e-03 -1.33799772e-03 1.84501324e+00] [ 3.15052030e-03 9.99994890e-01 -5.41862212e-04 -8.78895257e-02] [ 1.33969843e-03 5.37643647e-04 9.99998958e-01 7.59174154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters 0.29229858255710184 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.09, Z:0.76 [[ 9.99982872e-01 5.84937266e-03 -2.00689957e-04 1.86655220e+00] [-5.84964263e-03 9.99981949e-01 -1.37205816e-03 -8.77240348e-02] [ 1.92660655e-04 1.37320863e-03 9.99999039e-01 7.59002361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46255784399997 meters 0.2900297337489857 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99999603e-01 -6.34206391e-04 -6.25873037e-04 1.84331784e+00] [ 6.34910758e-04 9.99999165e-01 1.12585887e-03 -8.21788048e-02] [ 6.25158488e-04 -1.12625580e-03 9.99999170e-01 7.60394338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52255784399998 meters 0.2900823355215444 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99999424e-01 -8.31898856e-04 -6.77853187e-04 1.84369762e+00] [ 8.32300242e-04 9.99999478e-01 5.92075639e-04 -7.99538404e-02] [ 6.77360287e-04 -5.92639476e-04 9.99999595e-01 7.59800461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58255784399998 meters 0.2894557366614256 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.08, Z:0.76 [[ 9.99999582e-01 -9.09992747e-04 -8.70946164e-05 1.80552614e+00] [ 9.10011106e-04 9.99999564e-01 2.10992499e-04 -7.63056367e-02] [ 8.69025767e-05 -2.11071668e-04 9.99999974e-01 7.56545437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64255784399998 meters 0.2907300774169118 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99999373e-01 -8.57153069e-04 -7.20439751e-04 1.84401335e+00] [ 8.57336095e-04 9.99999600e-01 2.53776388e-04 -7.69983647e-02] [ 7.20221938e-04 -2.54393888e-04 9.99999708e-01 7.60580721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70255784399998 meters 0.2899474326597723 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99999312e-01 -9.62968266e-04 -6.69299894e-04 1.84363909e+00] [ 9.62960018e-04 9.99999536e-01 -1.26451172e-05 -7.58821643e-02] [ 6.69311760e-04 1.20005995e-05 9.99999776e-01 7.61139677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76255784399999 meters 0.2911260223510879 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.08, Z:0.77 [[ 9.99998922e-01 -8.96143324e-04 -1.16332321e-03 1.88145452e+00] [ 8.95996488e-04 9.99999591e-01 -1.26736107e-04 -7.60959672e-02] [ 1.16343631e-03 1.25693637e-04 9.99999315e-01 7.65140510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822557844 meters 0.29010311515573745 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998259e-01 1.83234440e-03 -3.53905575e-04 1.87717411e+00] [-1.83167455e-03 9.99996548e-01 1.88388469e-03 -7.09453965e-02] [ 3.57356279e-04 -1.88323317e-03 9.99998163e-01 7.68256717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882557844 meters 0.29042116056423856 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998343e-01 1.78304580e-03 -3.67923972e-04 1.87725835e+00] [-1.78239948e-03 9.99996881e-01 1.74958422e-03 -7.03947599e-02] [ 3.71042413e-04 -1.74892554e-03 9.99998402e-01 7.68146920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942557844 meters 0.291634281929 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998358e-01 1.81014193e-03 -9.09611486e-05 1.87664265e+00] [-1.80996926e-03 9.99996625e-01 1.86382303e-03 -7.08585307e-02] [ 9.43346258e-05 -1.86365534e-03 9.99998259e-01 7.67960146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002557844 meters 0.2898863710481961 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998273e-01 1.84905372e-03 -1.88182640e-04 1.87699626e+00] [-1.84867967e-03 9.99996353e-01 1.96884834e-03 -7.12769640e-02] [ 1.91822460e-04 -1.96849705e-03 9.99998044e-01 7.67687754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062557844 meters 0.2902589523310365 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998309e-01 1.79744360e-03 -3.89978086e-04 1.87775068e+00] [-1.79672750e-03 9.99996713e-01 1.82889438e-03 -7.06214524e-02] [ 3.93264139e-04 -1.82819060e-03 9.99998252e-01 7.67045068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters 0.28990604691128696 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998387e-01 1.73351468e-03 -4.70390198e-04 1.87805535e+00] [-1.73273666e-03 9.99997139e-01 1.64938524e-03 -6.98779984e-02] [ 4.73248085e-04 -1.64856751e-03 9.99998529e-01 7.66818081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18255784399997 meters 0.2907354085250851 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998595e-01 1.63838314e-03 -3.54418413e-04 1.87770371e+00] [-1.63788928e-03 9.99997694e-01 1.38925922e-03 -6.88141828e-02] [ 3.56693734e-04 -1.38867677e-03 9.99998972e-01 7.66991405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24255784399998 meters 0.29214900982329395 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998551e-01 1.64554855e-03 -4.37044050e-04 1.87817810e+00] [-1.64493198e-03 9.99997657e-01 1.40740707e-03 -6.88642298e-02] [ 4.39358982e-04 -1.40668612e-03 9.99998914e-01 7.66318827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30255784399998 meters 0.2915574272699304 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998553e-01 1.56005219e-03 -6.78475240e-04 1.87892208e+00] [-1.55926470e-03 9.99998112e-01 1.15966247e-03 -6.78129579e-02] [ 6.80283093e-04 -1.15860287e-03 9.99999097e-01 7.65996276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36255784399998 meters 0.2917860084120595 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998870e-01 1.40405707e-03 -5.37246964e-04 1.87837826e+00] [-1.40370793e-03 9.99998804e-01 6.49701046e-04 -6.57807887e-02] [ 5.38158539e-04 -6.48946174e-04 9.99999645e-01 7.66594212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42255784399998 meters 0.2914498274348155 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999299e-01 1.15404618e-03 -2.63654253e-04 1.87738614e+00] [-1.15408955e-03 9.99999321e-01 -1.64419690e-04 -6.24281450e-02] [ 2.63464326e-04 1.64723855e-04 9.99999952e-01 7.67606284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48255784399998 meters 0.2908181338447791 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999404e-01 1.07964934e-03 -1.62807627e-04 1.87707640e+00] [-1.07970756e-03 9.99999353e-01 -3.57941126e-04 -6.16387949e-02] [ 1.62421071e-04 3.58116698e-04 9.99999923e-01 7.67744985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542557844 meters 0.28918304080340546 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999436e-01 1.02112543e-03 2.91186070e-04 1.87579093e+00] [-1.02097489e-03 9.99999345e-01 -5.16666264e-04 -6.10674165e-02] [-2.91713461e-04 5.16368679e-04 9.99999824e-01 7.68344961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602557844 meters 0.2906089111808214 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999430e-01 1.06739122e-03 3.49682129e-05 1.87652696e+00] [-1.06737740e-03 9.99999353e-01 -3.92881224e-04 -6.15587691e-02] [-3.53875482e-05 3.92843676e-04 9.99999922e-01 7.68079317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662557844 meters 0.29059421268336083 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999294e-01 1.17369999e-03 1.87874985e-04 1.87622258e+00] [-1.17368837e-03 9.99999309e-01 -6.19315977e-05 -6.28881086e-02] [-1.87947544e-04 6.17110472e-05 9.99999980e-01 7.67847066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722557844 meters 0.2906877585411201 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99999085e-01 1.28506258e-03 4.23047012e-04 1.87538096e+00] [-1.28517986e-03 9.99999136e-01 2.77089290e-04 -6.43237540e-02] [-4.22690570e-04 -2.77632728e-04 9.99999872e-01 7.68496597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782557844 meters 0.2905671679131876 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99998826e-01 1.53200492e-03 -2.68514247e-05 1.87681585e+00] [-1.53197202e-03 9.99998124e-01 1.18499502e-03 -6.80389959e-02] [ 2.86667925e-05 -1.18495249e-03 9.99999298e-01 7.67308892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters 0.29095439166056675 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99997054e-01 -2.42172238e-03 -1.62397083e-04 1.87716604e+00] [ 2.42136969e-03 9.99994783e-01 -2.13790531e-03 -7.22151978e-02] [ 1.67573649e-04 2.13750579e-03 9.99997701e-01 7.67148081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters 0.29138365981383263 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99997357e-01 -2.29908837e-03 1.34851799e-05 1.87641586e+00] [ 2.29910875e-03 9.99995769e-01 -1.78194605e-03 -7.36853527e-02] [-9.38827139e-06 1.78197234e-03 9.99998412e-01 7.67963190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96255784399997 meters 0.28982837953459345 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.08, Z:0.77 [[ 9.99984160e-01 5.51358006e-03 -1.13116871e-03 1.85707692e+00] [-5.51699144e-03 9.99980175e-01 -3.03517366e-03 -8.01647599e-02] [ 1.11441161e-03 3.04136624e-03 9.99994754e-01 7.66070608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02255784399998 meters 0.29051460706855037 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.08, Z:0.77 [[ 9.99995170e-01 -3.07178963e-03 4.73741265e-04 1.87807443e+00] [ 3.07255914e-03 9.99993948e-01 -1.63224613e-03 -8.31399737e-02] [-4.68724481e-04 1.63369384e-03 9.99998556e-01 7.66385294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08255784399998 meters 0.2896110546726963 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99996454e-01 -2.63886133e-03 3.58410267e-04 1.87813857e+00] [ 2.63899475e-03 9.99996449e-01 -3.72267436e-04 -8.83156539e-02] [-3.57426632e-04 3.73211959e-04 9.99999866e-01 7.66818895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14255784399998 meters 0.2897960163674201 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99997043e-01 -2.41874204e-03 2.52304717e-04 1.87862874e+00] [ 2.41869574e-03 9.99997058e-01 1.83650125e-04 -9.06461364e-02] [-2.52748177e-04 -1.83039334e-04 9.99999951e-01 7.66256154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20255784399998 meters 0.2890942725737127 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99997020e-01 -2.42269173e-03 3.01718622e-04 1.87864841e+00] [ 2.42263864e-03 9.99997050e-01 1.76199766e-04 -9.06115183e-02] [-3.02144610e-04 -1.75468286e-04 9.99999939e-01 7.65905373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26255784399999 meters 0.290609142007038 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99996721e-01 -2.55188109e-03 2.15717454e-04 1.87881328e+00] [ 2.55194789e-03 9.99996696e-01 -3.09946324e-04 -8.87106337e-02] [-2.14925795e-04 3.10495808e-04 9.99999929e-01 7.66042922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322557844 meters 0.2889257134648393 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.08, Z:0.77 [[ 9.99999460e-01 -1.48374389e-04 1.02867761e-03 1.87397248e+00] [ 1.46945309e-04 9.99999024e-01 1.38917658e-03 -8.38793967e-02] [-1.02888273e-03 -1.38902467e-03 9.99998506e-01 7.69805240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382557844 meters 0.2898270559052648 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.08, Z:0.77 [[ 0.99998382 -0.00510796 0.00250202 1.89594768] [ 0.00509632 0.99997626 0.00463681 -0.07528459] [-0.00252564 -0.00462399 0.99998612 0.76999415] [ 0. 0. 0. 1. ]] SLAMing on 217.442557844 meters 0.2895600553787923 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.07, Z:0.77 [[ 0.99998183 -0.00545291 0.00257132 1.89601989] [ 0.00544308 0.99997792 0.00381202 -0.07183495] [-0.00259205 -0.00379796 0.99998943 0.76949976] [ 0. 0. 0. 1. ]] SLAMing on 217.502557844 meters 0.28996448905175815 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99993648e-01 3.50707220e-03 6.35783362e-04 1.87714680e+00] [-3.50874064e-03 9.99990353e-01 2.64238422e-03 -7.12737216e-02] [-6.26510197e-04 -2.64459823e-03 9.99996307e-01 7.68443053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562557844 meters 0.2911218242400554 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.07, Z:0.77 [[ 9.99984428e-01 -5.57974961e-03 9.63200700e-05 1.90040637e+00] [ 5.57940901e-03 9.99979207e-01 3.23364582e-03 -6.98006805e-02] [-1.14361001e-04 -3.23305805e-03 9.99994767e-01 7.68955411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters 0.2895624293238806 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.07, Z:0.77 [[ 9.99984294e-01 -5.57550864e-03 5.69850204e-04 1.89922688e+00] [ 5.57360506e-03 9.99979058e-01 3.28919893e-03 -7.00648842e-02] [-5.88177228e-04 -3.28597115e-03 9.99994428e-01 7.69040041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68255784399997 meters 0.29086913506253764 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.07, Z:0.78 [[ 9.99997986e-01 -3.32745673e-04 -1.97897635e-03 1.91327500e+00] [ 3.33619098e-04 9.99999847e-01 4.41037887e-04 -7.22990478e-02] [ 1.97882929e-03 -4.41697223e-04 9.99997945e-01 7.75003235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74255784399998 meters 0.28972700333592905 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99995363e-01 9.81230483e-04 -2.88293142e-03 1.87873613e+00] [-9.76891038e-04 9.99998388e-01 1.50624250e-03 -6.97245815e-02] [ 2.88440474e-03 -1.50341921e-03 9.99994710e-01 7.69727803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80255784399998 meters 0.2900007329418135 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99995432e-01 9.59483327e-04 -2.86626333e-03 1.87850611e+00] [-9.55323163e-04 9.99998489e-01 1.45244095e-03 -6.95074180e-02] [ 2.86765259e-03 -1.44969611e-03 9.99994837e-01 7.70155503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86255784399998 meters 0.2908438218723366 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99995682e-01 9.60287943e-04 -2.77723230e-03 1.87792808e+00] [-9.56224635e-04 9.99998471e-01 1.46403615e-03 -6.95569754e-02] [ 2.77863395e-03 -1.46137417e-03 9.99995072e-01 7.71094985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92255784399998 meters 0.29131893690222527 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99995802e-01 9.23360700e-04 -2.74642470e-03 1.87778530e+00] [-9.19610021e-04 9.99998643e-01 1.36660824e-03 -6.91598208e-02] [ 2.74768285e-03 -1.36407686e-03 9.99995295e-01 7.71259906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98255784399998 meters 0.2886828540374653 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.06, Z:0.77 [[ 9.99999306e-01 8.32410364e-04 -8.33564633e-04 1.83500504e+00] [-8.32306495e-04 9.99999646e-01 1.24946827e-04 -6.31010447e-02] [ 8.33668345e-04 -1.24252959e-04 9.99999645e-01 7.70755769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042557844 meters 0.28980734146049497 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.06, Z:0.77 [[ 9.99987237e-01 -4.88843602e-03 1.27635728e-03 1.85695847e+00] [ 4.88445596e-03 9.99983257e-01 3.10301445e-03 -5.89014096e-02] [-1.29150480e-03 -3.09674054e-03 9.99994371e-01 7.69621116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102557844 meters 0.28918771832734563 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.05, Z:0.77 [[ 9.99984945e-01 -5.26307206e-03 1.55208144e-03 1.85647728e+00] [ 5.26022336e-03 9.99984483e-01 1.83381024e-03 -5.39417460e-02] [-1.56170883e-03 -1.82561833e-03 9.99997114e-01 7.69307730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162557844 meters 0.2898546939530411 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99982312e-01 4.27836622e-03 4.13180813e-03 1.87699453e+00] [-4.28531490e-03 9.99989416e-01 1.67436734e-03 -5.09502552e-02] [-4.12460084e-03 -1.69204382e-03 9.99990062e-01 7.69048326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222557844 meters 0.289641623612435 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99983509e-01 4.01096897e-03 4.11022030e-03 1.87751517e+00] [-4.01507428e-03 9.99991448e-01 9.91041752e-04 -4.79982720e-02] [-4.10621011e-03 -1.00752825e-03 9.99991062e-01 7.67997741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282557844 meters 0.2893841343124672 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99983149e-01 4.02052605e-03 4.18773078e-03 1.87739162e+00] [-4.02481959e-03 9.99991383e-01 1.01734482e-03 -4.81071252e-02] [-4.18360444e-03 -1.03418254e-03 9.99990714e-01 7.67822969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters 0.290290344245434 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99983195e-01 4.09096504e-03 4.10780997e-03 1.87768528e+00] [-4.09594340e-03 9.99990886e-01 1.20424559e-03 -4.88806852e-02] [-4.10284601e-03 -1.22105071e-03 9.99990838e-01 7.67602095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters 0.2897289020152818 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99984533e-01 4.06882147e-03 3.79176457e-03 1.87861909e+00] [-4.07313536e-03 9.99991066e-01 1.13067451e-03 -4.85604602e-02] [-3.78713018e-03 -1.14610139e-03 9.99992172e-01 7.67179827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46255784399997 meters 0.2894715166073108 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99985407e-01 4.14413321e-03 3.46586364e-03 1.87932635e+00] [-4.14887898e-03 9.99990464e-01 1.36322154e-03 -4.92817815e-02] [-3.46018122e-03 -1.37758110e-03 9.99993065e-01 7.67317765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52255784399998 meters 0.28887240201081443 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993510e-01 7.01110821e-05 3.60216478e-03 1.87900879e+00] [-6.15077952e-05 9.99997146e-01 -2.38842100e-03 -5.08947476e-02] [-3.60232195e-03 2.38818393e-03 9.99990660e-01 7.67260917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58255784399998 meters 0.28997502492980115 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99995047e-01 8.18553142e-05 3.14637199e-03 1.88033752e+00] [-7.43986315e-05 9.99997189e-01 -2.36997441e-03 -5.09046523e-02] [-3.14655714e-03 2.36972859e-03 9.99992242e-01 7.66559236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64255784399998 meters 0.28974540206884625 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99995494e-01 8.88852048e-06 3.00183937e-03 1.88073293e+00] [-1.11397053e-06 9.99996646e-01 -2.58992044e-03 -5.00456459e-02] [-3.00185232e-03 2.58990543e-03 9.99992141e-01 7.66436826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70255784399998 meters 0.28988073956472143 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99994711e-01 1.88395137e-05 3.25222139e-03 1.87999693e+00] [-1.05112063e-05 9.99996721e-01 -2.56080390e-03 -5.01551766e-02] [-3.25225897e-03 2.56075617e-03 9.99991433e-01 7.66801414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76255784399999 meters 0.28904183612382606 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993797e-01 1.94546833e-04 3.51680226e-03 1.87953551e+00] [-1.87136198e-04 9.99997762e-01 -2.10741458e-03 -5.20240630e-02] [-3.51720438e-03 2.10674339e-03 9.99991595e-01 7.66318558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822557844 meters 0.28875469954333055 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993228e-01 3.19033473e-04 3.66628086e-03 1.87891015e+00] [-3.12563224e-04 9.99998393e-01 -1.76523647e-03 -5.34433496e-02] [-3.66683814e-03 1.76407857e-03 9.99991721e-01 7.66984851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882557844 meters 0.28850642349313793 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993409e-01 3.30274949e-04 3.61577853e-03 1.87893494e+00] [-3.24043438e-04 9.99998462e-01 -1.72387203e-03 -5.36039054e-02] [-3.61634232e-03 1.72268900e-03 9.99991977e-01 7.67231890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942557844 meters 0.2889787749147309 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99992708e-01 2.61408271e-04 3.80981406e-03 1.87841331e+00] [-2.53922621e-04 9.99998037e-01 -1.96518482e-03 -5.26530392e-02] [-3.81032030e-03 1.96420309e-03 9.99990812e-01 7.67348200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002557844 meters 0.2873654685399932 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99991392e-01 1.55214505e-04 4.14629181e-03 1.87756856e+00] [-1.45406750e-04 9.99997191e-01 -2.36562487e-03 -5.10732679e-02] [-4.14664734e-03 2.36500160e-03 9.99988606e-01 7.67423554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062557844 meters 0.28828246988141903 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99991791e-01 1.07986648e-04 4.05057265e-03 1.87819513e+00] [-9.78395311e-05 9.99996857e-01 -2.50522138e-03 -5.05755173e-02] [-4.05083045e-03 2.50480451e-03 9.99988658e-01 7.66358011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122557844 meters 0.28885091582869815 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99991939e-01 1.04684436e-04 4.01388102e-03 1.87816522e+00] [-9.45963429e-05 9.99996837e-01 -2.51340894e-03 -5.05363972e-02] [-4.01413144e-03 2.51300898e-03 9.99988786e-01 7.66648666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18255784399997 meters 0.2881825954099284 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99991768e-01 8.08010868e-05 4.05680328e-03 1.87799562e+00] [-7.03399312e-05 9.99996673e-01 -2.57874615e-03 -5.02676060e-02] [-4.05699815e-03 2.57843957e-03 9.99988446e-01 7.66790896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24255784399998 meters 0.29046710092570416 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99992289e-01 1.04757440e-04 3.92558523e-03 1.87867474e+00] [-9.49006822e-05 9.99996843e-01 -2.51100361e-03 -5.05947125e-02] [-3.92583588e-03 2.51061171e-03 9.99989142e-01 7.65864500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30255784399998 meters 0.2900922535602432 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993676e-01 1.46121401e-04 3.55345461e-03 1.87977592e+00] [-1.37652001e-04 9.99997150e-01 -2.38355492e-03 -5.10971578e-02] [-3.55379277e-03 2.38305071e-03 9.99990846e-01 7.65211710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36255784399998 meters 0.2889407751022332 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.05, Z:0.77 [[ 9.99993420e-01 2.24776609e-04 3.62074743e-03 1.87922173e+00] [-2.16954315e-04 9.99997642e-01 -2.16065653e-03 -5.19931166e-02] [-3.62122456e-03 2.15985677e-03 9.99991111e-01 7.66250400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42255784399998 meters 0.2916553602121195 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.05, Z:0.77 [[ 9.99998051e-01 1.30236604e-03 1.48395246e-03 1.92144348e+00] [-1.30049449e-03 9.99998359e-01 -1.26145963e-03 -5.24501811e-02] [-1.48559290e-03 1.25952729e-03 9.99998103e-01 7.68296942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48255784399998 meters 0.28919072077956814 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99994714e-01 8.53496900e-04 3.13754261e-03 1.87885265e+00] [-8.49605453e-04 9.99998869e-01 -1.24140874e-03 -5.67450625e-02] [-3.13859860e-03 1.23873650e-03 9.99994307e-01 7.67526859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542557844 meters 0.28860626518611515 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99994204e-01 1.13043363e-03 3.21154726e-03 1.87817523e+00] [-1.12913775e-03 9.99999280e-01 -4.05291622e-04 -6.02685538e-02] [-3.21200311e-03 4.01662994e-04 9.99994761e-01 7.68848271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602557844 meters 0.29009231130802954 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:0.77 [[ 9.99994624e-01 1.29318322e-03 3.01309434e-03 1.87870936e+00] [-1.29353939e-03 9.99999157e-01 1.16260235e-04 -6.23502315e-02] [-3.01294145e-03 -1.20157166e-04 9.99995454e-01 7.68772487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662557844 meters 0.29037092060272635 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.07, Z:0.77 [[ 9.99948760e-01 -8.14648338e-03 6.00933247e-03 1.89860852e+00] [ 8.14322461e-03 9.99966683e-01 5.66553762e-04 -6.62867642e-02] [-6.01374768e-03 -5.17589388e-04 9.99981783e-01 7.68600282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722557844 meters 0.2890417549826958 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:0.77 [[ 9.99964193e-01 1.46350934e-04 8.46116422e-03 1.87675867e+00] [-1.45453882e-04 9.99999984e-01 -1.06635245e-04 -7.33598740e-02] [-8.46117969e-03 1.05400718e-04 9.99964198e-01 7.68332042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782557844 meters 0.2895825313284053 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.08, Z:0.77 [[ 9.99974124e-01 1.88108223e-04 7.19134948e-03 1.87992053e+00] [-1.91448009e-04 9.99999874e-01 4.63731587e-04 -7.57638355e-02] [-7.19126135e-03 -4.65096357e-04 9.99974034e-01 7.67657330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842557844 meters 0.28916932904695714 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99975386e-01 -4.99888681e-04 6.99834940e-03 1.84379076e+00] [ 4.98178872e-04 9.99999846e-01 2.46057226e-04 -7.88047187e-02] [-6.99847132e-03 -2.42564740e-04 9.99975481e-01 7.63423199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902557844 meters 0.2887995843625051 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.08, Z:0.76 [[ 9.99974965e-01 -3.30924742e-04 7.06825809e-03 1.84368466e+00] [ 3.24607759e-04 9.99999547e-01 8.94839911e-04 -8.13009884e-02] [-7.06855102e-03 -8.92523097e-04 9.99974619e-01 7.63246720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96255784399997 meters 0.29115613217527075 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.08, Z:0.77 [[ 9.99980560e-01 -3.99283246e-04 6.22255275e-03 1.88319330e+00] [ 3.91910487e-04 9.99999220e-01 1.18601921e-03 -8.38809171e-02] [-6.22302145e-03 -1.18355747e-03 9.99979936e-01 7.66437663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02255784399998 meters 0.2904440384201233 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99983045e-01 -1.76990538e-04 5.82057028e-03 1.88422586e+00] [ 1.65360242e-04 9.99997989e-01 1.99855741e-03 -8.70706316e-02] [-5.82091230e-03 -1.99756103e-03 9.99981063e-01 7.66301554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08255784399998 meters 0.29058573553543343 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99982150e-01 5.29255980e-06 5.97494553e-03 1.88388399e+00] [-2.09628018e-05 9.99996561e-01 2.62259898e-03 -8.94983715e-02] [-5.97491110e-03 -2.62267742e-03 9.99978711e-01 7.66179284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14255784399998 meters 0.29029438848977074 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.77 [[ 9.99981893e-01 1.27620154e-04 6.01647291e-03 1.88365093e+00] [-1.45830845e-04 9.99995410e-01 3.02646372e-03 -9.10810580e-02] [-6.01605906e-03 -3.02728631e-03 9.99977321e-01 7.66526190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20255784399998 meters 0.2903103987103766 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.09, Z:0.77 [[ 9.99985229e-01 2.63031935e-04 5.42890748e-03 1.88533388e+00] [-2.82492285e-04 9.99993537e-01 3.58412398e-03 -9.34329965e-02] [-5.42792965e-03 -3.58560467e-03 9.99978840e-01 7.65416266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26255784399999 meters 0.28961819090158347 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.09, Z:0.77 [[ 9.99985682e-01 2.72485881e-04 5.34426454e-03 1.88564369e+00] [-2.91778439e-04 9.99993443e-01 3.60950836e-03 -9.35395141e-02] [-5.34324596e-03 -3.61101602e-03 9.99979205e-01 7.65177108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322557844 meters 0.2910918918398636 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.09, Z:0.76 [[ 9.99941509e-01 6.48043677e-03 8.65925129e-03 1.90597703e+00] [-6.48465617e-03 9.99978869e-01 4.59282563e-04 -9.20592733e-02] [-8.65609196e-03 -5.15407967e-04 9.99962403e-01 7.64293027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382557844 meters 0.29095533495829357 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.09, Z:0.76 [[ 9.99941816e-01 6.45540017e-03 8.64246101e-03 1.90611902e+00] [-6.45906040e-03 9.99979062e-01 3.95671153e-04 -9.17979464e-02] [-8.63972584e-03 -4.51470309e-04 9.99962575e-01 7.64069731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442557844 meters 0.2909813553407424 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.09, Z:0.76 [[ 9.99968422e-01 -2.21053603e-03 7.63333940e-03 1.88515028e+00] [ 2.20080552e-03 9.99996755e-01 1.28290323e-03 -8.86757019e-02] [-7.63615054e-03 -1.26606322e-03 9.99970043e-01 7.63976780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502557844 meters 0.2893298297608208 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.09, Z:0.76 [[ 9.99966985e-01 -2.16929773e-03 7.83089243e-03 1.88458192e+00] [ 2.15819001e-03 9.99996653e-01 1.42662024e-03 -8.92556076e-02] [-7.83396099e-03 -1.40967259e-03 9.99968320e-01 7.64251610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562557844 meters 0.2917917642577489 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.09, Z:0.77 [[ 9.99964104e-01 -2.25847736e-03 8.16642680e-03 1.92100830e+00] [ 2.24432084e-03 9.99995964e-01 1.74225210e-03 -9.13557741e-02] [-8.17032868e-03 -1.72386148e-03 9.99965136e-01 7.68114568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622557844 meters 0.2915704412656524 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.09, Z:0.77 [[ 9.99965046e-01 -2.26611353e-03 8.04806403e-03 1.92168806e+00] [ 2.25233891e-03 9.99995984e-01 1.72019564e-03 -9.12816958e-02] [-8.05192986e-03 -1.70200855e-03 9.99966134e-01 7.67162211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68255784399997 meters 0.2911757912397526 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.09, Z:0.77 [[ 9.99964925e-01 -2.23422805e-03 8.07192851e-03 1.92151694e+00] [ 2.21971568e-03 9.99995905e-01 1.80639346e-03 -9.16347493e-02] [-8.07593135e-03 -1.78841272e-03 9.99965790e-01 7.67417882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74255784399998 meters 0.2925624355928474 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.09, Z:0.77 [[ 9.99942203e-01 3.52743194e-03 1.01562185e-02 1.94420811e+00] [-3.51332047e-03 9.99992839e-01 -1.40694766e-03 -9.41010264e-02] [-1.01611086e-02 1.37118429e-03 9.99947434e-01 7.65884296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80255784399998 meters 0.2920857624532171 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:0.77 [[ 9.99943274e-01 3.71049549e-03 9.98402925e-03 1.94473443e+00] [-3.70338013e-03 9.99992875e-01 -7.31067652e-04 -9.67235818e-02] [-9.98667074e-03 6.94051526e-04 9.99949891e-01 7.65576811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86255784399998 meters 0.29193471984189123 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99944767e-01 3.86793914e-03 9.77248084e-03 1.94544033e+00] [-3.86526270e-03 9.99992487e-01 -2.92746939e-04 -9.85558723e-02] [-9.77353974e-03 2.54957564e-04 9.99952205e-01 7.65079599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92255784399998 meters 0.292559232158253 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99945586e-01 3.86586317e-03 9.68921358e-03 1.94559455e+00] [-3.86317344e-03 9.99992494e-01 -2.96300792e-04 -9.85363831e-02] [-9.69028631e-03 2.58853556e-04 9.99953015e-01 7.65217029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98255784399998 meters 0.2927754718578975 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:0.77 [[ 9.99943936e-01 3.81310146e-03 9.87848581e-03 1.94492278e+00] [-3.80877140e-03 9.99992642e-01 -4.57108128e-04 -9.78505852e-02] [-9.88015613e-03 4.19457607e-04 9.99951102e-01 7.65754337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042557844 meters 0.29223613398745985 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.10, Z:0.77 [[ 9.99942723e-01 3.80203134e-03 1.00047818e-02 1.94435671e+00] [-3.79735341e-03 9.99992672e-01 -4.86525109e-04 -9.77573241e-02] [-1.00065583e-02 4.48505550e-04 9.99949833e-01 7.66336387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102557844 meters 0.29064562774469194 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.09, Z:0.77 [[ 9.99958868e-01 -4.14249697e-03 8.06863663e-03 1.92512508e+00] [ 4.13343695e-03 9.99990808e-01 1.13922156e-03 -9.38555793e-02] [-8.07328169e-03 -1.10582350e-03 9.99966799e-01 7.65665802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162557844 meters 0.2908562482149182 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.10, Z:0.77 [[ 9.99984834e-01 3.89620019e-03 3.89237451e-03 1.90792261e+00] [-3.89863808e-03 9.99992209e-01 6.18933374e-04 -9.78810266e-02] [-3.88993269e-03 -6.34098947e-04 9.99992233e-01 7.65204750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222557844 meters 0.29117091833267184 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.10, Z:0.77 [[ 9.99957981e-01 -5.99614278e-03 6.93409225e-03 1.92708776e+00] [ 5.99409565e-03 9.99981985e-01 3.15971734e-04 -9.91432818e-02] [-6.93586194e-03 -2.74394845e-04 9.99975909e-01 7.65086033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282557844 meters 0.29091155900145743 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.10, Z:0.77 [[ 9.99956963e-01 -6.02451710e-03 7.05525206e-03 1.92655299e+00] [ 6.02294888e-03 9.99981832e-01 2.43502004e-04 -9.88409835e-02] [-7.05659087e-03 -2.00998102e-04 9.99975082e-01 7.65640091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342557844 meters 0.2933445931945618 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:0.77 [[ 9.99977258e-01 -5.55515290e-03 3.82418956e-03 1.97032449e+00] [ 5.55478049e-03 9.99984566e-01 1.07998223e-04 -9.97092326e-02] [-3.82473048e-03 -8.67532330e-05 9.99992682e-01 7.67104107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters 0.29316089748113816 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:0.77 [[ 9.99976558e-01 -5.58330724e-03 3.96357013e-03 1.96990801e+00] [ 5.58321934e-03 9.99984413e-01 3.32416054e-05 -9.94082657e-02] [-3.96369395e-03 -1.11113447e-05 9.99992144e-01 7.67244052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46255784399997 meters 0.2908673969664898 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99990214e-01 3.56097284e-03 2.62508167e-03 1.94884205e+00] [-3.56050636e-03 9.99993645e-01 -1.82352025e-04 -1.01862309e-01] [-2.62571433e-03 1.73003621e-04 9.99996538e-01 7.67585398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52255784399998 meters 0.2937067686752579 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.76 [[ 9.99979758e-01 -3.64624711e-03 5.21433540e-03 1.97281183e+00] [ 3.63649575e-03 9.99991624e-01 1.87836533e-03 -1.07095141e-01] [-5.22114071e-03 -1.85936539e-03 9.99984641e-01 7.64510306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58255784399998 meters 0.2920799615319234 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.11, Z:0.77 [[ 9.99995484e-01 1.98410435e-03 2.25729588e-03 1.95092418e+00] [-1.98117756e-03 9.99997195e-01 -1.29809066e-03 -1.06876846e-01] [-2.25986509e-03 1.29361269e-03 9.99996610e-01 7.65856613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64255784399998 meters 0.2928975485408002 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.77 [[ 9.99970440e-01 -5.75421799e-03 5.09982977e-03 1.96917848e+00] [ 5.75138788e-03 9.99983299e-01 5.69434233e-04 -1.08059020e-01] [-5.10302125e-03 -5.40086301e-04 9.99986834e-01 7.67186566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70255784399998 meters 0.2920854443661687 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.77 [[ 9.99971038e-01 -5.51424209e-03 5.24559954e-03 1.96862606e+00] [ 5.50806303e-03 9.99984120e-01 1.19166904e-03 -1.10631769e-01] [-5.25208739e-03 -1.16274143e-03 9.99985532e-01 7.67499104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76255784399999 meters 0.29224364976491307 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.77 [[ 9.99971046e-01 -5.30248241e-03 5.45808064e-03 1.96790927e+00] [ 5.29271825e-03 9.99984370e-01 1.80182893e-03 -1.13136481e-01] [-5.46754950e-03 -1.77288867e-03 9.99983481e-01 7.67873948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822557844 meters 0.29108443236997844 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.77 [[ 9.99991355e-01 4.56035557e-04 4.13292205e-03 1.94366939e+00] [-4.51479962e-04 9.99999290e-01 -1.10313577e-03 -1.15036439e-01] [-4.13342219e-03 1.10126030e-03 9.99990851e-01 7.69862335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882557844 meters 0.2911579611676971 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.77 [[ 9.99990952e-01 7.05563637e-04 4.19501294e-03 1.94349380e+00] [-7.04281929e-04 9.99999705e-01 -3.07000761e-04 -1.18175944e-01] [-4.19522831e-03 3.04043512e-04 9.99991154e-01 7.69840705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942557844 meters 0.29121885610267617 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.77 [[ 9.99991732e-01 7.47581044e-04 3.99720150e-03 1.94414763e+00] [-7.46811454e-04 9.99999702e-01 -1.94021354e-04 -1.18622762e-01] [-3.99734535e-03 1.91034594e-04 9.99991992e-01 7.69433599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002557844 meters 0.29228030387912 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.77 [[ 9.99992408e-01 6.76464854e-04 3.83756198e-03 1.94470527e+00] [-6.74968750e-04 9.99999696e-01 -3.91139662e-04 -1.17809225e-01] [-3.83782541e-03 3.88546458e-04 9.99992560e-01 7.69079160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062557844 meters 0.29259758175949707 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.77 [[ 9.99992413e-01 4.45757143e-04 3.86968847e-03 1.94462035e+00] [-4.42012838e-04 9.99999433e-01 -9.68399861e-04 -1.15444595e-01] [-3.87011795e-03 9.66682062e-04 9.99992044e-01 7.69131232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters 0.29242113591621144 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:0.77 [[ 9.99992556e-01 2.75750088e-04 3.84872443e-03 1.94466026e+00] [-2.70299928e-04 9.99998960e-01 -1.41654353e-03 -1.13624039e-01] [-3.84911104e-03 1.41549268e-03 9.99991590e-01 7.69209359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18255784399997 meters 0.29478443350169553 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.77 [[ 9.99970682e-01 -5.90281283e-03 4.87760590e-03 1.96837179e+00] [ 5.89672381e-03 9.99981818e-01 1.26180274e-03 -1.09938605e-01] [-4.88496540e-03 -1.23300385e-03 9.99987308e-01 7.67489756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24255784399998 meters 0.29427786772975933 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.11, Z:0.77 [[ 9.99969665e-01 -6.11909714e-03 4.81932998e-03 1.96864998e+00] [ 6.11570978e-03 9.99981042e-01 7.17293484e-04 -1.07704131e-01] [-4.82362781e-03 -6.87798101e-04 9.99988130e-01 7.67261538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30255784399998 meters 0.2930327885337456 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99994675e-01 2.53446059e-03 2.05575405e-03 1.94813002e+00] [-2.53353623e-03 9.99996688e-01 -4.52127198e-04 -1.01587531e-01] [-2.05689314e-03 4.46916463e-04 9.99997785e-01 7.67551258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36255784399998 meters 0.292518224656453 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99994985e-01 2.39341704e-03 2.07402209e-03 1.94797932e+00] [-2.39169947e-03 9.99996795e-01 -8.30219910e-04 -1.00043879e-01] [-2.07600250e-03 8.25255309e-04 9.99997505e-01 7.67844658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42255784399998 meters 0.29249327919671975 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.10, Z:0.77 [[ 9.99995041e-01 2.38660142e-03 2.05476076e-03 1.94818447e+00] [-2.38485801e-03 9.99996795e-01 -8.50506414e-04 -9.99589325e-02] [-2.05678399e-03 8.45601883e-04 9.99997527e-01 7.67453078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48255784399998 meters 0.29292825897600516 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998133e-01 1.64369195e-03 1.01609765e-03 1.98665148e+00] [-1.64179840e-03 9.99996919e-01 -1.86158924e-03 -1.01825018e-01] [-1.01915439e-03 1.85991754e-03 9.99997751e-01 7.71517675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542557844 meters 0.29439113160691904 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998393e-01 1.47621926e-03 1.01725038e-03 1.98648159e+00] [-1.47374816e-03 9.99995972e-01 -2.42567847e-03 -9.96047567e-02] [-1.02082712e-03 2.42417540e-03 9.99996541e-01 7.71943335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602557844 meters 0.29247239649306234 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998441e-01 1.20210185e-03 1.29329328e-03 1.98573078e+00] [-1.19779429e-03 9.99993750e-01 -3.32632112e-03 -9.60855519e-02] [-1.29728377e-03 3.32476683e-03 9.99993631e-01 7.72395936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662557844 meters 0.2929006501405456 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998455e-01 1.10933123e-03 1.36392994e-03 1.98535317e+00] [-1.10445351e-03 9.99993011e-01 -3.57179229e-03 -9.50772315e-02] [-1.36788271e-03 3.57028037e-03 9.99992691e-01 7.72882652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722557844 meters 0.29307627821071985 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998355e-01 1.13437321e-03 1.41566490e-03 1.98518498e+00] [-1.12941114e-03 9.99993234e-01 -3.50100651e-03 -9.53658048e-02] [-1.41962677e-03 3.49940188e-03 9.99992869e-01 7.72976152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782557844 meters 0.29330411076588675 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.10, Z:0.77 [[ 9.99998351e-01 1.21952686e-03 1.34530185e-03 1.98535401e+00] [-1.21519344e-03 9.99994086e-01 -3.21727847e-03 -9.64484136e-02] [-1.34921745e-03 3.21563836e-03 9.99993920e-01 7.72921118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842557844 meters 0.2918445792439754 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.10, Z:0.77 [[ 9.99988182e-01 -4.66667276e-03 -1.36305450e-03 1.96414206e+00] [ 4.66685976e-03 9.99989101e-01 1.34043414e-04 -9.63306165e-02] [ 1.36241411e-03 -1.40403014e-04 9.99999062e-01 7.74105526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902557844 meters 0.2924808501201155 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.09, Z:0.77 [[ 9.99995474e-01 2.33350469e-03 1.89931509e-03 1.98525926e+00] [-2.32914145e-03 9.99994651e-01 -2.29625198e-03 -9.37833770e-02] [-1.90466324e-03 2.29181782e-03 9.99995560e-01 7.73197762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96255784399997 meters 0.2924076249106602 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.77 [[ 9.99994812e-01 -2.75210168e-03 -1.67393787e-03 1.96552585e+00] [ 2.75358741e-03 9.99995816e-01 8.85914164e-04 -8.84764023e-02] [ 1.67149274e-03 -8.90518902e-04 9.99998207e-01 7.73476581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02255784399998 meters 0.29152280945885367 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.77 [[ 9.99994347e-01 -2.92295008e-03 -1.66201131e-03 1.96549130e+00] [ 2.92359237e-03 9.99995653e-01 3.84153518e-04 -8.64776805e-02] [ 1.66088122e-03 -3.89010390e-04 9.99998545e-01 7.73533916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08255784399998 meters 0.2925845188711008 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:0.77 [[ 9.99993859e-01 -3.07025299e-03 -1.68970519e-03 1.96541466e+00] [ 3.07031090e-03 9.99995286e-01 3.16823670e-05 -8.50371236e-02] [ 1.68959995e-03 -3.68700927e-05 9.99998572e-01 7.73877559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14255784399998 meters 0.29319217203120634 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.08, Z:0.77 [[ 9.99993462e-01 -3.16361284e-03 -1.75145175e-03 1.96568560e+00] [ 3.16321809e-03 9.99994971e-01 -2.28109040e-04 -8.39937126e-02] [ 1.75216459e-03 2.22567325e-04 9.99998440e-01 7.73629695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20255784399998 meters 0.29302877428692864 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.08, Z:0.77 [[ 9.99992739e-01 -3.40197015e-03 -1.71728533e-03 1.96551093e+00] [ 3.40059317e-03 9.99993895e-01 -8.04122111e-04 -8.16212949e-02] [ 1.72001044e-03 7.98276483e-04 9.99998202e-01 7.73810471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26255784399999 meters 0.2924735510603686 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.08, Z:0.77 [[ 9.99992010e-01 -3.59325940e-03 -1.75188258e-03 1.96573223e+00] [ 3.59086634e-03 9.99992618e-01 -1.36722925e-03 -7.93693758e-02] [ 1.75678246e-03 1.36092755e-03 9.99997531e-01 7.73513336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322557844 meters 0.29160620654963226 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.77 [[ 9.99991613e-01 -3.92423556e-03 -1.17192522e-03 1.96389688e+00] [ 3.92104003e-03 9.99988622e-01 -2.71669097e-03 -7.40625464e-02] [ 1.18257282e-03 2.71207302e-03 9.99995623e-01 7.74860125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382557844 meters 0.2917483777517837 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.77 [[ 9.99999276e-01 -1.04821124e-04 -1.19839320e-03 1.96410483e+00] [ 1.05203084e-04 9.99999944e-01 3.18668402e-04 -6.86383425e-02] [ 1.19835973e-03 -3.18794246e-04 9.99999231e-01 7.74623797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442557844 meters 0.2921737146236003 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.07, Z:0.78 [[ 9.99999260e-01 -4.20867036e-04 -1.14176391e-03 1.96377953e+00] [ 4.20275281e-04 9.99999777e-01 -5.18471898e-04 -6.52698943e-02] [ 1.14198187e-03 5.17991659e-04 9.99999214e-01 7.75092751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502557844 meters 0.2920024587395149 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:0.78 [[ 9.99998697e-01 -9.26874927e-04 -1.32155260e-03 1.96417835e+00] [ 9.24691245e-04 9.99998208e-01 -1.65201572e-03 -6.06683820e-02] [ 1.32308144e-03 1.65079154e-03 9.99997762e-01 7.75387030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562557844 meters 0.2931418154104165 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:0.77 [[ 9.99998429e-01 -1.14013720e-03 -1.35727999e-03 1.96487752e+00] [ 1.13712710e-03 9.99996897e-01 -2.21645218e-03 -5.81707646e-02] [ 1.35980284e-03 2.21490530e-03 9.99996623e-01 7.73965762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622557844 meters 0.29294979783495134 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:0.77 [[ 9.99998331e-01 -1.24056710e-03 -1.34090180e-03 1.96477022e+00] [ 1.23722751e-03 9.99996138e-01 -2.48851575e-03 -5.70822654e-02] [ 1.34398379e-03 2.48685260e-03 9.99996005e-01 7.74150273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68255784399997 meters 0.2928193256697339 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:0.77 [[ 9.99998340e-01 -1.31870676e-03 -1.25723632e-03 1.96443752e+00] [ 1.31532707e-03 9.99995530e-01 -2.68523962e-03 -5.62970809e-02] [ 1.26077174e-03 2.68358148e-03 9.99995604e-01 7.74438502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74255784399998 meters 0.2936462160968725 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.06, Z:0.77 [[ 9.99997994e-01 -1.41403954e-03 -1.41844369e-03 1.96529415e+00] [ 1.40983367e-03 9.99994620e-01 -2.96176256e-03 -5.51742928e-02] [ 1.42262411e-03 2.95975685e-03 9.99994608e-01 7.73292510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80255784399998 meters 0.29477726267990645 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.05, Z:0.77 [[ 9.99997688e-01 -1.52580017e-03 -1.51526372e-03 1.96565868e+00] [ 1.52087710e-03 9.99993579e-01 -3.24484107e-03 -5.40027668e-02] [ 1.52020497e-03 3.24252904e-03 9.99993587e-01 7.73094858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86255784399998 meters 0.29447588230550703 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.05, Z:0.77 [[ 9.99996853e-01 -1.60497507e-03 -1.92799392e-03 1.96702060e+00] [ 1.59815537e-03 9.99992480e-01 -3.53354928e-03 -5.27264998e-02] [ 1.93365067e-03 3.53045693e-03 9.99991898e-01 7.72170610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92255784399998 meters 0.2923145541593529 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.05, Z:0.77 [[ 9.99996829e-01 -1.65904518e-03 -1.89442604e-03 1.96698094e+00] [ 1.65204462e-03 9.99991824e-01 -3.69095204e-03 -5.20949285e-02] [ 1.90053401e-03 3.68781066e-03 9.99991394e-01 7.72074063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98255784399998 meters 0.2922300712332525 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.05, Z:0.77 [[ 9.99996699e-01 -1.78058365e-03 -1.85224746e-03 1.96665444e+00] [ 1.77305561e-03 9.99990194e-01 -4.05800375e-03 -5.06461067e-02] [ 1.85945491e-03 4.05470621e-03 9.99990051e-01 7.72680748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042557844 meters 0.2916483556790036 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.05, Z:0.77 [[ 9.99996453e-01 -1.99255179e-03 -1.76745279e-03 1.96611675e+00] [ 1.98393142e-03 9.99986194e-01 -4.86570047e-03 -4.75606856e-02] [ 1.77712355e-03 4.86217671e-03 9.99986600e-01 7.73572514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102557844 meters 0.29194414744742603 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:0.77 [[ 9.99996606e-01 -2.19645188e-03 -1.40105038e-03 1.96497205e+00] [ 2.18862509e-03 9.99982128e-01 -5.56365123e-03 -4.47885846e-02] [ 1.41324563e-03 5.56056598e-03 9.99983541e-01 7.74431292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162557844 meters 0.29256871470457757 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:0.77 [[ 9.99982369e-01 -5.04600785e-03 3.13026997e-03 1.98616855e+00] [ 5.04581649e-03 9.99987267e-01 6.90240485e-05 -4.52373991e-02] [-3.13057841e-03 -5.32280637e-05 9.99995098e-01 7.71783858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222557844 meters 0.292675732332663 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:0.77 [[ 9.99981352e-01 -5.27481231e-03 3.07774017e-03 1.98632708e+00] [ 5.27639525e-03 9.99985951e-01 -5.06425006e-04 -4.28699105e-02] [-3.07502564e-03 5.22654936e-04 9.99995136e-01 7.71735371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282557844 meters 0.293160483114075 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:0.77 [[ 9.99980954e-01 -5.39335622e-03 3.00049096e-03 1.98649131e+00] [ 5.39579268e-03 9.99985119e-01 -8.04520390e-04 -4.16487640e-02] [-2.99610724e-03 8.20695095e-04 9.99995175e-01 7.71853941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342557844 meters 0.2908374074469271 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:0.77 [[ 9.99986858e-01 4.67168542e-03 2.11155541e-03 1.96337033e+00] [-4.66946945e-03 9.99988543e-01 -1.05316158e-03 -3.77286724e-02] [-2.11645126e-03 1.04328790e-03 9.99997216e-01 7.73186931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402557844 meters 0.2919362938231981 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:0.77 [[ 9.99985619e-01 -2.20967238e-03 4.88664850e-03 1.98542868e+00] [ 2.20428495e-03 9.99996957e-01 1.10759026e-03 -3.57142139e-02] [-4.88908105e-03 -1.09680277e-03 9.99987447e-01 7.71476392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46255784399997 meters 0.2914555345552682 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:0.77 [[ 9.99995030e-01 3.03497978e-03 -8.53653727e-04 1.96815518e+00] [-3.03717247e-03 9.99992062e-01 -2.57913587e-03 -2.88006209e-02] [ 8.45819325e-04 2.58171574e-03 9.99996310e-01 7.72119139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52255784399998 meters 0.29354213857299183 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.77 [[ 9.99980814e-01 -6.10296045e-03 -1.06078260e-03 1.98924244e+00] [ 6.10050398e-03 9.99978738e-01 -2.30372355e-03 -2.24834387e-02] [ 1.07481958e-03 2.29720804e-03 9.99996784e-01 7.73343524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58255784399998 meters 0.2913068194256016 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:0.77 [[ 0.99998753 0.00348032 -0.00358115 1.96976945] [-0.00349226 0.99998835 -0.00333224 -0.01667384] [ 0.00356951 0.00334471 0.99998804 0.77310762] [ 0. 0. 0. 1. ]] SLAMing on 224.64255784399998 meters 0.29312345083063934 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.77 [[ 9.99997176e-01 -2.27627135e-03 -6.82854497e-04 1.99201015e+00] [ 2.27609763e-03 9.99997377e-01 -2.55069099e-04 -1.58437886e-02] [ 6.83433312e-04 2.53514135e-04 9.99999734e-01 7.71514857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70255784399998 meters 0.2909920077040385 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.78 [[ 9.99999803e-01 -1.09668382e-04 6.17374830e-04 1.98560109e+00] [ 1.08551908e-04 9.99998359e-01 1.80816537e-03 -1.77663130e-02] [-6.17572116e-04 -1.80809800e-03 9.99998175e-01 7.76023550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76255784399999 meters 0.29085281766710697 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.78 [[ 9.99999792e-01 -1.64042745e-04 6.23767971e-04 1.98553977e+00] [ 1.63008889e-04 9.99998614e-01 1.65712727e-03 -1.71586624e-02] [-6.24038946e-04 -1.65702524e-03 9.99998432e-01 7.76139450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822557844 meters 0.2915027718349511 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.02, Z:0.78 [[ 9.99999827e-01 -2.69915152e-04 5.21942969e-04 1.98554273e+00] [ 2.69246250e-04 9.99999143e-01 1.28120798e-03 -1.57327277e-02] [-5.22288339e-04 -1.28106723e-03 9.99999043e-01 7.76770542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882557844 meters 0.2900463032939791 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.01, Z:0.78 [[ 9.99941488e-01 1.08162178e-02 1.72161918e-04 1.96191714e+00] [-1.08165353e-02 9.99939570e-01 1.96424557e-03 -1.23342116e-02] [-1.50905806e-04 -1.96599283e-03 9.99998056e-01 7.77887395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942557844 meters 0.29043653085297205 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999601e-01 7.30376423e-04 5.13375019e-04 1.98252888e+00] [-7.31219984e-04 9.99998380e-01 1.64490423e-03 -6.92827703e-03] [-5.12172788e-04 -1.64527897e-03 9.99998515e-01 7.78377453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002557844 meters 0.29165073085064297 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999779e-01 6.12129660e-04 2.60674370e-04 1.98333070e+00] [-6.12468664e-04 9.99998964e-01 1.30240210e-03 -5.48616017e-03] [-2.59876861e-04 -1.30256146e-03 9.99999118e-01 7.78014137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062557844 meters 0.29153837193342375 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999781e-01 6.19341696e-04 2.32132659e-04 1.98351773e+00] [-6.19647474e-04 9.99998937e-01 1.31950796e-03 -5.55360275e-03] [-2.31315186e-04 -1.31965151e-03 9.99999103e-01 7.77746310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122557844 meters 0.28890388612768403 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.77 [[ 9.99999307e-01 2.89905756e-04 1.14123962e-03 1.94419518e+00] [-2.90828531e-04 9.99999631e-01 8.08489917e-04 -6.48151439e-03] [-1.14100481e-03 -8.08821261e-04 9.99999022e-01 7.74890485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18255784399997 meters 0.2897528348780233 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.77 [[ 9.99999333e-01 4.32875878e-04 1.07120671e-03 1.94451875e+00] [-4.34145387e-04 9.99999203e-01 1.18517219e-03 -8.01228243e-03] [-1.07069283e-03 -1.18563646e-03 9.99998724e-01 7.74555217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24255784399998 meters 0.28988936850999236 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:0.77 [[ 9.99999646e-01 5.33690695e-04 6.51092287e-04 1.94561303e+00] [-5.34658237e-04 9.99998752e-01 1.48676060e-03 -9.17758886e-03] [-6.50298004e-04 -1.48710818e-03 9.99998683e-01 7.74291219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30255784399998 meters 0.29089916944747385 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:0.77 [[ 9.99999668e-01 5.09577253e-04 6.35245981e-04 1.94572503e+00] [-5.10481608e-04 9.99998855e-01 1.42428123e-03 -8.93903237e-03] [-6.34519472e-04 -1.42460504e-03 9.99998784e-01 7.74133469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36255784399998 meters 0.28971111759201984 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.77 [[ 9.99999291e-01 6.27457963e-04 1.01244177e-03 1.94456269e+00] [-6.29296925e-04 9.99998151e-01 1.81706808e-03 -1.04612550e-02] [-1.01129976e-03 -1.81770392e-03 9.99997837e-01 7.74926193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42255784399998 meters 0.2896144052268437 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.77 [[ 9.99999408e-01 6.19842206e-04 8.93854888e-04 1.94496978e+00] [-6.21445972e-04 9.99998196e-01 1.79505294e-03 -1.03557882e-02] [-8.92740626e-04 -1.79560737e-03 9.99997989e-01 7.74653495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48255784399998 meters 0.2891638001980869 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:0.78 [[ 9.99999360e-01 5.83309374e-04 9.69172290e-04 1.94459592e+00] [-5.84954002e-04 9.99998388e-01 1.69752466e-03 -9.96362987e-03] [-9.68180546e-04 -1.69809049e-03 9.99998090e-01 7.75097216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542557844 meters 0.29017419017765095 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999956e-01 -2.68200702e-04 -1.24700350e-04 1.98295068e+00] [ 2.68397460e-04 9.99998715e-01 1.58051699e-03 -1.08014883e-02] [ 1.24276294e-04 -1.58055039e-03 9.99998743e-01 7.79119772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602557844 meters 0.28943248407558897 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999981e-01 -1.57912356e-04 1.18053719e-04 1.98212885e+00] [ 1.57681163e-04 9.99998075e-01 1.95581989e-03 -1.22768786e-02] [-1.18362340e-04 -1.95580123e-03 9.99998080e-01 7.79763899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662557844 meters 0.2896242266079274 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99999997e-01 -2.11488157e-05 7.12136174e-05 1.98222308e+00] [ 2.09741979e-05 9.99996996e-01 2.45113671e-03 -1.41717833e-02] [-7.12652421e-05 -2.45113521e-03 9.99996993e-01 7.79826779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722557844 meters 0.2896153893705627 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:0.78 [[ 9.99999900e-01 1.11060727e-05 4.47913575e-04 1.98157447e+00] [-1.23284403e-05 9.99996276e-01 2.72911522e-03 -1.53862338e-02] [-4.47881598e-04 -2.72912047e-03 9.99996176e-01 7.79195099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782557844 meters 0.28947730624868107 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.78 [[ 9.99980416e-01 4.33881836e-03 4.51027480e-03 2.00297990e+00] [-4.33449714e-03 9.99990138e-01 -9.67417138e-04 -1.40278854e-02] [-4.51442777e-03 9.47848418e-04 9.99989361e-01 7.77642699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842557844 meters 0.28909182089250474 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.78 [[ 9.99980131e-01 4.19053084e-03 4.70918475e-03 2.00230247e+00] [-4.18379362e-03 9.99990212e-01 -1.43959755e-03 -1.21506468e-02] [-4.71517133e-03 1.41986669e-03 9.99987875e-01 7.78189255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902557844 meters 0.2891400839390093 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.78 [[ 9.99981529e-01 4.02701728e-03 4.55236139e-03 2.00302679e+00] [-4.01819629e-03 9.99990035e-01 -1.94516173e-03 -1.00172456e-02] [-4.56014923e-03 1.92683352e-03 9.99987746e-01 7.77385111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96255784399997 meters 0.2897373494972357 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.78 [[ 0.99998319 0.00392108 0.00427159 2.00368655] [-0.0039116 0.99998987 -0.00222537 -0.00887835] [-0.00428027 0.00220863 0.9999884 0.77750338] [ 0. 0. 0. 1. ]] SLAMing on 226.02255784399998 meters 0.288141767376908 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:0.78 [[ 9.99996699e-01 -2.31907831e-03 1.10623077e-03 1.98211473e+00] [ 2.31877072e-03 9.99997273e-01 2.79256571e-04 -9.00816643e-03] [-1.10687537e-03 -2.76690554e-04 9.99999349e-01 7.79032532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08255784399998 meters 0.2895663832990915 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.78 [[ 9.99980919e-01 6.17737790e-03 3.73871382e-05 2.00355102e+00] [-6.17736147e-03 9.99980830e-01 -4.24869272e-04 -1.46076833e-02] [-4.00109995e-05 4.24630212e-04 9.99999909e-01 7.78984919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14255784399998 meters 0.28978355447412235 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.78 [[ 9.99980585e-01 6.22740139e-03 2.23508964e-04 2.00293368e+00] [-6.22734114e-03 9.99980574e-01 -2.69271841e-04 -1.52720202e-02] [-2.25181486e-04 2.67874746e-04 9.99999939e-01 7.79390748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20255784399998 meters 0.2905271796348729 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.78 [[ 9.99993895e-01 -3.39626407e-03 8.21485693e-04 2.02479140e+00] [ 3.39602096e-03 9.99994189e-01 2.97158888e-04 -1.60623057e-02] [-8.22490150e-04 -2.94367291e-04 9.99999618e-01 7.79392733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26255784399999 meters 0.2909405311696927 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:0.78 [[ 9.99994289e-01 -3.27817527e-03 8.21473865e-04 2.02466897e+00] [ 3.27767092e-03 9.99994440e-01 6.14550596e-04 -1.73796841e-02] [-8.23483901e-04 -6.11854566e-04 9.99999474e-01 7.79666731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322557844 meters 0.28846756219886494 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:0.78 [[ 9.99993664e-01 3.18732845e-03 -1.58528681e-03 2.00332113e+00] [-3.19110148e-03 9.99992069e-01 -2.38322844e-03 -1.77836058e-02] [ 1.57767810e-03 2.38827215e-03 9.99995904e-01 7.80757174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382557844 meters 0.2900056175800157 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:0.78 [[ 9.99977622e-01 -6.58854637e-03 -1.16003487e-03 2.02584031e+00] [ 6.58653535e-03 9.99976814e-01 -1.72895163e-03 -2.09481852e-02] [ 1.17139925e-03 1.72127233e-03 9.99997833e-01 7.80357094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442557844 meters 0.29165035894497554 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:0.78 [[ 9.99997194e-01 2.29113801e-03 -6.01457238e-04 2.04762965e+00] [-2.29205314e-03 9.99996210e-01 -1.52527472e-03 -2.79375159e-02] [ 5.97960343e-04 1.52664902e-03 9.99998656e-01 7.79666893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502557844 meters 0.29149117800882296 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:0.78 [[ 9.99997111e-01 2.35503135e-03 -4.81692231e-04 2.04714797e+00] [-2.35568311e-03 9.99996305e-01 -1.35701654e-03 -2.86649326e-02] [ 4.78494635e-04 1.35814734e-03 9.99998963e-01 7.80040356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562557844 meters 0.2896367665717252 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:0.78 [[ 9.99988735e-01 -3.90784837e-03 -2.69417598e-03 2.02454029e+00] [ 3.91181576e-03 9.99991270e-01 1.46888541e-03 -2.93376441e-02] [ 2.68841228e-03 -1.47940798e-03 9.99995292e-01 7.81964746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters 0.29094219041767927 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:0.78 [[ 9.99989792e-01 -3.80553460e-03 -2.43608892e-03 2.02393692e+00] [ 3.80992737e-03 9.99991120e-01 1.80111305e-03 -3.06771770e-02] [ 2.42921309e-03 -1.81037598e-03 9.99995411e-01 7.81870913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68255784399997 meters 0.28871671851547664 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.78 [[ 9.99988621e-01 4.56402419e-03 -1.38852153e-03 2.00236922e+00] [-4.56288793e-03 9.99989253e-01 8.20396373e-04 -3.81960757e-02] [ 1.39225092e-03 -8.14051370e-04 9.99998699e-01 7.81096738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74255784399998 meters 0.29149849803330835 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:0.78 [[ 9.99987098e-01 -4.94910048e-03 -1.14491509e-03 2.02541174e+00] [ 4.95111603e-03 9.99986187e-01 1.76435346e-03 -4.17207424e-02] [ 1.13616731e-03 -1.76999930e-03 9.99997788e-01 7.80497768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80255784399998 meters 0.2897514424087567 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:0.78 [[ 9.99991247e-01 4.08395271e-03 -9.09945873e-04 2.00364723e+00] [-4.08303839e-03 9.99991160e-01 1.00441075e-03 -4.50032836e-02] [ 9.14039795e-04 -1.00068661e-03 9.99999082e-01 7.79804408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86255784399998 meters 0.28978496822048705 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.78 [[ 9.99991348e-01 4.04761775e-03 -9.59318607e-04 2.00379484e+00] [-4.04676010e-03 9.99991412e-01 8.94283232e-04 -4.45413754e-02] [ 9.62930085e-04 -8.90393362e-04 9.99999140e-01 7.79737161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92255784399998 meters 0.2907885535350766 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.78 [[ 9.99992012e-01 3.85439913e-03 -1.05782103e-03 2.00413368e+00] [-3.85405833e-03 9.99992521e-01 3.24026321e-04 -4.22148034e-02] [ 1.05906205e-03 -3.19946829e-04 9.99999388e-01 7.79577668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98255784399998 meters 0.2894438729416305 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:0.77 [[ 9.99980647e-01 5.60941441e-03 -2.69060168e-03 1.96999138e+00] [-5.60712466e-03 9.99983912e-01 8.57808119e-04 -3.28350164e-02] [ 2.69537019e-03 -8.42704980e-04 9.99996012e-01 7.74824878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042557844 meters 0.2918561594340771 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.03, Z:0.77 [[ 9.99998914e-01 -1.42567505e-03 3.74220527e-04 1.99180813e+00] [ 1.42463580e-03 9.99995169e-01 2.76284429e-03 -3.09875647e-02] [-3.78157637e-04 -2.76230816e-03 9.99996113e-01 7.73035039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102557844 meters 0.2887085849989111 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:0.77 [[ 9.99996447e-01 -1.41565953e-03 2.25856894e-03 1.94925758e+00] [ 1.41218964e-03 9.99997821e-01 1.53717714e-03 -2.38782602e-02] [-2.26074014e-03 -1.53398215e-03 9.99996268e-01 7.72367079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162557844 meters 0.2915770762463141 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:0.77 [[ 9.99987756e-01 4.69772416e-03 1.55546608e-03 1.97384429e+00] [-4.69583377e-03 9.99988234e-01 -1.21674936e-03 -2.79204253e-02] [-1.56116374e-03 1.20943025e-03 9.99998050e-01 7.70567973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222557844 meters 0.2924253342667013 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:0.77 [[ 9.99986747e-01 -2.56490025e-03 4.46388587e-03 1.99563373e+00] [ 2.55977385e-03 9.99996058e-01 1.15375162e-03 -3.08490648e-02] [-4.46682753e-03 -1.14230979e-03 9.99989371e-01 7.69033553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282557844 meters 0.29126741926850264 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:0.77 [[ 9.99973038e-01 6.37497339e-03 3.64456689e-03 1.97488441e+00] [-6.37524810e-03 9.99979676e-01 6.37623689e-05 -3.15428143e-02] [-3.64408634e-03 -8.69956679e-05 9.99993357e-01 7.67753871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342557844 meters 0.2900396222392157 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:0.77 [[ 9.99997795e-01 -1.70260068e-03 1.22903628e-03 1.95709776e+00] [ 1.70197705e-03 9.99998422e-01 5.08282221e-04 -2.32788598e-02] [-1.22989974e-03 -5.06189309e-04 9.99999116e-01 7.66755069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402557844 meters 0.2911226000547417 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:0.77 [[ 9.99969716e-01 6.51679022e-03 4.25433050e-03 1.97651922e+00] [-6.51388499e-03 9.99978542e-01 -6.96387234e-04 -2.01395831e-02] [-4.25877742e-03 6.68653925e-04 9.99990708e-01 7.67379832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46255784399997 meters 0.29166406094700453 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.77 [[ 9.99982372e-01 -2.10830714e-03 5.55078881e-03 1.99500231e+00] [ 2.10654360e-03 9.99997729e-01 3.23537712e-04 -1.46775401e-02] [-5.55145832e-03 -3.11839030e-04 9.99984542e-01 7.68965463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52255784399998 meters 0.2917120831708599 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.77 [[ 9.99981927e-01 -2.54748513e-03 5.44581605e-03 1.99522195e+00] [ 2.55273214e-03 9.99996284e-01 -9.56760021e-04 -9.56484993e-03] [-5.44335848e-03 9.70644439e-04 9.99984714e-01 7.69210345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58255784399998 meters 0.29187627267695737 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.77 [[ 9.99982028e-01 -2.82247271e-03 5.28934549e-03 1.99599002e+00] [ 2.83127720e-03 9.99994618e-01 -1.65782335e-03 -6.64769380e-03] [-5.28463786e-03 1.67276915e-03 9.99984637e-01 7.68386230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64255784399998 meters 0.29106669564303983 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.01, Z:0.77 [[ 9.99982250e-01 -2.90990747e-03 5.19929950e-03 1.99622780e+00] [ 2.91977743e-03 9.99993948e-01 -1.89174348e-03 -5.69128479e-03] [-5.19376324e-03 1.90689070e-03 9.99984694e-01 7.68382083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70255784399998 meters 0.290795474648654 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.00, Z:0.77 [[ 0.99998126 -0.00298839 0.00534366 1.99560388] [ 0.0029997 0.99999327 -0.00211019 -0.00489745] [-0.00533732 0.00212618 0.9999835 0.7690939 ] [ 0. 0. 0. 1. ]] SLAMing on 227.76255784399999 meters 0.29300611248162267 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.00, Z:0.77 [[ 0.9999562 0.00598894 0.00719306 2.01805019] [-0.00597375 0.99997989 -0.00213067 -0.00489593] [-0.00720567 0.0020876 0.99997186 0.76762824] [ 0. 0. 0. 1. ]] SLAMing on 227.822557844 meters 0.29092135408812037 Centerline is valid? [False, False] Translation: X:2.00, Y:0.00, Z:0.77 [[ 0.99997984 -0.00266111 0.0057658 1.99888548] [ 0.00267342 0.99999416 -0.00212851 0.00279167] [-0.00576011 0.00214388 0.99998111 0.76741994] [ 0. 0. 0. 1. ]] SLAMing on 227.882557844 meters 0.2905966660913854 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:0.77 [[ 9.99982822e-01 1.40463496e-03 5.69060319e-03 1.99902814e+00] [-1.41325988e-03 9.99997858e-01 1.51190476e-03 5.65719956e-03] [-5.68846733e-03 -1.51992109e-03 9.99982665e-01 7.67555242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942557844 meters 0.2911527187143779 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:0.77 [[ 9.99983007e-01 1.15885801e-03 5.71331793e-03 1.99896307e+00] [-1.16225917e-03 9.99999149e-01 5.92019364e-04 9.20600870e-03] [-5.71262701e-03 -5.98649660e-04 9.99983504e-01 7.67641004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002557844 meters 0.2914892112379446 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:0.77 [[ 9.99982590e-01 9.21938511e-04 5.82841244e-03 1.99840857e+00] [-9.20942431e-04 9.99999561e-01 -1.73582243e-04 1.22826799e-02] [-5.82856992e-03 1.68211588e-04 9.99983000e-01 7.68312462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062557844 meters 0.2905208370747622 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:0.77 [[ 0.99998845 -0.00392499 0.0027752 1.97674392] [ 0.00391736 0.99998855 0.00274922 0.01688664] [-0.00278596 -0.00273832 0.99999237 0.76958694] [ 0. 0. 0. 1. ]] SLAMing on 228.122557844 meters 0.2907645501487215 Centerline is valid? [False, False] Translation: X:2.00, Y:0.02, Z:0.77 [[ 9.99971938e-01 3.48973021e-03 6.62917047e-03 1.99509499e+00] [-3.49998099e-03 9.99992696e-01 1.53534230e-03 1.71379288e-02] [-6.62376412e-03 -1.55850119e-03 9.99976848e-01 7.70509171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18255784399997 meters 0.2895215556224632 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:0.77 [[ 9.99971889e-01 3.36142513e-03 6.70232878e-03 1.99479010e+00] [-3.36943760e-03 9.99993622e-01 1.18454185e-03 1.85522254e-02] [-6.69830428e-03 -1.20709163e-03 9.99976838e-01 7.70834135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24255784399998 meters 0.28998464137149776 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:0.77 [[ 9.99973559e-01 2.95021209e-03 6.64666594e-03 1.99462667e+00] [-2.95155477e-03 9.99995626e-01 1.92209361e-04 2.26815202e-02] [-6.64606981e-03 -2.11822277e-04 9.99977892e-01 7.71487246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30255784399998 meters 0.29107185334347424 Centerline is valid? [False, False] Translation: X:1.99, Y:0.03, Z:0.77 [[ 9.99975112e-01 2.64526864e-03 6.54054796e-03 1.99474453e+00] [-2.64108771e-03 9.99996303e-01 -6.47786914e-04 2.60670710e-02] [-6.54223735e-03 6.30496631e-04 9.99978401e-01 7.71871985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36255784399998 meters 0.2908006390545417 Centerline is valid? [False, False] Translation: X:1.99, Y:0.03, Z:0.77 [[ 0.99997647 0.00219 0.00650156 1.99478085] [-0.0021768 0.99999556 -0.0020371 0.03162631] [-0.00650599 0.0020229 0.99997679 0.77210396] [ 0. 0. 0. 1. ]] SLAMing on 228.42255784399998 meters 0.2901310160883334 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.77 [[ 9.99977895e-01 1.63195847e-03 6.44566259e-03 1.99465504e+00] [-1.61121665e-03 9.99993512e-01 -3.22183347e-03 3.67223749e-02] [-6.45087867e-03 3.21137689e-03 9.99974036e-01 7.72629546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48255784399998 meters 0.2914372268622531 Centerline is valid? [False, False] Translation: X:2.00, Y:0.04, Z:0.77 [[ 9.99979107e-01 1.47980334e-03 6.29253603e-03 1.99540467e+00] [-1.45693649e-03 9.99992325e-01 -3.63699645e-03 3.85247240e-02] [-6.29786978e-03 3.62775263e-03 9.99973588e-01 7.71718858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542557844 meters 0.2907712290967475 Centerline is valid? [False, False] Translation: X:2.00, Y:0.04, Z:0.77 [[ 9.99980318e-01 1.19012327e-03 6.16020562e-03 1.99577784e+00] [-1.16353251e-03 9.99989999e-01 -4.31832369e-03 4.13586759e-02] [-6.16528335e-03 4.31107109e-03 9.99971702e-01 7.71721864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602557844 meters 0.2898918280509432 Centerline is valid? [False, False] Translation: X:1.97, Y:0.05, Z:0.77 [[ 9.99988293e-01 -3.40386159e-03 3.43907768e-03 1.97403233e+00] [ 3.40712175e-03 9.99993752e-01 -9.42561095e-04 4.52612290e-02] [-3.43584785e-03 9.54267417e-04 9.99993642e-01 7.73048577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662557844 meters 0.2908177506069827 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99975913e-01 2.01895925e-03 6.64052660e-03 1.99525610e+00] [-1.99144448e-03 9.99989416e-01 -4.14746717e-03 4.68729607e-02] [-6.64882988e-03 4.13414303e-03 9.99969350e-01 7.71709943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722557844 meters 0.29073269802333024 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99975942e-01 1.91870420e-03 6.66592409e-03 1.99509406e+00] [-1.88925098e-03 9.99988438e-01 -4.42196668e-03 4.79873749e-02] [-6.67433147e-03 4.40926670e-03 9.99968005e-01 7.71953297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782557844 meters 0.28985073594262883 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99977780e-01 1.81406004e-03 6.41469182e-03 1.99575410e+00] [-1.78355992e-03 9.99987094e-01 -4.75725711e-03 4.93827118e-02] [-6.42323898e-03 4.74571042e-03 9.99968110e-01 7.71862020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842557844 meters 0.2912887451163834 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99978034e-01 1.72884037e-03 6.39865034e-03 1.99575091e+00] [-1.69692178e-03 9.99986108e-01 -4.99040405e-03 5.03365791e-02] [-6.40718906e-03 4.97943642e-03 9.99967076e-01 7.71990115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902557844 meters 0.2906109614371416 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99978077e-01 1.52457430e-03 6.44369388e-03 1.99538373e+00] [-1.48924465e-03 9.99983853e-01 -5.48407217e-03 5.24131886e-02] [-6.45195071e-03 5.47435571e-03 9.99964201e-01 7.72561440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96255784399997 meters 0.29121775228665236 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99977987e-01 1.35142355e-03 6.49602954e-03 1.99533336e+00] [-1.31292185e-03 9.99981570e-01 -5.92757424e-03 5.42349666e-02] [-6.50392048e-03 5.91891498e-03 9.99961332e-01 7.72401244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02255784399998 meters 0.29140682068091356 Centerline is valid? [False, False] Translation: X:2.00, Y:0.05, Z:0.77 [[ 9.99977322e-01 1.31338974e-03 6.60540123e-03 1.99501675e+00] [-1.27349865e-03 9.99980950e-01 -6.03974601e-03 5.46592513e-02] [-6.61320793e-03 6.03119707e-03 9.99959944e-01 7.72520893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08255784399998 meters 0.2907668257883963 Centerline is valid? [False, False] Translation: X:1.98, Y:0.05, Z:0.77 [[ 0.99996627 -0.00725405 0.00385139 1.97525383] [ 0.00727556 0.99995785 -0.00559954 0.05439391] [-0.00381061 0.00562737 0.99997691 0.77242736] [ 0. 0. 0. 1. ]] SLAMing on 229.14255784399998 meters 0.28983793882105174 Centerline is valid? [False, False] Translation: X:1.98, Y:0.05, Z:0.77 [[ 0.99996905 -0.00695935 0.0036686 1.97630695] [ 0.00697618 0.99996511 -0.00459437 0.05049886] [-0.0036365 0.00461982 0.99998272 0.77077407] [ 0. 0. 0. 1. ]] SLAMing on 229.20255784399998 meters 0.2903515300316105 Centerline is valid? [False, False] Translation: X:1.97, Y:0.04, Z:0.77 [[ 9.99986143e-01 -3.26692540e-03 4.12814437e-03 1.97428629e+00] [ 3.26853016e-03 9.99994585e-01 -3.82049836e-04 4.25307770e-02] [-4.12687389e-03 3.95537506e-04 9.99991406e-01 7.71812566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26255784399999 meters 0.2913298245592336 Centerline is valid? [False, False] Translation: X:2.01, Y:0.04, Z:0.77 [[ 9.99985198e-01 -3.03579581e-03 4.51517522e-03 2.01265226e+00] [ 3.03119744e-03 9.99994881e-01 1.02492182e-03 3.84997409e-02] [-4.51826356e-03 -1.01122027e-03 9.99989281e-01 7.73748867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322557844 meters 0.29038139383279316 Centerline is valid? [False, False] Translation: X:2.01, Y:0.04, Z:0.77 [[ 9.99984418e-01 -3.07959267e-03 4.65608721e-03 2.01228657e+00] [ 3.07548291e-03 9.99994875e-01 8.89566068e-04 3.90186311e-02] [-4.65880285e-03 -8.75232491e-04 9.99988765e-01 7.73817835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382557844 meters 0.2887823533720779 Centerline is valid? [False, False] Translation: X:1.99, Y:0.04, Z:0.77 [[ 9.99969706e-01 7.20050799e-03 2.95615369e-03 1.99172895e+00] [-7.20240428e-03 9.99973863e-01 6.31326253e-04 4.09514285e-02] [-2.95153056e-03 -6.52598542e-04 9.99995431e-01 7.73808440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442557844 meters 0.29007049572010923 Centerline is valid? [False, False] Translation: X:2.01, Y:0.05, Z:0.77 [[ 9.99994602e-01 -2.76510769e-03 1.77500390e-03 2.01347996e+00] [ 2.76381300e-03 9.99995913e-01 7.31437778e-04 4.65784146e-02] [-1.77701915e-03 -7.26528051e-04 9.99998157e-01 7.74353281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502557844 meters 0.28997249835270494 Centerline is valid? [False, False] Translation: X:2.01, Y:0.05, Z:0.77 [[ 9.99993979e-01 -2.89955573e-03 1.90645396e-03 2.01301915e+00] [ 2.89887657e-03 9.99995734e-01 3.58909764e-04 4.80920843e-02] [-1.90748651e-03 -3.53381028e-04 9.99998118e-01 7.74670134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562557844 meters 0.2892006527906758 Centerline is valid? [False, False] Translation: X:2.01, Y:0.05, Z:0.78 [[ 9.99993128e-01 -3.00956957e-03 2.16493311e-03 2.01219470e+00] [ 3.00945136e-03 9.99995470e-01 5.78561396e-05 4.92709353e-02] [-2.16509743e-03 -5.13404811e-05 9.99997655e-01 7.75181853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters 0.28801593271881787 Centerline is valid? [False, False] Translation: X:2.01, Y:0.05, Z:0.78 [[ 9.99992954e-01 -3.01809412e-03 2.23205595e-03 2.01203116e+00] [ 3.01804239e-03 9.99995445e-01 2.65421250e-05 4.93731893e-02] [-2.23212590e-03 -1.98054985e-05 9.99997509e-01 7.75190688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68255784399997 meters 0.2891348294923976 Centerline is valid? [False, False] Translation: X:2.01, Y:0.05, Z:0.78 [[ 9.99993432e-01 -2.98114808e-03 2.06116502e-03 2.01249756e+00] [ 2.98088363e-03 9.99995549e-01 1.31360535e-04 4.89663067e-02] [-2.06154745e-03 -1.25215579e-04 9.99997867e-01 7.75051338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74255784399998 meters 0.2905624803809685 Centerline is valid? [False, False] Translation: X:2.03, Y:0.04, Z:0.78 [[ 9.99982549e-01 5.67234521e-03 1.65108421e-03 2.03362301e+00] [-5.67256519e-03 9.99983903e-01 1.28585712e-04 4.27984226e-02] [-1.65032825e-03 -1.37949351e-04 9.99998629e-01 7.75275418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80255784399998 meters 0.289822274004242 Centerline is valid? [False, False] Translation: X:2.03, Y:0.04, Z:0.77 [[ 9.99982289e-01 5.67655082e-03 1.78862160e-03 2.03340256e+00] [-5.67681893e-03 9.99983876e-01 1.44854936e-04 4.27440428e-02] [-1.78777049e-03 -1.55006052e-04 9.99998390e-01 7.74972478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86255784399998 meters 0.29018651835470366 Centerline is valid? [False, False] Translation: X:2.03, Y:0.04, Z:0.77 [[ 9.99982871e-01 5.60114153e-03 1.69826967e-03 2.03376368e+00] [-5.60104929e-03 9.99984312e-01 -5.90666885e-05 4.36133070e-02] [-1.69857387e-03 4.95535847e-05 9.99998556e-01 7.74683719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92255784399998 meters 0.29077550282373255 Centerline is valid? [False, False] Translation: X:2.04, Y:0.05, Z:0.77 [[ 9.99985056e-01 5.36396273e-03 1.05636026e-03 2.03548898e+00] [-5.36299914e-03 9.99985202e-01 -9.12912023e-04 4.72630624e-02] [-1.06124145e-03 9.07233121e-04 9.99999025e-01 7.74387593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98255784399998 meters 0.28982916933823405 Centerline is valid? [False, False] Translation: X:2.03, Y:0.05, Z:0.77 [[ 9.99986533e-01 5.01147553e-03 1.34892616e-03 2.03464967e+00] [-5.00896708e-03 9.99985732e-01 -1.85658536e-03 5.11792670e-02] [-1.35821114e-03 1.84980363e-03 9.99997367e-01 7.74704501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042557844 meters 0.2908747395600172 Centerline is valid? [False, False] Translation: X:2.03, Y:0.05, Z:0.77 [[ 9.99987583e-01 4.80011245e-03 1.33903221e-03 2.03482383e+00] [-4.79699499e-03 9.99985799e-01 -2.32171770e-03 5.31763905e-02] [-1.35015770e-03 2.31526554e-03 9.99996408e-01 7.74441842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102557844 meters 0.29067384435474286 Centerline is valid? [False, False] Translation: X:2.04, Y:0.06, Z:0.77 [[ 9.99989098e-01 4.57614416e-03 9.28568265e-04 2.03606001e+00] [-4.57333758e-03 9.99985035e-01 -3.00241848e-03 5.60115009e-02] [-9.42293869e-04 2.99813909e-03 9.99995062e-01 7.73559740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162557844 meters 0.2921127817637776 Centerline is valid? [False, False] Translation: X:2.05, Y:0.06, Z:0.78 [[ 9.99990753e-01 -3.97416814e-03 1.64295194e-03 2.05487687e+00] [ 3.97655623e-03 9.99991038e-01 -1.45283375e-03 6.13197979e-02] [-1.63716341e-03 1.45935360e-03 9.99997595e-01 7.75372148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222557844 meters 0.29141134488585524 Centerline is valid? [False, False] Translation: X:2.05, Y:0.06, Z:0.78 [[ 9.99989733e-01 -4.17747746e-03 1.75546834e-03 2.05448730e+00] [ 4.18096255e-03 9.99989287e-01 -1.98631784e-03 6.35210269e-02] [-1.74715174e-03 1.99363699e-03 9.99996486e-01 7.75667480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282557844 meters 0.2896175212685402 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:0.78 [[ 9.99995079e-01 -1.61063720e-03 2.69221338e-03 2.04888009e+00] [ 1.61014213e-03 9.99998686e-01 1.86046539e-04 6.59304696e-02] [-2.69250950e-03 -1.81710777e-04 9.99996359e-01 7.80020682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342557844 meters 0.2897432316273069 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:0.78 [[ 9.99995038e-01 -1.79100203e-03 2.59154858e-03 2.04911755e+00] [ 1.79217729e-03 9.99998292e-01 -4.51245049e-04 6.84240751e-02] [-2.59073598e-03 4.55887324e-04 9.99996540e-01 7.80036186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40255784399997 meters 0.2895874182535513 Centerline is valid? [False, False] Translation: X:2.03, Y:0.08, Z:0.78 [[ 9.99981675e-01 -6.02440617e-03 -5.97430909e-04 2.02897950e+00] [ 6.02585628e-03 9.99978829e-01 2.45589300e-03 7.72809134e-02] [ 5.82622963e-04 -2.45944803e-03 9.99996806e-01 7.81216393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46255784399997 meters 0.29110352972387177 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99994974e-01 -3.33130962e-06 3.17037305e-03 2.05122553e+00] [ 3.27156338e-06 1.00000000e+00 1.88503638e-05 8.52258409e-02] [-3.17037311e-03 -1.88398970e-05 9.99994974e-01 7.79386279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52255784399998 meters 0.2907050443918839 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99994539e-01 -4.47051981e-04 3.27446349e-03 2.05093104e+00] [ 4.51031924e-04 9.99999160e-01 -1.21481118e-03 9.02492085e-02] [-3.27391766e-03 1.21628143e-03 9.99993901e-01 7.79488332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58255784399998 meters 0.2908330369918872 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99994958e-01 -6.99772287e-04 3.09760408e-03 2.05131291e+00] [ 7.05464096e-04 9.99998064e-01 -1.83677631e-03 9.28106088e-02] [-3.09631276e-03 1.83895230e-03 9.99993516e-01 7.79636041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64255784399998 meters 0.29030634762555857 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99995263e-01 -7.55001365e-04 2.98381521e-03 2.05154011e+00] [ 7.60931768e-04 9.99997737e-01 -1.98688803e-03 9.34230435e-02] [-2.98230835e-03 1.98914910e-03 9.99993575e-01 7.79788989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70255784399998 meters 0.2903963000533763 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99990736e-01 1.30463302e-03 4.10184524e-03 2.04597643e+00] [-1.30438273e-03 9.99999147e-01 -6.36948962e-05 9.28813457e-02] [-4.10192484e-03 5.83439300e-05 9.99991585e-01 7.83484249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76255784399999 meters 0.2907693171705243 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99991528e-01 1.18429535e-03 3.94234811e-03 2.04639215e+00] [-1.18235773e-03 9.99999179e-01 -4.93784170e-04 9.45628902e-02] [-3.94292966e-03 4.89118721e-04 9.99992107e-01 7.83358851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822557844 meters 0.2897314701261279 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99992420e-01 1.18628864e-03 3.70850417e-03 2.04691371e+00] [-1.18444319e-03 9.99999174e-01 -4.99784995e-04 9.46062710e-02] [-3.70909399e-03 4.95388694e-04 9.99992999e-01 7.83458261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882557844 meters 0.2888974016431151 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99991417e-01 1.22900449e-03 3.95679274e-03 2.04616641e+00] [-1.22755891e-03 9.99999179e-01 -3.67747292e-04 9.40613067e-02] [-3.95724145e-03 3.62886940e-04 9.99992104e-01 7.83836465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942557844 meters 0.2896169480237274 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99990452e-01 1.22238157e-03 4.19535622e-03 2.04558833e+00] [-1.22081291e-03 9.99999184e-01 -3.76443756e-04 9.40556494e-02] [-4.19581296e-03 3.71318417e-04 9.99991129e-01 7.83836615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002557844 meters 0.28940439123737827 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99991212e-01 1.24018735e-03 4.00483184e-03 2.04601577e+00] [-1.23886359e-03 9.99999177e-01 -3.33005633e-04 9.38907005e-02] [-4.00524153e-03 3.28041266e-04 9.99991925e-01 7.83877227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062557844 meters 0.28956102043427207 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99991068e-01 1.23266478e-03 4.04275015e-03 2.04603931e+00] [-1.23125279e-03 9.99999180e-01 -3.51735102e-04 9.39832169e-02] [-4.04318041e-03 3.46754313e-04 9.99991766e-01 7.83590054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122557844 meters 0.2898541803534429 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99990073e-01 1.17589749e-03 4.29786572e-03 2.04513499e+00] [-1.17365679e-03 9.99999174e-01 -5.23836724e-04 9.46683959e-02] [-4.29847815e-03 5.18787305e-04 9.99990627e-01 7.84355325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18255784399997 meters 0.28940829347349806 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99989871e-01 1.26716119e-03 4.31880255e-03 2.04513540e+00] [-1.26597717e-03 9.99999160e-01 -2.76879620e-04 9.36574780e-02] [-4.31914978e-03 2.71409310e-04 9.99990636e-01 7.84240423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24255784399998 meters 0.28970414161741664 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99989978e-01 1.44398400e-03 4.23771696e-03 2.04553182e+00] [-1.44489289e-03 9.99998934e-01 2.11424118e-04 9.16749489e-02] [-4.23740715e-03 -2.17545046e-04 9.99990998e-01 7.83815910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30255784399998 meters 0.2911079585859143 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99989537e-01 1.60993729e-03 4.28185104e-03 2.04564798e+00] [-1.61262254e-03 9.99998505e-01 6.23744943e-04 8.99957740e-02] [-4.28084045e-03 -6.30643426e-04 9.99990638e-01 7.83340347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36255784399998 meters 0.28968490824412724 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99989363e-01 1.72174081e-03 4.27893750e-03 2.04591623e+00] [-1.72579084e-03 9.99998066e-01 9.42991312e-04 8.87510151e-02] [-4.27730564e-03 -9.50365833e-04 9.99990401e-01 7.82742239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42255784399998 meters 0.29117723475506463 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 9.99989802e-01 1.73528220e-03 4.16942177e-03 2.04612390e+00] [-1.73944072e-03 9.99997993e-01 9.93965349e-04 8.85547169e-02] [-4.16768859e-03 -1.00120767e-03 9.99990814e-01 7.82894568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48255784399998 meters 0.2899934723699875 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 0.99998945 -0.00217884 0.00404368 2.04670684] [ 0.00218852 0.99999475 -0.00238968 0.08587225] [-0.00403845 0.0023985 0.99998897 0.78239647] [ 0. 0. 0. 1. ]] SLAMing on 231.542557844 meters 0.2912258046418337 Centerline is valid? [False, False] Translation: X:2.05, Y:0.09, Z:0.78 [[ 0.99999063 -0.00212343 0.00377293 2.04761078] [ 0.00213207 0.99999511 -0.00228871 0.08567001] [-0.00376805 0.00229673 0.99999026 0.78169675] [ 0. 0. 0. 1. ]] SLAMing on 231.602557844 meters 0.29107824445861913 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 0.99999107 -0.00205709 0.00369033 2.04786468] [ 0.00206491 0.99999563 -0.00211419 0.0849426 ] [-0.00368596 0.00212179 0.99999096 0.78163029] [ 0. 0. 0. 1. ]] SLAMing on 231.662557844 meters 0.28957658032019906 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 9.99990957e-01 -1.93408836e-03 3.78754271e-03 2.04752605e+00] [ 1.94076313e-03 9.99996569e-01 -1.75941206e-03 8.34855810e-02] [-3.78412686e-03 1.76674687e-03 9.99991279e-01 7.81901919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722557844 meters 0.29154715885403265 Centerline is valid? [False, False] Translation: X:2.07, Y:0.08, Z:0.78 [[ 9.99963054e-01 6.35962242e-03 5.78315848e-03 2.06806548e+00] [-6.34877626e-03 9.99978057e-01 -1.89190138e-03 7.95758890e-02] [-5.79506336e-03 1.85511550e-03 9.99981488e-01 7.81438316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782557844 meters 0.29003501013359545 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 9.99994244e-01 -1.43585250e-03 3.07420672e-03 2.04812643e+00] [ 1.44008881e-03 9.99998016e-01 -1.37624854e-03 8.18396972e-02] [-3.07222453e-03 1.38066775e-03 9.99994328e-01 7.81277383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842557844 meters 0.29089098207206016 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 9.99994297e-01 -1.42053012e-03 3.06399800e-03 2.04816005e+00] [ 1.42461699e-03 9.99998098e-01 -1.33206468e-03 8.16607281e-02] [-3.06209993e-03 1.33642211e-03 9.99994419e-01 7.81261559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90255784399997 meters 0.2901774133563605 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 9.99994214e-01 -1.21623682e-03 3.17695054e-03 2.04760187e+00] [ 1.21885308e-03 9.99998920e-01 -8.21707177e-04 7.93845065e-02] [-3.17594771e-03 8.25574659e-04 9.99994616e-01 7.81886509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96255784399997 meters 0.2907105668951463 Centerline is valid? [False, False] Translation: X:2.05, Y:0.08, Z:0.78 [[ 9.99994861e-01 -9.94509007e-04 3.04782441e-03 2.04823517e+00] [ 9.95201993e-04 9.99999479e-01 -2.25862488e-04 7.69383839e-02] [-3.04759820e-03 2.28894528e-04 9.99995330e-01 7.81241043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02255784399998 meters 0.2907786603149954 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:0.78 [[ 9.99995303e-01 -7.02791442e-04 2.98342306e-03 2.04866410e+00] [ 7.01259650e-04 9.99999622e-01 5.14449276e-04 7.38907132e-02] [-2.98378348e-03 -5.12354705e-04 9.99995417e-01 7.80735439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08255784399998 meters 0.2902596083398128 Centerline is valid? [False, False] Translation: X:2.05, Y:0.07, Z:0.78 [[ 9.99995175e-01 -8.96465805e-05 3.10515771e-03 2.04872775e+00] [ 8.37290832e-05 9.99998181e-01 1.90577702e-03 6.81927961e-02] [-3.10532291e-03 -1.90550784e-03 9.99993363e-01 7.80124870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14255784399998 meters 0.2913109739390518 Centerline is valid? [False, False] Translation: X:2.05, Y:0.06, Z:0.78 [[ 9.99994368e-01 7.15053189e-04 3.27912475e-03 2.04860656e+00] [-7.27457333e-04 9.99992579e-01 3.78312943e-03 6.04324591e-02] [-3.27639528e-03 -3.78549355e-03 9.99987468e-01 7.79605506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20255784399998 meters 0.2904452957417608 Centerline is valid? [False, False] Translation: X:2.05, Y:0.05, Z:0.78 [[ 9.99989929e-01 -2.05206970e-03 3.99142959e-03 2.04607879e+00] [ 2.04198915e-03 9.99994720e-01 2.52798617e-03 5.08166342e-02] [-3.99659612e-03 -2.51981026e-03 9.99988839e-01 7.80927757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26255784399999 meters 0.29095097979019524 Centerline is valid? [False, False] Translation: X:2.05, Y:0.05, Z:0.78 [[ 9.99990567e-01 -1.71086666e-03 3.99244577e-03 2.04641852e+00] [ 1.69757447e-03 9.99993013e-01 3.33035069e-03 4.75382034e-02] [-3.99811566e-03 -3.32354179e-03 9.99986484e-01 7.80319004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322557844 meters 0.29036927920955236 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 9.99991473e-01 -1.28936041e-03 3.92325943e-03 2.04674477e+00] [ 1.27253251e-03 9.99989994e-01 4.28874287e-03 4.36097217e-02] [-3.92874991e-03 -4.28371382e-03 9.99983107e-01 7.80172595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382557844 meters 0.29039959538231996 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 9.99991564e-01 -9.93027545e-04 3.98561634e-03 2.04644303e+00] [ 9.73078462e-04 9.99987006e-01 5.00409140e-03 4.06289070e-02] [-3.99053375e-03 -5.00017087e-03 9.99979537e-01 7.80539411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442557844 meters 0.2903250601308349 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 9.99991802e-01 -6.94832294e-04 3.98902760e-03 2.04664538e+00] [ 6.71831567e-04 9.99983160e-01 5.76444578e-03 3.75196449e-02] [-3.99296575e-03 -5.76171857e-03 9.99975429e-01 7.80185912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502557844 meters 0.29088922319487975 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.99999044 -0.00322363 0.00295333 2.05222666] [ 0.0032125 0.99998774 0.00376833 0.03317816] [-0.00296544 -0.00375881 0.99998854 0.77585883] [ 0. 0. 0. 1. ]] SLAMing on 232.562557844 meters 0.2908256752532832 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.99999098 -0.00316667 0.00283161 2.05256965] [ 0.00315556 0.99998734 0.00391973 0.03255302] [-0.00284398 -0.00391076 0.99998831 0.77580704] [ 0. 0. 0. 1. ]] SLAMing on 232.622557844 meters 0.2915408903334077 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.9999907 -0.00329633 0.00278265 2.0528646 ] [ 0.00328657 0.99998845 0.00350721 0.03422294] [-0.00279418 -0.00349803 0.99998998 0.77532598] [ 0. 0. 0. 1. ]] SLAMing on 232.68255784399997 meters 0.29097781478577844 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 0.9999891 -0.00345402 0.00314086 2.05176983] [ 0.00344477 0.99998973 0.00294599 0.03644573] [-0.003151 -0.00293514 0.99999073 0.77585711] [ 0. 0. 0. 1. ]] SLAMing on 232.74255784399998 meters 0.29049544556307133 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 0.99998852 -0.0035478 0.00322174 2.05145084] [ 0.00353912 0.99999011 0.00269455 0.03748131] [-0.00323127 -0.00268312 0.99999118 0.77607911] [ 0. 0. 0. 1. ]] SLAMing on 232.80255784399998 meters 0.2909710598234836 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 0.99998885 -0.00355148 0.00311138 2.0518161 ] [ 0.00354314 0.99999012 0.00268447 0.03751746] [-0.00312089 -0.00267342 0.99999156 0.77588409] [ 0. 0. 0. 1. ]] SLAMing on 232.86255784399998 meters 0.2896056145948735 Centerline is valid? [False, False] Translation: X:2.03, Y:0.03, Z:0.78 [[ 0.99997438 0.00594439 0.00398883 2.02997078] [-0.00595352 0.99997967 0.00228178 0.03245351] [-0.00397518 -0.00230547 0.99998944 0.77623985] [ 0. 0. 0. 1. ]] SLAMing on 232.92255784399998 meters 0.2910014313470452 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 0.9999829 -0.00337286 0.00477788 2.05021164] [ 0.00335832 0.99998972 0.00304746 0.03586802] [-0.00478811 -0.00303137 0.99998394 0.77649275] [ 0. 0. 0. 1. ]] SLAMing on 232.98255784399998 meters 0.28893057384041426 Centerline is valid? [False, False] Translation: X:2.03, Y:0.03, Z:0.78 [[ 9.99994810e-01 2.58920308e-03 1.91727298e-03 2.03005693e+00] [-2.58824444e-03 9.99996524e-01 -5.02315923e-04 3.44300371e-02] [-1.91856692e-03 4.97350945e-04 9.99998036e-01 7.76959649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042557844 meters 0.290134266877711 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:0.78 [[ 9.99976244e-01 -6.13048632e-03 3.15111289e-03 2.04920153e+00] [ 6.12705498e-03 9.99980627e-01 1.09743100e-03 3.60359305e-02] [-3.15777963e-03 -1.07809789e-03 9.99994433e-01 7.78090894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102557844 meters 0.29015300909145997 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.99997826 -0.00575095 0.00322479 2.04903856] [ 0.00574413 0.99998126 0.00211829 0.0318758 ] [-0.00323691 -0.00209972 0.99999256 0.77811317] [ 0. 0. 0. 1. ]] SLAMing on 233.162557844 meters 0.28989047753655534 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.9999793 -0.00561746 0.0031389 2.04942921] [ 0.00560969 0.99998119 0.00247868 0.03039475] [-0.00315277 -0.00246102 0.999992 0.77777737] [ 0. 0. 0. 1. ]] SLAMing on 233.222557844 meters 0.29124216006140485 Centerline is valid? [False, False] Translation: X:2.05, Y:0.03, Z:0.78 [[ 0.99998193 -0.00527364 0.00288723 2.05071494] [ 0.0052637 0.99998022 0.00344203 0.02623121] [-0.00290532 -0.00342677 0.99998991 0.7764541 ] [ 0. 0. 0. 1. ]] SLAMing on 233.282557844 meters 0.2915280414183943 Centerline is valid? [False, False] Translation: X:2.05, Y:0.02, Z:0.78 [[ 0.99998304 -0.00509606 0.00282035 2.05069441] [ 0.00508504 0.99997946 0.0039006 0.02432093] [-0.00284017 -0.00388619 0.99998842 0.77695188] [ 0. 0. 0. 1. ]] SLAMing on 233.342557844 meters 0.2903952969165162 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:0.77 [[ 9.99983025e-01 8.22964943e-04 5.76823214e-03 2.03526362e+00] [-8.33282074e-04 9.99998057e-01 1.78643731e-03 1.83054171e-02] [-5.76675076e-03 -1.79121355e-03 9.99981768e-01 7.72324703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40255784399997 meters 0.29210440607157145 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:0.77 [[ 9.99983259e-01 9.87117154e-04 5.70157354e-03 2.03563906e+00] [-9.99875161e-04 9.99997002e-01 2.23521235e-03 1.64610022e-02] [-5.69935003e-03 -2.24087579e-03 9.99981248e-01 7.71910920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46255784399997 meters 0.29035951083145567 Centerline is valid? [False, False] Translation: X:2.01, Y:0.02, Z:0.78 [[ 0.99998644 0.00453746 0.00255409 2.01121912] [-0.00452994 0.99998542 -0.0029406 0.0154726 ] [-0.00256739 0.00292899 0.99999241 0.77699655] [ 0. 0. 0. 1. ]] SLAMing on 233.52255784399998 meters 0.2889758190275647 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:0.78 [[ 9.99984394e-01 4.88356986e-03 2.71348595e-03 2.01054316e+00] [-4.87876032e-03 9.99986521e-01 -1.77626073e-03 1.06106442e-02] [-2.72212387e-03 1.76299456e-03 9.99994741e-01 7.77574677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58255784399998 meters 0.2896793662853406 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:0.78 [[ 9.99982558e-01 5.26671397e-03 2.67291094e-03 2.01077938e+00] [-5.26505163e-03 9.99985942e-01 -6.28576395e-04 6.00253854e-03] [-2.67618390e-03 6.14492418e-04 9.99996230e-01 7.77280489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64255784399998 meters 0.28948014553148194 Centerline is valid? [False, False] Translation: X:2.01, Y:0.00, Z:0.78 [[ 9.99980821e-01 5.59707885e-03 2.65153073e-03 2.01096605e+00] [-5.59777585e-03 9.99984300e-01 2.55517143e-04 2.40698819e-03] [-2.65005895e-03 -2.70354917e-04 9.99996452e-01 7.77030745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70255784399998 meters 0.28974411138197287 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.00, Z:0.78 [[ 9.99995624e-01 1.70176866e-03 2.41973561e-03 2.01188935e+00] [-1.69476907e-03 9.99994383e-01 -2.89182407e-03 -2.25682834e-03] [-2.42464324e-03 2.88771053e-03 9.99992891e-01 7.76190580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76255784399999 meters 0.29145007500974174 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.78 [[ 9.99966686e-01 -7.63205398e-03 2.89449359e-03 2.03296422e+00] [ 7.63751698e-03 9.99969065e-01 -1.88104202e-03 -1.35583094e-03] [-2.88004783e-03 1.90308610e-03 9.99994042e-01 7.75843931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822557844 meters 0.29143884460337516 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.78 [[ 9.99967690e-01 -7.45710903e-03 3.00183491e-03 2.03300455e+00] [ 7.46146199e-03 9.99971124e-01 -1.44152187e-03 -3.09924014e-03] [-2.99099865e-03 1.46387338e-03 9.99994455e-01 7.75253305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882557844 meters 0.2900465901557584 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.01, Z:0.77 [[ 9.99995412e-01 2.57040473e-03 1.60277047e-03 2.01313905e+00] [-2.56829640e-03 9.99995836e-01 -1.31610084e-03 -6.48335521e-03] [-1.60614671e-03 1.31197841e-03 9.99997850e-01 7.74010252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942557844 meters 0.2911550956128067 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.01, Z:0.77 [[ 9.99996037e-01 2.47580111e-03 1.34014399e-03 2.01390568e+00] [-2.47363668e-03 9.99995638e-01 -1.61432768e-03 -5.28228526e-03] [-1.34413489e-03 1.61100626e-03 9.99997799e-01 7.73630156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002557844 meters 0.28998442208068714 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.00, Z:0.77 [[ 9.99995983e-01 2.36255219e-03 1.56620237e-03 2.01305099e+00] [-2.35951431e-03 9.99995337e-01 -1.93866611e-03 -3.88828376e-03] [-1.57077526e-03 1.93496285e-03 9.99996894e-01 7.74312987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062557844 meters 0.29107355145446456 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984012e-01 -4.28964959e-03 3.68440286e-03 2.03330327e+00] [ 4.28583546e-03 9.99990272e-01 1.04248092e-03 -1.61078235e-03] [-3.68883890e-03 -1.02667351e-03 9.99992669e-01 7.73774891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122557844 meters 0.2909693958727263 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984322e-01 -4.27601349e-03 3.61538519e-03 2.03358577e+00] [ 4.27213297e-03 9.99990291e-01 1.08037562e-03 -1.76916178e-03] [-3.61996979e-03 -1.06491328e-03 9.99992881e-01 7.73495676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18255784399997 meters 0.2885168074231694 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984261e-01 -4.16431793e-03 3.75979229e-03 2.03298433e+00] [ 4.15892135e-03 9.99990312e-01 1.44201960e-03 -3.24665959e-03] [-3.76576089e-03 -1.42636022e-03 9.99991892e-01 7.74209268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24255784399998 meters 0.2885919478568845 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984458e-01 -4.07510809e-03 3.80494944e-03 2.03280214e+00] [ 4.06873895e-03 9.99990311e-01 1.68015222e-03 -4.23050797e-03] [-3.81175938e-03 -1.66464476e-03 9.99991350e-01 7.74400985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30255784399998 meters 0.28920891431813567 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984477e-01 -4.01069181e-03 3.86780842e-03 2.03274520e+00] [ 4.00356159e-03 9.99990275e-01 1.84946222e-03 -4.91999588e-03] [-3.87518843e-03 -1.83394850e-03 9.99990810e-01 7.74193886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36255784399998 meters 0.2897316088929913 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.00, Z:0.77 [[ 9.99984815e-01 -4.02818257e-03 3.76090222e-03 2.03315497e+00] [ 4.02142106e-03 9.99990287e-01 1.80367736e-03 -4.73808799e-03] [-3.76813123e-03 -1.78852580e-03 9.99991301e-01 7.73819525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42255784399998 meters 0.2889561369278956 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.01, Z:0.77 [[ 9.99982764e-01 5.00955337e-03 3.06204368e-03 2.01236789e+00] [-5.01264603e-03 9.99986933e-01 1.00315701e-03 -7.44444472e-03] [-3.05697831e-03 -1.01848866e-03 9.99994809e-01 7.73047670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48255784399998 meters 0.28834437804452584 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.01, Z:0.77 [[ 9.99982368e-01 5.05974756e-03 3.10859629e-03 2.01224399e+00] [-5.06331745e-03 9.99986530e-01 1.14160014e-03 -8.00464365e-03] [-3.10277821e-03 -1.15731982e-03 9.99994517e-01 7.73083657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542557844 meters 0.2897323077867642 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.01, Z:0.77 [[ 9.99977441e-01 -4.97813704e-03 4.50957814e-03 2.03328166e+00] [ 4.97118143e-03 9.99986439e-01 1.55230719e-03 -1.16902909e-02] [-4.51724458e-03 -1.52985424e-03 9.99988627e-01 7.73038059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602557844 meters 0.28733788344223193 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:0.77 [[ 9.99980518e-01 1.60258093e-03 6.03278925e-03 2.01132086e+00] [-1.60319079e-03 9.99998710e-01 9.62571782e-05 -2.62157445e-02] [-6.03262721e-03 -1.05927015e-04 9.99981798e-01 7.73622451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662557844 meters 0.2889947058218752 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:0.78 [[ 9.99991829e-01 -9.15148471e-04 3.93757655e-03 2.05195411e+00] [ 9.14092831e-04 9.99999546e-01 2.69885240e-04 -3.53131958e-02] [-3.93782175e-03 -2.66283725e-04 9.99992211e-01 7.75751770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722557844 meters 0.28989613640527284 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:0.77 [[ 9.99993873e-01 -8.38701531e-05 3.49943953e-03 2.05412836e+00] [ 7.61925523e-05 9.99997590e-01 2.19402717e-03 -4.46513530e-02] [-3.49961511e-03 -2.19374710e-03 9.99991470e-01 7.74333383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782557844 meters 0.28870332304284974 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.05, Z:0.77 [[ 9.99994248e-01 1.65789187e-04 3.38780542e-03 2.05457494e+00] [-1.75305731e-04 9.99996040e-01 2.80895474e-03 -4.71518259e-02] [-3.38732631e-03 -2.80953248e-03 9.99990316e-01 7.74063308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842557844 meters 0.28900868540461006 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.05, Z:0.77 [[ 9.99994587e-01 2.24310937e-04 3.28254132e-03 2.05477281e+00] [-2.34040034e-04 9.99995581e-01 2.96380780e-03 -4.78149981e-02] [-3.28186200e-03 -2.96456000e-03 9.99990220e-01 7.74195102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90255784399997 meters 0.28782958844987944 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.05, Z:0.77 [[ 9.99991544e-01 2.30110699e-04 4.10595686e-03 2.05268959e+00] [-2.42158177e-04 9.99995667e-01 2.93389031e-03 -4.76328064e-02] [-4.10526395e-03 -2.93485979e-03 9.99987267e-01 7.74589593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96255784399997 meters 0.28890679176204725 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:0.77 [[ 9.99945344e-01 6.35960659e-03 8.29843748e-03 2.07313754e+00] [-6.36066285e-03 9.99979766e-01 1.00897934e-04 -4.30817818e-02] [-8.29762790e-03 -1.53675982e-04 9.99965562e-01 7.73098492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02255784399998 meters 0.2886991659390847 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:0.77 [[ 9.99945900e-01 6.30239352e-03 8.27511636e-03 2.07344597e+00] [-6.30215316e-03 9.99980140e-01 -5.51230934e-05 -4.24588472e-02] [-8.27529943e-03 2.96906053e-06 9.99965759e-01 7.72477862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08255784399998 meters 0.29032866043778943 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.77 [[ 9.99965463e-01 -2.24191025e-03 8.00296460e-03 2.09363334e+00] [ 2.23470016e-03 9.99997089e-01 9.09755779e-04 -3.72619334e-02] [-8.00498090e-03 -8.91840132e-04 9.99967562e-01 7.73257132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14255784399998 meters 0.2887634192055558 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:0.78 [[ 0.99997773 0.00360831 0.00561404 2.07050891] [-0.00359627 0.99999122 -0.00215262 -0.03768144] [-0.00562176 0.00213239 0.99998192 0.77595038] [ 0. 0. 0. 1. ]] SLAMing on 235.20255784399998 meters 0.2893364123042075 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.77 [[ 9.99963982e-01 -2.75021547e-03 8.02942089e-03 2.09165099e+00] [ 2.74332376e-03 9.99995859e-01 8.69194982e-04 -3.69067355e-02] [-8.03177812e-03 -8.47136374e-04 9.99967386e-01 7.74782057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26255784399999 meters 0.2885355347524765 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.77 [[ 9.99965423e-01 -2.71088223e-03 7.86150352e-03 2.09201027e+00] [ 2.70325785e-03 9.99995866e-01 9.80301579e-04 -3.73663833e-02] [-7.86412850e-03 -9.59016013e-04 9.99968617e-01 7.74963724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322557844 meters 0.28965009084209115 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.78 [[ 9.99966103e-01 -2.64514915e-03 7.79712336e-03 2.09209604e+00] [ 2.63617344e-03 9.99995851e-01 1.16120888e-03 -3.81055598e-02] [-7.80016259e-03 -1.14061495e-03 9.99968928e-01 7.75179221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382557844 meters 0.2879718509183778 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.78 [[ 9.99964033e-01 -2.47845550e-03 8.11108581e-03 2.09101951e+00] [ 2.46434531e-03 9.99995434e-01 1.74914957e-03 -4.04806841e-02] [-8.11538396e-03 -1.72909814e-03 9.99965575e-01 7.76124129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442557844 meters 0.2909056581085201 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.78 [[ 0.99996665 -0.00226097 0.00784801 2.09189809] [ 0.00224201 0.99999455 0.00242265 -0.04325622] [-0.00785345 -0.00240497 0.99996627 0.77566694] [ 0. 0. 0. 1. ]] SLAMing on 235.502557844 meters 0.2884004959475098 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:0.78 [[ 9.99967485e-01 -2.11086743e-03 7.78293844e-03 2.09205096e+00] [ 2.08913517e-03 9.99993900e-01 2.79936824e-03 -4.48126243e-02] [-7.78880005e-03 -2.78301761e-03 9.99965794e-01 7.75744303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562557844 meters 0.28796244674475596 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:0.78 [[ 9.99981182e-01 4.24046532e-03 4.43326674e-03 2.07389902e+00] [-4.24118326e-03 9.99990995e-01 1.52553937e-04 -4.92628063e-02] [-4.43257992e-03 -1.71353363e-04 9.99990161e-01 7.75352891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622557844 meters 0.2881611449857237 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:0.78 [[ 9.99980799e-01 4.32641576e-03 4.43654030e-03 2.07393808e+00] [-4.32814401e-03 9.99990561e-01 3.80021001e-04 -5.01949213e-02] [-4.43485430e-03 -3.99215690e-04 9.99990086e-01 7.75267092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68255784399997 meters 0.28873724831404063 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:0.78 [[ 9.99980327e-01 4.53698102e-03 4.33141127e-03 2.07421184e+00] [-4.54089697e-03 9.99989290e-01 8.94676163e-04 -5.23083960e-02] [-4.32730575e-03 -9.14327054e-04 9.99990219e-01 7.75342606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74255784399998 meters 0.2887684695042731 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.06, Z:0.77 [[ 9.99993779e-01 -3.29478889e-03 1.25919305e-03 2.05492525e+00] [ 3.29137651e-03 9.99990932e-01 2.70250392e-03 -5.57309573e-02] [-1.26808581e-03 -2.69834263e-03 9.99995555e-01 7.74881501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80255784399998 meters 0.2874359782242526 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.06, Z:0.78 [[ 9.99994662e-01 -3.00002136e-03 1.29481279e-03 2.05469116e+00] [ 2.99510998e-03 9.99988376e-01 3.77853780e-03 -5.99123533e-02] [-1.30613344e-03 -3.77463952e-03 9.99992023e-01 7.75307353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86255784399998 meters 0.28779909054436165 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:0.77 [[ 9.99995787e-01 -2.74743433e-03 9.36445637e-04 2.05577046e+00] [ 2.74305745e-03 9.99985456e-01 4.64359004e-03 -6.33681597e-02] [-9.49189976e-04 -4.64100176e-03 9.99988780e-01 7.74842864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92255784399998 meters 0.2872815998101614 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.78 [[ 9.99996538e-01 -2.44911577e-03 9.62543192e-04 2.05556096e+00] [ 2.44385771e-03 9.99982291e-01 5.42640533e-03 -6.65613849e-02] [-9.75816041e-04 -5.42403422e-03 9.99984814e-01 7.75208868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98255784399998 meters 0.28811539825160754 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.78 [[ 9.99996934e-01 -2.27324419e-03 9.82402574e-04 2.05530073e+00] [ 2.26743076e-03 9.99980150e-01 5.87870808e-03 -6.84262873e-02] [-9.95746811e-04 -5.87646253e-03 9.99982238e-01 7.75741592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042557844 meters 0.28824658409664233 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:0.78 [[ 9.99997276e-01 -2.14252655e-03 9.25987338e-04 2.05549403e+00] [ 2.13670787e-03 9.99978250e-01 6.23971710e-03 -6.99031617e-02] [-9.39335957e-04 -6.23772154e-03 9.99980104e-01 7.75675672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102557844 meters 0.28806072875673366 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.08, Z:0.78 [[ 9.99992403e-01 3.58089707e-03 1.53961718e-03 2.03300078e+00] [-3.58653331e-03 9.99986820e-01 3.67376250e-03 -8.06933393e-02] [-1.52644152e-03 -3.67925648e-03 9.99992066e-01 7.77125285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162557844 meters 0.2876304900406322 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.08, Z:0.78 [[ 0.99998011 -0.00540846 0.00324546 2.05431515] [ 0.00539279 0.99997384 0.00481961 -0.08461901] [-0.00327144 -0.00480201 0.99998312 0.77683364] [ 0. 0. 0. 1. ]] SLAMing on 236.222557844 meters 0.2874358712603328 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.10, Z:0.78 [[ 9.99978153e-01 6.27070262e-03 2.09066314e-03 2.05450862e+00] [-6.26970803e-03 9.99980229e-01 -4.81946334e-04 -9.82011413e-02] [-2.09364395e-03 4.68827958e-04 9.99997698e-01 7.77417720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282557844 meters 0.28802533178152584 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.10, Z:0.78 [[ 9.99995546e-01 -2.97581154e-03 -2.30184519e-04 2.03419455e+00] [ 2.97589714e-03 9.99995503e-01 3.72459376e-04 -1.00043992e-01] [ 2.29075115e-04 -3.73142722e-04 9.99999904e-01 7.78322548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342557844 meters 0.2894713777246981 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.11, Z:0.78 [[ 9.99983640e-01 5.70500485e-03 4.15350348e-04 2.05465361e+00] [-5.70496906e-03 9.99983723e-01 -8.73086655e-05 -1.07942505e-01] [-4.15841684e-04 8.49376763e-05 9.99999910e-01 7.79542303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40255784399997 meters 0.28692661269409386 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.11, Z:0.78 [[ 9.99998180e-01 1.79098606e-03 6.57558329e-04 2.05391189e+00] [-1.78886069e-03 9.99993220e-01 -3.21870599e-03 -1.12616055e-01] [-6.63318528e-04 3.21752385e-03 9.99994604e-01 7.79941383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46255784399997 meters 0.28740161611166276 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.12, Z:0.78 [[ 9.99997611e-01 2.12481658e-03 5.12425766e-04 2.05416481e+00] [-2.12361873e-03 9.99995038e-01 -2.32692580e-03 -1.16201084e-01] [-5.17367513e-04 2.32583205e-03 9.99997161e-01 7.80281233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52255784399998 meters 0.28747667927728815 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.12, Z:0.78 [[ 9.99996522e-01 2.60429854e-03 4.17549192e-04 2.05425309e+00] [-2.60392634e-03 9.99996214e-01 -8.89467684e-04 -1.21887157e-01] [-4.19864050e-04 8.88377322e-04 9.99999517e-01 7.80684258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58255784399998 meters 0.28821283016408156 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.13, Z:0.78 [[ 9.99995582e-01 2.95237745e-03 3.45573332e-04 2.05448603e+00] [-2.95241135e-03 9.99995637e-01 9.76391297e-05 -1.25890481e-01] [-3.45283556e-04 -9.86589730e-05 9.99999936e-01 7.80598074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64255784399998 meters 0.28809286636350306 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999504e-01 -9.95363573e-04 2.08842181e-05 2.05546045e+00] [ 9.95424154e-04 9.99994590e-01 -3.13501347e-03 -1.30364306e-01] [-1.77636270e-05 3.13503271e-03 9.99995086e-01 7.80089575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70255784399998 meters 0.2878596412372298 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999635e-01 -8.34668928e-04 -1.79839168e-04 2.05610920e+00] [ 8.34190831e-04 9.99996161e-01 -2.64234089e-03 -1.32344409e-01] [ 1.82043957e-04 2.64218991e-03 9.99996493e-01 7.79707320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76255784399999 meters 0.2889298213622826 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999610e-01 -8.71905033e-04 -1.41254198e-04 2.05599758e+00] [ 8.71513269e-04 9.99995838e-01 -2.75018350e-03 -1.31908675e-01] [ 1.43651509e-04 2.75005932e-03 9.99996208e-01 7.79739386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822557844 meters 0.290146533055321 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999584e-01 -9.02765939e-04 -1.27046333e-04 2.05618575e+00] [ 9.02402183e-04 9.99995575e-01 -2.83468167e-03 -1.31574767e-01] [ 1.29604825e-04 2.83456584e-03 9.99995974e-01 7.79197189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882557844 meters 0.2892206387892438 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999628e-01 -8.48330856e-04 -1.58475572e-04 2.05610666e+00] [ 8.47901700e-04 9.99996026e-01 -2.68874109e-03 -1.32156143e-01] [ 1.60755884e-04 2.68860571e-03 9.99996373e-01 7.79580048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942557844 meters 0.28986619590365964 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:0.78 [[ 9.99999719e-01 -7.45199813e-04 8.04981089e-05 2.05528636e+00] [ 7.45389499e-04 9.99996884e-01 -2.38265295e-03 -1.33397877e-01] [-7.87223055e-05 2.38271229e-03 9.99997158e-01 7.80211867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002557844 meters 0.2885538107840312 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.13, Z:0.78 [[ 9.99999762e-01 -6.70305512e-04 1.62869712e-04 2.05492340e+00] [ 6.70659585e-04 9.99997391e-01 -2.18372481e-03 -1.34208171e-01] [-1.61405525e-04 2.18383352e-03 9.99997602e-01 7.80579308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062557844 meters 0.28768134767830233 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999892e-01 -4.55440020e-04 8.92465118e-05 2.05522640e+00] [ 4.55579885e-04 9.99998658e-01 -1.57348035e-03 -1.36727940e-01] [-8.85297662e-05 1.57352084e-03 9.99998758e-01 7.80325414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters 0.2890842227128196 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999963e-01 -2.71427732e-04 -8.38732302e-06 2.05583373e+00] [ 2.71418463e-04 9.99999373e-01 -1.08610312e-03 -1.38848501e-01] [ 8.68211627e-06 1.08610080e-03 9.99999410e-01 7.79545061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18255784399997 meters 0.2882193778262109 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999985e-01 -1.71237335e-04 2.53134440e-05 2.05585794e+00] [ 1.71257567e-04 9.99999664e-01 -8.01424124e-04 -1.40004275e-01] [-2.51762018e-05 8.01428447e-04 9.99999679e-01 7.79322659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24255784399998 meters 0.28999585985791565 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999972e-01 -2.13901935e-04 -1.03819637e-04 2.05638663e+00] [ 2.13805569e-04 9.99999547e-01 -9.27330537e-04 -1.39511482e-01] [ 1.04017948e-04 9.27308313e-04 9.99999565e-01 7.78749388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30255784399998 meters 0.289538849693017 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999952e-01 -2.89878182e-04 1.05797643e-04 2.05571742e+00] [ 2.89999315e-04 9.99999300e-01 -1.14674330e-03 -1.38587101e-01] [-1.05465153e-04 1.14677393e-03 9.99999337e-01 7.79069054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36255784399998 meters 0.28910058591512544 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.14, Z:0.78 [[ 9.99999805e-01 -5.91754883e-04 1.98137041e-04 2.01873982e+00] [ 5.91845713e-04 9.99999720e-01 -4.58674504e-04 -1.40645105e-01] [-1.97865563e-04 4.58791681e-04 9.99999875e-01 7.75192551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42255784399998 meters 0.2907758798084954 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999950e-01 2.24729385e-04 -2.24047532e-04 2.05925636e+00] [-2.24873797e-04 9.99999767e-01 -6.44741087e-04 -1.36904821e-01] [ 2.23902587e-04 6.44791437e-04 9.99999767e-01 7.77158925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48255784399998 meters 0.2897185545352456 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.14, Z:0.78 [[ 9.99999965e-01 2.43862085e-04 1.00803525e-04 2.05817438e+00] [-2.43802877e-04 9.99999798e-01 -5.86962371e-04 -1.37063934e-01] [-1.00946643e-04 5.86937775e-04 9.99999823e-01 7.77949136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542557844 meters 0.28887007674682635 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.14, Z:0.78 [[ 0.99997137 -0.00673702 -0.00344638 2.03728591] [ 0.00674412 0.99997515 0.00205255 -0.1411533 ] [ 0.00343246 -0.00207574 0.99999195 0.77963521] [ 0. 0. 0. 1. ]] SLAMing on 237.602557844 meters 0.28978701683205005 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.15, Z:0.78 [[ 9.99991345e-01 2.41442486e-03 -3.38833492e-03 2.05742992e+00] [-2.40998453e-03 9.99996233e-01 1.31394599e-03 -1.46069972e-01] [ 3.39149458e-03 -1.30576878e-03 9.99993396e-01 7.80697789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662557844 meters 0.28791165296711646 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.15, Z:0.78 [[ 9.99962960e-01 -7.87033104e-03 -3.48363981e-03 2.03368642e+00] [ 7.87626140e-03 9.99967550e-01 1.69191238e-03 -1.50629973e-01] [ 3.47021086e-03 -1.71928777e-03 9.99992501e-01 7.81811353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722557844 meters 0.2889698952250355 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:0.78 [[ 9.99993499e-01 1.13939774e-03 -3.42121554e-03 2.05449724e+00] [-1.13528936e-03 9.99998632e-01 1.20255715e-03 -1.57510635e-01] [ 3.42258105e-03 -1.19866527e-03 9.99993425e-01 7.82311847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782557844 meters 0.2890995049524912 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:0.78 [[ 9.99993029e-01 1.56523719e-03 -3.38996368e-03 2.05406720e+00] [-1.55761345e-03 9.99996255e-01 2.25039016e-03 -1.61836442e-01] [ 3.39347338e-03 -2.24509422e-03 9.99991722e-01 7.82972195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842557844 meters 0.28820687961214325 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:0.78 [[ 9.99992651e-01 1.64876059e-03 -3.46126775e-03 2.05436370e+00] [-1.64019331e-03 9.99995588e-01 2.47656756e-03 -1.62751674e-01] [ 3.46533575e-03 -2.47087221e-03 9.99990943e-01 7.82713839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90255784399997 meters 0.29020438731366377 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.16, Z:0.78 [[ 9.99988371e-01 1.70638258e-03 -4.51069631e-03 2.05745519e+00] [-1.69538626e-03 9.99995585e-01 2.44053180e-03 -1.62568229e-01] [ 4.51484087e-03 -2.43285605e-03 9.99986849e-01 7.80826776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96255784399997 meters 0.29117567011583956 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.16, Z:0.78 [[ 9.99988305e-01 1.57430110e-03 -4.57280698e-03 2.05754108e+00] [-1.56499990e-03 9.99996701e-01 2.03689162e-03 -1.60981127e-01] [ 4.57599857e-03 -2.02971135e-03 9.99987470e-01 7.80954533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02255784399998 meters 0.2900552643431688 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.16, Z:0.78 [[ 9.99988296e-01 1.44523806e-03 -4.61720538e-03 2.05791804e+00] [-1.43745391e-03 9.99997541e-01 1.68877556e-03 -1.59560097e-01] [ 4.61963470e-03 -1.68211878e-03 9.99987915e-01 7.80326489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08255784399998 meters 0.29101785579862466 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.16, Z:0.78 [[ 9.99988927e-01 1.28849475e-03 -4.52612888e-03 2.05744034e+00] [-1.28273821e-03 9.99998365e-01 1.27451895e-03 -1.57790632e-01] [ 4.52776369e-03 -1.26869900e-03 9.99988945e-01 7.80866699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14255784399998 meters 0.2908417113071809 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.16, Z:0.78 [[ 9.99989363e-01 1.11261168e-03 -4.47614925e-03 2.05729555e+00] [-1.10880525e-03 9.99999022e-01 8.52772635e-04 -1.56034786e-01] [ 4.47709368e-03 -8.47800386e-04 9.99989618e-01 7.80857361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20255784399998 meters 0.2912810474840174 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.15, Z:0.78 [[ 9.99989689e-01 9.52608184e-04 -4.44015032e-03 2.05751332e+00] [-9.50574607e-04 9.99999442e-01 4.60085256e-04 -1.54423146e-01] [ 4.44058613e-03 -4.55859818e-04 9.99990037e-01 7.80127696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26255784399999 meters 0.28858884718136035 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.16, Z:0.78 [[ 9.99995384e-01 -3.95844598e-04 -3.01236781e-03 2.01624218e+00] [ 3.96177430e-04 9.99999915e-01 1.09892384e-04 -1.55297777e-01] [ 3.01232406e-03 -1.11085309e-04 9.99995457e-01 7.78281892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322557844 meters 0.28980836207897065 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.15, Z:0.78 [[ 9.99982062e-01 -5.86619012e-03 -1.20936465e-03 2.03833296e+00] [ 5.87028399e-03 9.99976956e-01 3.40985315e-03 -1.52147588e-01] [ 1.18933393e-03 -3.41689130e-03 9.99993455e-01 7.77205483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382557844 meters 0.29085704985987915 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.15, Z:0.78 [[ 9.99981877e-01 -5.91609630e-03 -1.11567687e-03 2.03799758e+00] [ 5.91971467e-03 9.99977137e-01 3.26828389e-03 -1.51542442e-01] [ 1.09631588e-03 -3.27482914e-03 9.99994037e-01 7.77424330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442557844 meters 0.29181920519106824 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.15, Z:0.78 [[ 9.99997496e-01 1.26974205e-03 1.84276465e-03 2.05925034e+00] [-1.27097149e-03 9.99998970e-01 6.66151874e-04 -1.48496278e-01] [-1.84191691e-03 -6.68492308e-04 9.99998080e-01 7.75868907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502557844 meters 0.2894858703238635 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.15, Z:0.78 [[ 9.99997105e-01 1.31188343e-03 2.01706538e-03 2.05860452e+00] [-1.31343426e-03 9.99998843e-01 7.67726446e-04 -1.48910792e-01] [-2.01605588e-03 -7.70373506e-04 9.99997671e-01 7.76351223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562557844 meters 0.28941064310123815 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.15, Z:0.78 [[ 9.99997155e-01 1.28911648e-03 2.00697815e-03 2.05865852e+00] [-1.29053721e-03 9.99998918e-01 7.06758138e-04 -1.48666160e-01] [-2.00606488e-03 -7.09346207e-04 9.99997736e-01 7.76279221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622557844 meters 0.2910964741679553 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.15, Z:0.78 [[ 9.99998020e-01 1.88121418e-03 6.49542439e-04 2.09851692e+00] [-1.88127103e-03 9.99998227e-01 8.69263627e-05 -1.45310000e-01] [-6.49377760e-04 -8.81481559e-05 9.99999785e-01 7.79343963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68255784399997 meters 0.2911350218638544 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.15, Z:0.78 [[ 9.99997863e-01 1.98067554e-03 5.92627024e-04 2.09873836e+00] [-1.98088139e-03 9.99997978e-01 3.46970928e-04 -1.46391514e-01] [-5.91938589e-04 -3.48144110e-04 9.99999764e-01 7.79205656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74255784399998 meters 0.2915005985979789 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:0.78 [[ 0.99998162 -0.00550552 0.00253971 2.11747333] [ 0.00549936 0.99998193 0.00242636 -0.14695069] [-0.00255302 -0.00241235 0.99999383 0.78146443] [ 0. 0. 0. 1. ]] SLAMing on 238.80255784399998 meters 0.29147324614980297 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:0.78 [[ 0.99998271 -0.00525106 0.00264694 2.11700637] [ 0.00524266 0.99998124 0.00316904 -0.14992929] [-0.00266353 -0.0031551 0.99999148 0.78193584] [ 0. 0. 0. 1. ]] SLAMing on 238.86255784399998 meters 0.2909120767159405 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:0.78 [[ 0.99998382 -0.00503541 0.00264567 2.11707179] [ 0.00502553 0.99998041 0.00373094 -0.15224652] [-0.0026644 -0.00371758 0.99998954 0.78183355] [ 0. 0. 0. 1. ]] SLAMing on 238.92255784399998 meters 0.2913995597734507 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.15, Z:0.78 [[ 0.99998469 -0.00488798 0.00259318 2.11714829] [ 0.00487732 0.9999797 0.00410048 -0.15376218] [-0.00261317 -0.00408777 0.99998823 0.78200617] [ 0. 0. 0. 1. ]] SLAMing on 238.98255784399998 meters 0.2902041215045432 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.16, Z:0.78 [[ 9.99996993e-01 3.14032203e-04 2.43211652e-03 2.09393475e+00] [-3.16685132e-04 9.99999355e-01 1.09048178e-03 -1.61094613e-01] [-2.43177251e-03 -1.09124871e-03 9.99996448e-01 7.82841494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042557844 meters 0.2895756665450346 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.16, Z:0.78 [[ 9.99996649e-01 5.69064750e-04 2.52548707e-03 2.09358548e+00] [-5.73607011e-04 9.99998219e-01 1.79820878e-03 -1.63963833e-01] [-2.52445927e-03 -1.79965139e-03 9.99995194e-01 7.83165380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102557844 meters 0.28943892457474923 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.17, Z:0.78 [[ 9.99991986e-01 -3.24372542e-03 2.34646455e-03 2.09416213e+00] [ 3.24640757e-03 9.99994080e-01 -1.14015912e-03 -1.69853642e-01] [-2.34275230e-03 1.14776756e-03 9.99996597e-01 7.82928966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162557844 meters 0.2921723467840555 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.18, Z:0.78 [[ 9.99988858e-01 -4.38308565e-03 1.75284466e-03 2.13489808e+00] [ 4.38702191e-03 9.99987850e-01 -2.24813965e-03 -1.76693029e-01] [-1.74296958e-03 2.25580436e-03 9.99995937e-01 7.84943150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222557844 meters 0.2910955311093922 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.78 [[ 9.99992762e-01 3.77123856e-03 -5.03631419e-04 2.11682302e+00] [-3.77193717e-03 9.99991915e-01 -1.39347187e-03 -1.90772872e-01] [ 4.98372233e-04 1.39536145e-03 9.99998902e-01 7.83822269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282557844 meters 0.29296315704932535 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99984173e-01 -5.59928239e-03 -5.48781244e-04 2.14102878e+00] [ 5.59854724e-03 9.99983441e-01 -1.33210371e-03 -1.92144107e-01] [ 5.56230981e-04 1.32901025e-03 9.99998962e-01 7.82669104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342557844 meters 0.29203469662967874 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.78 [[ 9.99995002e-01 4.71366344e-04 -3.12636556e-03 2.11903899e+00] [-4.82500936e-04 9.99993541e-01 -3.56171556e-03 -1.95652700e-01] [ 3.12466649e-03 3.56320623e-03 9.99988770e-01 7.84034398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40255784399997 meters 0.2926545565098097 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99985398e-01 -4.88755649e-03 -2.30557840e-03 2.14307417e+00] [ 4.88693560e-03 9.99988021e-01 -2.74856376e-04 -1.93758618e-01] [ 2.30689416e-03 2.63585149e-04 9.99997304e-01 7.81678045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46255784399997 meters 0.2921772888707381 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99985851e-01 -4.88926029e-03 -2.09587439e-03 2.14247617e+00] [ 4.88866421e-03 9.99988009e-01 -2.89435495e-04 -1.93664541e-01] [ 2.09726438e-03 2.79185374e-04 9.99997762e-01 7.81841639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52255784399998 meters 0.29156737072644684 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99986313e-01 -4.80090438e-03 -2.07981469e-03 2.14242007e+00] [ 4.80077744e-03 9.99988474e-01 -6.60195701e-05 -1.94587245e-01] [ 2.08010767e-03 5.60339391e-05 9.99997835e-01 7.81887091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58255784399998 meters 0.29197833887590346 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:0.78 [[ 9.99986554e-01 -4.68702297e-03 -2.21894835e-03 2.14288701e+00] [ 4.68762838e-03 9.99988977e-01 2.67712737e-04 -1.95991546e-01] [ 2.21766911e-03 -2.78110743e-04 9.99997502e-01 7.81622162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64255784399998 meters 0.29178547057650916 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:0.78 [[ 9.99986632e-01 -4.61138463e-03 -2.33900978e-03 2.14331699e+00] [ 4.61251741e-03 9.99989247e-01 4.79137857e-04 -1.96896839e-01] [ 2.33677515e-03 -4.89920175e-04 9.99997150e-01 7.81337122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70255784399998 meters 0.291558388611582 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:0.78 [[ 9.99986533e-01 -4.68655420e-03 -2.22919554e-03 2.14289456e+00] [ 4.68717546e-03 9.99988978e-01 2.73550266e-04 -1.96010518e-01] [ 2.22788896e-03 -2.83995212e-04 9.99997478e-01 7.81646035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76255784399999 meters 0.2929932847581056 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.19, Z:0.78 [[ 9.99993637e-01 3.53594315e-03 -4.73219733e-04 2.16355223e+00] [-3.53697347e-03 9.99991337e-01 -2.19442550e-03 -1.92931738e-01] [ 4.65456270e-04 2.19608530e-03 9.99997480e-01 7.80861747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822557844 meters 0.2915889015482306 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99993576e-01 -3.37562420e-03 -1.20566350e-03 2.13989327e+00] [ 3.37673992e-03 9.99993871e-01 9.24563142e-04 -1.92155514e-01] [ 1.20253513e-03 -9.28628414e-04 9.99998846e-01 7.82755765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882557844 meters 0.292099161880673 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99993207e-01 -3.36916644e-03 -1.49505380e-03 2.14049547e+00] [ 3.37059272e-03 9.99993866e-01 9.52510397e-04 -1.92272863e-01] [ 1.49183546e-03 -9.57543144e-04 9.99998429e-01 7.83051748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942557844 meters 0.2910312160908962 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99993227e-01 -3.31798044e-03 -1.59284854e-03 2.14067744e+00] [ 3.31973812e-03 9.99993882e-01 1.10210915e-03 -1.92876961e-01] [ 1.58918202e-03 -1.10738953e-03 9.99998124e-01 7.83219397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002557844 meters 0.29111332129867545 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99993713e-01 -3.22041894e-03 -1.48416604e-03 2.14009677e+00] [ 3.22244509e-03 9.99993877e-01 1.36481613e-03 -1.93925275e-01] [ 1.47976167e-03 -1.36959019e-03 9.99997967e-01 7.84043173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062557844 meters 0.291142995311897 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99994036e-01 -3.13518037e-03 -1.44831344e-03 2.13993116e+00] [ 3.13746253e-03 9.99993836e-01 1.57616131e-03 -1.94787176e-01] [ 1.44336297e-03 -1.58069594e-03 9.99997709e-01 7.84219538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122557844 meters 0.2907537343613854 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.78 [[ 9.99982151e-01 3.04466807e-03 -5.14072956e-03 2.11999524e+00] [-3.04958251e-03 9.99994900e-01 -9.48414865e-04 -1.93144462e-01] [ 5.13781574e-03 9.64075016e-04 9.99986337e-01 7.84180546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18255784399997 meters 0.2925934018790248 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99987894e-01 -2.14719075e-03 -4.42737191e-03 2.14412226e+00] [ 2.15617516e-03 9.99995624e-01 2.02551394e-03 -1.88310175e-01] [ 4.42300338e-03 -2.03503561e-03 9.99988148e-01 7.82461932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24255784399998 meters 0.2930110227393889 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.78 [[ 9.99986892e-01 -2.44260668e-03 -4.49991694e-03 2.14459254e+00] [ 2.44787494e-03 9.99996325e-01 1.16561077e-03 -1.84831726e-01] [ 4.49705327e-03 -1.17661073e-03 9.99989196e-01 7.81733778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30255784399998 meters 0.29197895519634 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.78 [[ 9.99986216e-01 -2.58297573e-03 -4.57131877e-03 2.14474595e+00] [ 2.58667970e-03 9.99996331e-01 8.04535516e-04 -1.83344871e-01] [ 4.56922390e-03 -8.16348964e-04 9.99989228e-01 7.81761692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36255784399998 meters 0.2917825155630646 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.78 [[ 9.99987692e-01 -2.66872874e-03 -4.18255275e-03 2.14363428e+00] [ 2.67120189e-03 9.99996261e-01 5.85825383e-04 -1.82402569e-01] [ 4.18097371e-03 -5.96990615e-04 9.99991081e-01 7.82118984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42255784399998 meters 0.2919692127021762 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.78 [[ 9.99985718e-01 -2.73726604e-03 -4.59029689e-03 2.14478647e+00] [ 2.73915174e-03 9.99996167e-01 4.04564972e-04 -1.81741966e-01] [ 4.58917189e-03 -4.17132714e-04 9.99989383e-01 7.81648647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48255784399998 meters 0.2914305984114515 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.18, Z:0.78 [[ 9.99986940e-01 -2.55273455e-03 -4.42756430e-03 2.14414623e+00] [ 2.55682889e-03 9.99996309e-01 9.19324837e-04 -1.83761529e-01] [ 4.42520117e-03 -9.30633355e-04 9.99989776e-01 7.82299178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542557844 meters 0.29123505454116466 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.18, Z:0.78 [[ 9.99994658e-01 3.24670195e-03 -3.78424897e-04 2.16363530e+00] [-3.24752521e-03 9.99992316e-01 -2.19557115e-03 -1.84515027e-01] [ 3.71293624e-04 2.19678837e-03 9.99997518e-01 7.82188282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602557844 meters 0.28961603026490307 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99990258e-01 -4.00215103e-03 -1.86198708e-03 2.14155964e+00] [ 4.00367099e-03 9.99991655e-01 8.13297776e-04 -1.85883731e-01] [ 1.85871660e-03 -8.20744636e-04 9.99997936e-01 7.83656191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662557844 meters 0.28909436833200175 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99990639e-01 -3.93900788e-03 -1.79076323e-03 2.14115662e+00] [ 3.94077013e-03 9.99991753e-01 9.81615551e-04 -1.86542479e-01] [ 1.78688187e-03 -9.88663348e-04 9.99997915e-01 7.84206396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722557844 meters 0.2910632012256453 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.19, Z:0.78 [[ 9.99994927e-01 3.15275396e-03 4.53950750e-04 2.16256677e+00] [-3.15201517e-03 9.99993722e-01 -1.61908496e-03 -1.88202287e-01] [-4.59052476e-04 1.61764588e-03 9.99998586e-01 7.83171380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782557844 meters 0.290806456088971 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.19, Z:0.78 [[ 9.99994763e-01 3.20970963e-03 4.15229647e-04 2.16277604e+00] [-3.20909606e-03 9.99993770e-01 -1.46998204e-03 -1.88828557e-01] [-4.19945276e-04 1.46864183e-03 9.99998833e-01 7.82935728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842557844 meters 0.29096149101054186 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.19, Z:0.78 [[ 9.99994382e-01 3.34304126e-03 2.45212196e-04 2.16342294e+00] [-3.34276136e-03 9.99993771e-01 -1.13313960e-03 -1.90280606e-01] [-2.48998801e-04 1.13231355e-03 9.99999328e-01 7.82519950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90255784399997 meters 0.29195542366821026 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.19, Z:0.78 [[ 9.99993797e-01 3.51783117e-03 1.73251338e-04 2.16361596e+00] [-3.51770984e-03 9.99993571e-01 -6.95703583e-04 -1.92091377e-01] [-1.75697592e-04 6.95089820e-04 9.99999743e-01 7.82532013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96255784399997 meters 0.290081899481456 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99980637e-01 -6.21494347e-03 -3.17595605e-04 2.14271994e+00] [ 6.21496517e-03 9.99980685e-01 6.73844533e-05 -1.90838014e-01] [ 3.17170680e-04 -6.93569942e-05 9.99999947e-01 7.82166610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02255784399998 meters 0.2899473021069902 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99980524e-01 -6.21645065e-03 -5.53728555e-04 2.14375948e+00] [ 6.21649240e-03 9.99980675e-01 7.37105492e-05 -1.90879961e-01] [ 5.53259636e-04 -7.71513630e-05 9.99999844e-01 7.80799296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08255784399998 meters 0.29078382517862644 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99980146e-01 -6.26365139e-03 -6.89333090e-04 2.14444791e+00] [ 6.26361060e-03 9.99980382e-01 -6.13054398e-05 -1.90354440e-01] [ 6.89703562e-04 5.69865086e-05 9.99999761e-01 7.79821834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14255784399998 meters 0.28989899733941565 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.19, Z:0.78 [[ 9.99981173e-01 -6.10672001e-03 -6.02041748e-04 2.14394247e+00] [ 6.10694302e-03 9.99981284e-01 3.69285557e-04 -1.92104271e-01] [ 5.99775357e-04 -3.72955239e-04 9.99999751e-01 7.80564501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20255784399998 meters 0.29028636894714965 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.20, Z:0.78 [[ 9.99995019e-01 3.09779623e-03 6.04773518e-04 2.16315998e+00] [-3.09760053e-03 9.99995150e-01 -3.24258457e-04 -1.97914950e-01] [-6.05775071e-04 3.22383495e-04 9.99999765e-01 7.81461992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26255784399999 meters 0.28987308993639777 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.20, Z:0.78 [[ 9.99979690e-01 -6.32554194e-03 -7.79032237e-04 2.14337364e+00] [ 6.32629129e-03 9.99979525e-01 9.63213476e-04 -1.99313000e-01] [ 7.72923439e-04 -9.68122298e-04 9.99999233e-01 7.80916098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322557844 meters 0.2907442426822601 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99992950e-01 3.75333625e-03 1.12879258e-04 2.16514164e+00] [-3.75342848e-03 9.99992613e-01 8.28300786e-04 -2.01164690e-01] [-1.09769533e-04 -8.28718631e-04 9.99999651e-01 7.80420758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382557844 meters 0.29208136070421464 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99993322e-01 3.64949519e-03 -1.93319514e-04 2.16598745e+00] [-3.64939163e-03 9.99993199e-01 5.33315788e-04 -1.99999148e-01] [ 1.95264533e-04 -5.32606728e-04 9.99999839e-01 7.80169259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442557844 meters 0.2901354483853017 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99996518e-01 2.56237975e-03 6.30469740e-04 2.12580752e+00] [-2.56295197e-03 9.99996303e-01 9.08476154e-04 -1.99588555e-01] [-6.28139548e-04 -9.10088855e-04 9.99999389e-01 7.78089540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502557844 meters 0.2895344925309129 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.78 [[ 9.99996338e-01 2.48819536e-03 1.06453300e-03 2.12455202e+00] [-2.48889277e-03 9.99996689e-01 6.54305074e-04 -1.98508702e-01] [-1.06290143e-03 -6.56952187e-04 9.99999219e-01 7.78881702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562557844 meters 0.288832280580369 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.78 [[ 9.99995841e-01 2.54413852e-03 1.35824607e-03 2.12369305e+00] [-2.54526520e-03 9.99996418e-01 8.28424149e-04 -1.99163157e-01] [-1.35613357e-03 -8.31877801e-04 9.99998734e-01 7.79312004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622557844 meters 0.2897063736703612 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99997304e-01 2.32157019e-03 4.67014340e-05 2.12722671e+00] [-2.32161054e-03 9.99996915e-01 8.83351609e-04 -2.00315498e-01] [-4.46505271e-05 -8.83457650e-04 9.99999609e-01 7.78339352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68255784399997 meters 0.28986034063145816 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99996894e-01 2.49209428e-03 -3.81235070e-05 2.12743158e+00] [-2.49204077e-03 9.99995991e-01 1.34460723e-03 -2.02194983e-01] [ 4.14742422e-05 -1.34450805e-03 9.99999095e-01 7.78364018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74255784399998 meters 0.2898140840503957 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99996409e-01 2.67476658e-03 1.63634397e-04 2.12674353e+00] [-2.67505831e-03 9.99994785e-01 1.80931644e-03 -2.04057545e-01] [-1.58794045e-04 -1.80974767e-03 9.99998350e-01 7.78806233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80255784399998 meters 0.2889960272683683 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99995337e-01 3.04533766e-03 2.27980165e-04 2.12678158e+00] [-3.04594351e-03 9.99991700e-01 2.70603159e-03 -2.07796542e-01] [-2.19737493e-04 -2.70671339e-03 9.99996313e-01 7.78392809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86255784399998 meters 0.2899244772861655 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99994446e-01 3.33292755e-03 8.71901694e-06 2.12742967e+00] [-3.33293770e-03 9.99988388e-01 3.48069514e-03 -2.10983243e-01] [ 2.88198901e-06 -3.48070487e-03 9.99993942e-01 7.78267738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92255784399998 meters 0.2890086456161039 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99999698e-01 -7.75631858e-04 -3.78483448e-05 2.12766854e+00] [ 7.75625319e-04 9.99999684e-01 -1.72468411e-04 -2.13673456e-01] [ 3.79821048e-05 1.72439002e-04 9.99999984e-01 7.77896667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98255784399998 meters 0.28926953225440577 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99999752e-01 -6.94122619e-04 -1.18457916e-04 2.12805358e+00] [ 6.94129426e-04 9.99999757e-01 5.74337611e-05 -2.14637444e-01] [ 1.18418021e-04 -5.75159720e-05 9.99999991e-01 7.77441051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042557844 meters 0.28952998747899455 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.22, Z:0.78 [[ 0.99997862 0.00602981 0.00252969 2.14918057] [-0.00602268 0.99997791 -0.00281354 -0.21698935] [-0.0025466 0.00279825 0.99999284 0.77646893] [ 0. 0. 0. 1. ]] SLAMing on 242.102557844 meters 0.289039207639549 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.22, Z:0.78 [[ 9.99976828e-01 6.26641971e-03 2.66002870e-03 2.14857897e+00] [-6.26091942e-03 9.99978256e-01 -2.07107128e-03 -2.19891886e-01] [-2.67294906e-03 2.05436906e-03 9.99994317e-01 7.77126071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162557844 meters 0.2884604574444395 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99988144e-01 -2.52194539e-03 4.16559080e-03 2.17102975e+00] [ 2.52731514e-03 9.99995982e-01 -1.28431239e-03 -2.25651494e-01] [-4.16233510e-03 1.29482492e-03 9.99990499e-01 7.76035452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222557844 meters 0.28900258106160764 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99988616e-01 -2.25246940e-03 4.20650296e-03 2.17065212e+00] [ 2.25518973e-03 9.99997251e-01 -6.42065817e-04 -2.28265068e-01] [-4.20504516e-03 6.51544970e-04 9.99990947e-01 7.76673203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282557844 meters 0.2885363321168358 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99987054e-01 -2.12659048e-03 4.62270441e-03 2.16941636e+00] [ 2.12797638e-03 9.99997692e-01 -2.94904105e-04 -2.29552767e-01] [-4.62206660e-03 3.04737293e-04 9.99989272e-01 7.77316404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342557844 meters 0.2891050131569588 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99986958e-01 -1.97010464e-03 4.71204915e-03 2.16885843e+00] [ 1.96971297e-03 9.99998056e-01 8.77608415e-05 -2.31108184e-01] [-4.71221289e-03 -7.84783126e-05 9.99988894e-01 7.78070169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40255784399997 meters 0.28852838907394396 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99987528e-01 -1.89330160e-03 4.62158640e-03 2.16944923e+00] [ 1.89197613e-03 9.99998168e-01 2.91153559e-04 -2.32047967e-01] [-4.62212918e-03 -2.82405997e-04 9.99989278e-01 7.77259872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46255784399997 meters 0.28839795595518697 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.23, Z:0.77 [[ 9.99987805e-01 4.92123122e-03 4.14936834e-04 2.15291717e+00] [-4.92067378e-03 9.99987004e-01 -1.33391064e-03 -2.32583265e-01] [-4.21495924e-04 1.33185260e-03 9.99999024e-01 7.74971497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52255784399998 meters 0.28945917888943656 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.23, Z:0.77 [[ 9.99988542e-01 4.78088866e-03 2.43178178e-04 2.15365414e+00] [-4.78046459e-03 9.99987102e-01 -1.71553743e-03 -2.31030257e-01] [-2.51376835e-04 1.71435527e-03 9.99998499e-01 7.74222732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58255784399998 meters 0.288603109072259 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.77 [[ 9.99989793e-01 -4.51118750e-03 -2.52647602e-04 2.13352711e+00] [ 4.51105215e-03 9.99989683e-01 -5.33739520e-04 -2.28448000e-01] [ 2.55052794e-04 5.32594365e-04 9.99999826e-01 7.73539804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64255784399998 meters 0.28876344169665474 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.23, Z:0.77 [[ 0.99999122 0.00279663 0.00312106 2.15528874] [-0.00278834 0.99999259 -0.00265541 -0.22698866] [-0.00312846 0.00264668 0.9999916 0.77163054] [ 0. 0. 0. 1. ]] SLAMing on 242.70255784399998 meters 0.2878586252038357 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.23, Z:0.77 [[ 9.99990171e-01 -4.39954462e-03 -5.49328995e-04 2.13546041e+00] [ 4.39960464e-03 9.99990316e-01 1.08094208e-04 -2.29477008e-01] [ 5.48848110e-04 -1.10509976e-04 9.99999843e-01 7.73014327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76255784399999 meters 0.28975561071196737 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995303e-01 -2.77758011e-03 -1.29564086e-03 2.17529830e+00] [ 2.77780889e-03 9.99996127e-01 1.74809403e-04 -2.29447646e-01] [ 1.29515030e-03 -1.78407624e-04 9.99999145e-01 7.75202817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822557844 meters 0.2884506617027085 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995497e-01 -2.67438485e-03 -1.36137504e-03 2.17535914e+00] [ 2.67500698e-03 9.99996318e-01 4.55371872e-04 -2.30577954e-01] [ 1.36015219e-03 -4.59011509e-04 9.99998970e-01 7.75454607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882557844 meters 0.28820992309754073 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995785e-01 -2.50818918e-03 -1.46243068e-03 2.17568541e+00] [ 2.50953297e-03 9.99996430e-01 9.17765202e-04 -2.32504574e-01] [ 1.46012353e-03 -9.21431352e-04 9.99998510e-01 7.75282508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942557844 meters 0.2891189013093113 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995738e-01 -2.46646031e-03 -1.56239918e-03 2.17587963e+00] [ 2.46807094e-03 9.99996424e-01 1.02978291e-03 -2.32963121e-01] [ 1.55985368e-03 -1.03363464e-03 9.99998249e-01 7.75434307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002557844 meters 0.28833838695142744 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995831e-01 -2.50345940e-03 -1.43906749e-03 2.17546694e+00] [ 2.50476707e-03 9.99996451e-01 9.07606621e-04 -2.32438330e-01] [ 1.43679023e-03 -9.11207366e-04 9.99998553e-01 7.75699013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062557844 meters 0.28832755511716907 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.23, Z:0.78 [[ 9.99995526e-01 -2.60856530e-03 -1.46427842e-03 2.17575980e+00] [ 2.60945260e-03 9.99996413e-01 6.04382988e-04 -2.31249303e-01] [ 1.46269660e-03 -6.08201249e-04 9.99998745e-01 7.75120083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122557844 meters 0.2886493530003904 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99977965e-01 6.50732891e-03 1.31275875e-03 2.19420657e+00] [-6.50627271e-03 9.99978508e-01 -8.07240065e-04 -2.29362440e-01] [-1.31798352e-03 7.98681112e-04 9.99998813e-01 7.75868509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18255784399997 meters 0.2889690675262655 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99978010e-01 6.50042815e-03 1.31324251e-03 2.19396407e+00] [-6.49934817e-03 9.99978539e-01 -8.24975697e-04 -2.29242862e-01] [-1.31857702e-03 8.16422335e-04 9.99998797e-01 7.76412888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24255784399998 meters 0.2888378480873398 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99978582e-01 6.43981378e-03 1.16820234e-03 2.19462794e+00] [-6.43866531e-03 9.99978787e-01 -9.84225445e-04 -2.28682732e-01] [-1.17451578e-03 9.76682701e-04 9.99998833e-01 7.75649072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30255784399998 meters 0.2900241578752893 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.23, Z:0.78 [[ 9.99995421e-01 -9.40769253e-04 2.87641996e-03 2.21388087e+00] [ 9.39311268e-04 9.99999430e-01 5.08183536e-04 -2.26262932e-01] [-2.87689640e-03 -5.05479355e-04 9.99995734e-01 7.77465777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36255784399998 meters 0.2892001114830783 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.23, Z:0.78 [[ 9.99996719e-01 -7.41659183e-04 2.45210854e-03 2.21455722e+00] [ 7.38616466e-04 9.99998957e-01 1.24153015e-03 -2.29124396e-01] [-2.45302678e-03 -1.23971491e-03 9.99996223e-01 7.78331893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42255784399998 meters 0.28801737555276485 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99993409e-01 3.59057381e-03 5.38446332e-04 2.19192654e+00] [-3.58930051e-03 9.99990803e-01 -2.34736764e-03 -2.32314278e-01] [-5.46869777e-04 2.34541952e-03 9.99997100e-01 7.79191699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48255784399998 meters 0.2883729874080946 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99992477e-01 3.82772141e-03 6.28523222e-04 2.19147864e+00] [-3.82662825e-03 9.99991180e-01 -1.73134469e-03 -2.34833820e-01] [-6.35144784e-04 1.72892654e-03 9.99998304e-01 7.79705208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542557844 meters 0.2890991771942884 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.78 [[ 9.99992082e-01 3.95157825e-03 4.69903111e-04 2.19199845e+00] [-3.95091147e-03 9.99991199e-01 -1.41152589e-03 -2.36203920e-01] [-4.75476731e-04 1.40965817e-03 9.99998893e-01 7.79461840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602557844 meters 0.288413825699952 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99983334e-01 -5.25024090e-03 -2.40132549e-03 2.17471313e+00] [ 5.24959472e-03 9.99986183e-01 -2.75315050e-04 -2.33982415e-01] [ 2.40273779e-03 2.62704476e-04 9.99997079e-01 7.78589517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662557844 meters 0.28906286496457356 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99995037e-01 2.87711640e-03 1.28349510e-03 2.19380197e+00] [-2.87414172e-03 9.99993194e-01 -2.31349539e-03 -2.30864734e-01] [-1.29014256e-03 2.30979496e-03 9.99996500e-01 7.78130595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722557844 meters 0.287368006756437 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.23, Z:0.78 [[ 9.99990709e-01 -4.27264879e-03 -5.71014677e-04 2.17109393e+00] [ 4.27288591e-03 9.99990785e-01 4.14676712e-04 -2.29461899e-01] [ 5.69237648e-04 -4.17112740e-04 9.99999751e-01 7.80129001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782557844 meters 0.2893324978972491 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99979846e-01 6.21315126e-03 1.30565770e-03 2.19257235e+00] [-6.21314790e-03 9.99980698e-01 -6.62435976e-06 -2.25378312e-01] [-1.30567365e-03 -1.48801814e-06 9.99999148e-01 7.78441743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842557844 meters 0.2889495658536589 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.22, Z:0.78 [[ 9.99981722e-01 5.93703897e-03 1.14354904e-03 2.19281189e+00] [-5.93622181e-03 9.99982124e-01 -7.16657581e-04 -2.22434616e-01] [-1.14778342e-03 7.09856121e-04 9.99999089e-01 7.78782009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90255784399997 meters 0.2883891388431732 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.22, Z:0.78 [[ 9.99982760e-01 5.75347933e-03 1.17320385e-03 2.19281300e+00] [-5.75214114e-03 9.99982806e-01 -1.14083876e-03 -2.20669453e-01] [-1.17974747e-03 1.13407066e-03 9.99998661e-01 7.78606032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96255784399997 meters 0.2891127763323497 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.21, Z:0.78 [[ 9.99997447e-01 -1.71359665e-03 1.47300798e-03 2.21219205e+00] [ 1.71414531e-03 9.99998462e-01 -3.71293647e-04 -2.12909173e-01] [-1.47236946e-03 3.73817649e-04 9.99998846e-01 7.80112286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02255784399998 meters 0.28949144059017284 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.21, Z:0.78 [[ 9.99997143e-01 -1.88066803e-03 1.47547976e-03 2.21211439e+00] [ 1.88187036e-03 9.99997898e-01 -8.13911247e-04 -2.11076154e-01] [-1.47394596e-03 8.16685584e-04 9.99998580e-01 7.80281008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08255784399998 meters 0.2904950052782671 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.21, Z:0.78 [[ 9.99996963e-01 -2.02524788e-03 1.40442185e-03 2.21249936e+00] [ 2.02688603e-03 9.99997266e-01 -1.16598271e-03 -2.09631649e-01] [-1.40205660e-03 1.16882577e-03 9.99998334e-01 7.79857977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14255784399998 meters 0.2886804113713374 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99993620e-01 -3.17643287e-03 1.63418705e-03 2.17422307e+00] [ 3.17769869e-03 9.99994653e-01 -7.72570565e-04 -2.11204939e-01] [-1.63172430e-03 7.77758590e-04 9.99998366e-01 7.77371566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20255784399998 meters 0.28729357383455517 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99993164e-01 -3.20101894e-03 1.85090983e-03 2.17347182e+00] [ 3.20260358e-03 9.99994507e-01 -8.53810248e-04 -2.10774958e-01] [-1.84816660e-03 8.59732141e-04 9.99997923e-01 7.77935668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26255784399999 meters 0.28904542192498217 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99992471e-01 -3.35023845e-03 1.95797751e-03 2.17333266e+00] [ 3.35283909e-03 9.99993499e-01 -1.32645726e-03 -2.08913041e-01] [-1.95352084e-03 1.33301206e-03 9.99997203e-01 7.77590438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322557844 meters 0.2893054897980877 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99992042e-01 -3.44979093e-03 2.00346757e-03 2.17332169e+00] [ 3.45307939e-03 9.99992693e-01 -1.64025176e-03 -2.07673497e-01] [-1.99779441e-03 1.64715684e-03 9.99996648e-01 7.77335292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382557844 meters 0.2901699871234264 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99992081e-01 -3.48728710e-03 1.91751734e-03 2.17359697e+00] [ 3.49061576e-03 9.99992402e-01 -1.73532335e-03 -2.07300332e-01] [-1.91145120e-03 1.74200292e-03 9.99996656e-01 7.77190203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442557844 meters 0.29064251155054804 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99991958e-01 -3.49567285e-03 1.96571311e-03 2.17335779e+00] [ 3.49913307e-03 9.99992330e-01 -1.75961278e-03 -2.07170942e-01] [-1.95954700e-03 1.76647692e-03 9.99996520e-01 7.77456685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502557844 meters 0.2902563770648633 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99991603e-01 -3.58583684e-03 1.98370473e-03 2.17338476e+00] [ 3.58982504e-03 9.99991535e-01 -2.01058894e-03 -2.06160529e-01] [-1.97647829e-03 2.01769321e-03 9.99996011e-01 7.77267457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562557844 meters 0.2887957486807765 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99990282e-01 4.40192131e-03 2.41296735e-04 2.15200637e+00] [-4.40128617e-03 9.99987006e-01 -2.57238921e-03 -2.07608314e-01] [-2.52617054e-04 2.57130219e-03 9.99996662e-01 7.77146231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622557844 meters 0.29047110571992 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99995293e-01 -2.93806597e-03 8.84677456e-04 2.17056119e+00] [ 2.93922573e-03 9.99994819e-01 -1.31251172e-03 -2.01487454e-01] [-8.80816626e-04 1.31510580e-03 9.99998747e-01 7.78876398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68255784399997 meters 0.2913188625924482 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99994751e-01 -3.12764436e-03 8.46353927e-04 2.17027945e+00] [ 3.12915723e-03 9.99993498e-01 -1.79213244e-03 -1.99406386e-01] [-8.40743271e-04 1.79477141e-03 9.99998036e-01 7.79706964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74255784399998 meters 0.2901660495201479 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.20, Z:0.78 [[ 9.99986045e-01 5.03915479e-03 -1.58612232e-03 2.14991040e+00] [-5.04285925e-03 9.99984546e-01 -2.34027431e-03 -2.00897053e-01] [ 1.57430480e-03 2.34824024e-03 9.99996004e-01 7.80077619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80255784399998 meters 0.2894569915232487 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.20, Z:0.78 [[ 9.99987911e-01 4.70531633e-03 -1.42774997e-03 2.14942712e+00] [-4.70980847e-03 9.99983918e-01 -3.15942561e-03 -1.97451779e-01] [ 1.41286091e-03 3.16611185e-03 9.99993990e-01 7.80183985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86255784399998 meters 0.29072706666260906 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99999231e-01 1.62458931e-05 1.24001828e-03 2.17186698e+00] [-1.59662369e-05 9.99999974e-01 -2.25535468e-04 -1.93106633e-01] [-1.24002192e-03 2.25515497e-04 9.99999206e-01 7.79094291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92255784399998 meters 0.2890100965024837 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99998568e-01 -5.35036213e-04 1.60565653e-03 2.17084923e+00] [ 5.37399835e-04 9.99998772e-01 -1.47198949e-03 -1.87752879e-01] [-1.60486699e-03 1.47285027e-03 9.99997628e-01 7.78939352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98255784399998 meters 0.2895558937908899 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99998503e-01 -7.41349191e-04 1.56321939e-03 2.17101311e+00] [ 7.44479699e-04 9.99997717e-01 -2.00297317e-03 -1.85567149e-01] [-1.56173092e-03 2.00413396e-03 9.99996772e-01 7.78797226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042557844 meters 0.2902560228367593 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.18, Z:0.78 [[ 9.99998202e-01 -9.29176803e-04 1.65318538e-03 2.17052235e+00] [ 9.33281526e-04 9.99996480e-01 -2.48388088e-03 -1.83539024e-01] [-1.65087160e-03 2.48541930e-03 9.99995549e-01 7.79366915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102557844 meters 0.28933169847498597 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.19, Z:0.78 [[ 9.99968994e-01 -7.66193153e-03 -1.81830522e-03 2.14976989e+00] [ 7.66267225e-03 9.99970561e-01 4.00751578e-04 -1.85485610e-01] [ 1.81518116e-03 -4.14672229e-04 9.99998267e-01 7.80995691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162557844 meters 0.2895574317183331 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.19, Z:0.78 [[ 9.99968987e-01 -7.61002155e-03 -2.02813869e-03 2.15048437e+00] [ 7.61114845e-03 9.99970884e-01 5.48494192e-04 -1.86182605e-01] [ 2.02390559e-03 -5.63913646e-04 9.99997793e-01 7.80541227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222557844 meters 0.28870777156033295 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.19, Z:0.78 [[ 9.99995006e-01 2.87806913e-04 -3.14727606e-03 2.13097428e+00] [-2.88287614e-04 9.99999947e-01 -1.52282998e-04 -1.91763989e-01] [ 3.14723206e-03 1.53189558e-04 9.99995036e-01 7.79641497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282557844 meters 0.28874194819941323 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.19, Z:0.78 [[ 9.99994660e-01 4.12664218e-04 -3.24198362e-03 2.13124248e+00] [-4.12099247e-04 9.99999900e-01 1.74933145e-04 -1.93139155e-01] [ 3.24205549e-03 -1.73596191e-04 9.99994729e-01 7.79595035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342557844 meters 0.2894191893804788 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99994141e-01 6.29099841e-04 -3.36481528e-03 2.13181694e+00] [-6.26565175e-04 9.99999519e-01 7.54286446e-04 -1.95619004e-01] [ 3.36528818e-03 -7.52173751e-04 9.99994055e-01 7.79026439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40255784399997 meters 0.2909633681775351 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99993734e-01 8.68943561e-04 -3.43179548e-03 2.13191290e+00] [-8.63967296e-04 9.99998574e-01 1.45126357e-03 -1.98444925e-01] [ 3.43305165e-03 -1.44828951e-03 9.99993058e-01 7.79224886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46255784399997 meters 0.2911542808303688 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99992959e-01 1.25475523e-03 -3.53657253e-03 2.13177508e+00] [-1.24566793e-03 9.99995920e-01 2.57055498e-03 -2.02926252e-01] [ 3.53978352e-03 -2.56613148e-03 9.99990442e-01 7.80045217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52255784399998 meters 0.28964092088237575 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99993092e-01 1.35510378e-03 -3.46105899e-03 2.13166017e+00] [-1.34529115e-03 9.99995074e-01 2.83590871e-03 -2.04027744e-01] [ 3.46488489e-03 -2.83123299e-03 9.99989989e-01 7.79886637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58255784399998 meters 0.2907834474535606 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99993377e-01 1.34228993e-03 -3.38293413e-03 2.13196555e+00] [-1.33275527e-03 9.99995138e-01 2.81913994e-03 -2.04096377e-01] [ 3.38670179e-03 -2.81461265e-03 9.99990304e-01 7.78866103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64255784399998 meters 0.2922837800710241 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99993490e-01 1.35987656e-03 -3.34218731e-03 2.13188186e+00] [-1.35028251e-03 9.99994967e-01 2.87117399e-03 -2.04302386e-01] [ 3.34607493e-03 -2.86664240e-03 9.99990293e-01 7.78827871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70255784399998 meters 0.2929608127764874 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99994832e-01 1.29026021e-03 -2.94462924e-03 2.13063014e+00] [-1.28258088e-03 9.99995776e-01 2.60830958e-03 -2.03113485e-01] [ 2.94798220e-03 -2.60451937e-03 9.99992263e-01 7.79560640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76255784399999 meters 0.2901513105045153 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99995934e-01 1.24407500e-03 -2.56579291e-03 2.12952901e+00] [-1.23780443e-03 9.99996247e-01 2.44405387e-03 -2.02331243e-01] [ 2.56882386e-03 -2.44086798e-03 9.99993722e-01 7.80008938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822557844 meters 0.29119908048611315 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99996074e-01 1.20565320e-03 -2.52939351e-03 2.12960714e+00] [-1.19972035e-03 9.99996529e-01 2.34576950e-03 -2.01941296e-01] [ 2.53221292e-03 -2.34272573e-03 9.99994050e-01 7.79625445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882557844 meters 0.29191536840855303 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99995190e-01 1.32689131e-03 -2.80329961e-03 2.13032119e+00] [-1.31915304e-03 9.99995320e-01 2.76046225e-03 -2.03621276e-01] [ 2.80694932e-03 -2.75675099e-03 9.99992261e-01 7.79580667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942557844 meters 0.29261206685473434 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99994727e-01 1.53588407e-03 -2.86131602e-03 2.13013618e+00] [-1.52590628e-03 9.99992759e-01 3.48605840e-03 -2.06372506e-01] [ 2.86664948e-03 -3.48167391e-03 9.99989830e-01 7.80438503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002557844 meters 0.2894243975343316 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.22, Z:0.78 [[ 9.99996695e-01 -1.90651975e-03 -1.72495980e-03 2.09015570e+00] [ 1.91269094e-03 9.99991752e-01 3.58303624e-03 -2.17765501e-01] [ 1.71811444e-03 -3.58632371e-03 9.99992093e-01 7.78749042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062557844 meters 0.29031104457750767 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:0.78 [[ 9.99983139e-01 5.80689344e-03 -3.61730465e-05 2.11127711e+00] [-5.80683875e-03 9.99982211e-01 1.36289507e-03 -2.20658467e-01] [ 4.40865895e-05 -1.36266204e-03 9.99999071e-01 7.77578336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122557844 meters 0.2909779015319225 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:0.78 [[ 9.99982507e-01 5.91138262e-03 -2.05339073e-04 2.11168888e+00] [-5.91102702e-03 9.99981100e-01 1.69123657e-03 -2.21965802e-01] [ 2.15332739e-04 -1.68999322e-03 9.99998549e-01 7.77570281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18255784399997 meters 0.2910700307464119 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:0.78 [[ 9.99981910e-01 6.00178353e-03 -3.98144947e-04 2.11222975e+00] [-6.00101117e-03 9.99980163e-01 1.91352913e-03 -2.22923708e-01] [ 4.09621637e-04 -1.91110524e-03 9.99998090e-01 7.77505185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24255784399998 meters 0.2915778346695971 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.78 [[ 9.99996618e-01 -1.86834481e-03 1.80903525e-03 2.13267647e+00] [ 1.86324002e-03 9.99994290e-01 2.81941765e-03 -2.22313343e-01] [-1.81429256e-03 -2.81603745e-03 9.99994389e-01 7.77739397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30255784399998 meters 0.2899221687673685 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:0.78 [[ 9.99995813e-01 2.87888008e-03 2.92717718e-04 2.10817628e+00] [-2.87877367e-03 9.99995790e-01 -3.63286418e-04 -2.24247124e-01] [-2.93762344e-04 3.62442229e-04 9.99999891e-01 7.80187646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36255784399998 meters 0.2895075530286097 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.23, Z:0.78 [[ 9.99995633e-01 2.95005672e-03 1.74703614e-04 2.10866109e+00] [-2.95002888e-03 9.99995636e-01 -1.59447379e-04 -2.25147859e-01] [-1.75173231e-04 1.58931302e-04 9.99999972e-01 7.79720187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42255784399998 meters 0.2898332263406814 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.22, Z:0.78 [[ 9.99995937e-01 2.84116167e-03 2.33976737e-04 2.10862932e+00] [-2.84104925e-03 9.99995849e-01 -4.79424272e-04 -2.23869134e-01] [-2.35337887e-04 4.78757584e-04 9.99999858e-01 7.79422888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48255784399998 meters 0.2919639784252423 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.22, Z:0.78 [[ 9.99993541e-01 3.27654182e-03 1.47704436e-03 2.15055667e+00] [-3.27349153e-03 9.99992514e-01 -2.06284017e-03 -2.18709365e-01] [-1.48379228e-03 2.05799175e-03 9.99996782e-01 7.79128615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542557844 meters 0.290128187365227 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.78 [[ 9.99991883e-01 -3.80864489e-03 -1.31445901e-03 2.12922709e+00] [ 3.80957354e-03 9.99992495e-01 7.04706979e-04 -2.19534421e-01] [ 1.31176517e-03 -7.09708787e-04 9.99998888e-01 7.80674216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602557844 meters 0.29029751930498665 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.78 [[ 9.99991798e-01 -3.83819964e-03 -1.29327710e-03 2.12925861e+00] [ 3.83901062e-03 9.99992436e-01 6.25170766e-04 -2.19224799e-01] [ 1.29086779e-03 -6.30130543e-04 9.99998968e-01 7.80474041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662557844 meters 0.29060692045335007 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.78 [[ 9.99991743e-01 -3.84072280e-03 -1.32762868e-03 2.12939765e+00] [ 3.84154725e-03 9.99992430e-01 6.19003179e-04 -2.19213994e-01] [ 1.32524121e-03 -6.24098216e-04 9.99998927e-01 7.80349446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722557844 meters 0.2917991708161968 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.22, Z:0.78 [[ 9.99991412e-01 3.40565646e-03 2.36151812e-03 2.14961597e+00] [-3.40094606e-03 9.99992225e-01 -1.99580535e-03 -2.16141722e-01] [-2.36829679e-03 1.98775682e-03 9.99995220e-01 7.78766341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782557844 meters 0.28994872084560747 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.78 [[ 9.99993956e-01 -3.42226967e-03 6.13093384e-04 2.12656291e+00] [ 3.42157080e-03 9.99993500e-01 1.13735017e-03 -2.16467146e-01] [-6.16981718e-04 -1.13524556e-03 9.99999165e-01 7.81065953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842557844 meters 0.29243700725374433 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99994279e-01 -1.25899962e-03 3.13950009e-03 2.16804917e+00] [ 1.25525174e-03 9.99998498e-01 1.19546453e-03 -2.10580046e-01] [-3.14100047e-03 -1.19151682e-03 9.99994357e-01 7.80951423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90255784399997 meters 0.29097403545672207 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99993633e-01 3.56793574e-03 -5.71116455e-05 2.14622287e+00] [-3.56805808e-03 9.99990970e-01 -2.30858347e-03 -2.08737495e-01] [ 4.88742523e-05 2.30877255e-03 9.99997334e-01 7.82577875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96255784399997 meters 0.29106260587255733 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99994168e-01 3.41470449e-03 6.54001519e-05 2.14575942e+00] [-3.41451601e-03 9.99990545e-01 -2.69281387e-03 -2.07063620e-01] [-7.45946971e-05 2.69257485e-03 9.99996372e-01 7.82875258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02255784399998 meters 0.29131453893204823 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99994355e-01 3.35698072e-03 1.44949656e-04 2.14537941e+00] [-3.35655352e-03 9.99990296e-01 -2.85323456e-03 -2.06349852e-01] [-1.54526503e-04 2.85273192e-03 9.99995919e-01 7.83293288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08255784399998 meters 0.2898616038214945 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:0.78 [[ 9.99988459e-01 -3.66205859e-03 -3.10993805e-03 2.12444991e+00] [ 3.66189272e-03 9.99993294e-01 -5.90267519e-05 -2.08279248e-01] [ 3.11013335e-03 4.76378111e-05 9.99995162e-01 7.84907793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14255784399998 meters 0.2912480187397508 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99975454e-01 6.63407949e-03 -2.25406702e-03 2.14569613e+00] [-6.63432335e-03 9.99977988e-01 -1.00725768e-04 -2.10918731e-01] [ 2.25334918e-03 1.15677505e-04 9.99997455e-01 7.84576646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20255784399998 meters 0.29073711992057205 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.21, Z:0.78 [[ 9.99975297e-01 6.68374176e-03 -2.17535347e-03 2.14541029e+00] [-6.68368867e-03 9.99977663e-01 3.16733701e-05 -2.11442596e-01] [ 2.17551657e-03 -1.71332024e-05 9.99997633e-01 7.84781610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26255784399999 meters 0.29063213682721767 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99988383e-01 -1.99386143e-03 -4.38851100e-03 2.12761592e+00] [ 2.00070458e-03 9.99996789e-01 1.55549556e-03 -2.08642036e-01] [ 4.38539547e-03 -1.56425760e-03 9.99989161e-01 7.82804153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322557844 meters 0.2929753488810809 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.21, Z:0.78 [[ 9.99987965e-01 -2.02804049e-03 -4.46724664e-03 2.12820352e+00] [ 2.03461173e-03 9.99996854e-01 1.46692754e-03 -2.08370224e-01] [ 4.46425760e-03 -1.47599900e-03 9.99988946e-01 7.81869393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382557844 meters 0.29092545740231607 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.21, Z:0.78 [[ 9.99966126e-01 6.96332301e-03 -4.38847563e-03 2.10424388e+00] [-6.95660080e-03 9.99974609e-01 1.54519434e-03 -2.08807089e-01] [ 4.39912389e-03 -1.51461312e-03 9.99989177e-01 7.83051552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442557844 meters 0.29014745399062847 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.20, Z:0.78 [[ 0.99998145 -0.00209682 -0.00571948 2.08516761] [ 0.0021109 0.99999475 0.00245793 -0.20445131] [ 0.00571429 -0.00246996 0.99998062 0.78123167] [ 0. 0. 0. 1. ]] SLAMing on 247.502557844 meters 0.2900562660564904 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.20, Z:0.78 [[ 0.99998172 -0.00216452 -0.00564634 2.08501398] [ 0.0021774 0.99999504 0.00227618 -0.20370239] [ 0.00564138 -0.00228843 0.99998147 0.78114599] [ 0. 0. 0. 1. ]] SLAMing on 247.562557844 meters 0.2909880451987657 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.20, Z:0.78 [[ 9.99979936e-01 4.92975821e-03 -3.97803368e-03 2.10744004e+00] [-4.93185419e-03 9.99987705e-01 -5.17251472e-04 -2.04166905e-01] [ 3.97543484e-03 5.36860176e-04 9.99991954e-01 7.80036185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622557844 meters 0.29132496806713803 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99990580e-01 -4.21753709e-03 -1.02548780e-03 2.12691849e+00] [ 4.21679066e-03 9.99990844e-01 -7.28952420e-04 -2.04205343e-01] [ 1.02855280e-03 7.24621287e-04 9.99999209e-01 7.80668967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68255784399997 meters 0.2903228542668082 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99991250e-01 -4.14201300e-03 -5.86687865e-04 2.12556978e+00] [ 4.14170811e-03 9.99991288e-01 -5.19932232e-04 -2.04991388e-01] [ 5.88836320e-04 5.17497792e-04 9.99999693e-01 7.81437288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74255784399998 meters 0.2884590212706935 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.21, Z:0.78 [[ 9.99987440e-01 4.59058846e-03 -2.01133350e-03 2.10430366e+00] [-4.59231586e-03 9.99989090e-01 -8.55053996e-04 -2.06189085e-01] [ 2.00738635e-03 8.64279936e-04 9.99997612e-01 7.81796679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80255784399998 meters 0.2906029441481308 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.20, Z:0.78 [[ 9.99999954e-01 -2.98822169e-04 5.91414404e-05 2.12805009e+00] [ 2.98705966e-04 9.99998044e-01 1.95517599e-03 -2.01921384e-01] [-5.97255747e-05 -1.95515824e-03 9.99998087e-01 7.79779838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86255784399998 meters 0.28940334281453994 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.78 [[ 9.99999173e-01 6.98958016e-04 1.07949188e-03 2.12348073e+00] [-7.01700227e-04 9.99996523e-01 2.54199273e-03 -1.97211799e-01] [-1.07771138e-03 -2.54274810e-03 9.99996186e-01 7.82350578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92255784399998 meters 0.2906297961039605 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.78 [[ 9.99999495e-01 4.39034890e-04 9.03519413e-04 2.12413352e+00] [-4.40739012e-04 9.99998123e-01 1.88675997e-03 -1.94508747e-01] [-9.02689363e-04 -1.88715724e-03 9.99997812e-01 7.81848595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98255784399998 meters 0.2889332879127994 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.78 [[ 9.99999451e-01 3.34836596e-04 9.92626025e-04 2.12380070e+00] [-3.36435462e-04 9.99998646e-01 1.61101452e-03 -1.93338721e-01] [-9.92085254e-04 -1.61134759e-03 9.99998210e-01 7.82089365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042557844 meters 0.28824899702910606 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.78 [[ 9.99999364e-01 2.89627341e-04 1.08986833e-03 2.12344804e+00] [-2.91243735e-04 9.99998858e-01 1.48324381e-03 -1.92788048e-01] [-1.08943750e-03 -1.48356028e-03 9.99998306e-01 7.82346789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102557844 meters 0.29007105288798 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99998329e-01 1.61420953e-03 -8.57812820e-04 2.16591845e+00] [-1.61295061e-03 9.99997624e-01 1.46626373e-03 -1.91533685e-01] [ 8.60177639e-04 -1.46487767e-03 9.99998557e-01 7.83746314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162557844 meters 0.29034272886900325 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99998090e-01 1.67064304e-03 -1.01438052e-03 2.16654556e+00] [-1.66899722e-03 9.99997293e-01 1.62116605e-03 -1.92232962e-01] [ 1.01708617e-03 -1.61946996e-03 9.99998171e-01 7.83226221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222557844 meters 0.28900128799067254 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.19, Z:0.78 [[ 9.99998025e-01 1.84902623e-03 -7.28995357e-04 2.16557254e+00] [-1.84752069e-03 9.99996170e-01 2.06050646e-03 -1.94021291e-01] [ 7.32802496e-04 -2.05915556e-03 9.99997611e-01 7.83865159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282557844 meters 0.28857968589529875 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99997797e-01 2.00649242e-03 -6.16441262e-04 2.16509789e+00] [-2.00497632e-03 9.99994988e-01 2.45028680e-03 -1.95621601e-01] [ 6.21354654e-04 -2.44904545e-03 9.99996808e-01 7.84286274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342557844 meters 0.2892098132411316 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99996824e-01 2.41346278e-03 -7.25507274e-04 2.16592923e+00] [-2.41089951e-03 9.99990922e-01 3.51343282e-03 -2.00421637e-01] [ 7.33980227e-04 -3.51167254e-03 9.99993565e-01 7.83171090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40255784399997 meters 0.28869086167709024 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99996443e-01 2.54340381e-03 -8.03141165e-04 2.16626032e+00] [-2.54029404e-03 9.99989364e-01 3.84957637e-03 -2.01846337e-01] [ 8.12923649e-04 -3.84752246e-03 9.99992268e-01 7.82877021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46255784399997 meters 0.2895658750732582 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.20, Z:0.78 [[ 9.99995624e-01 2.85393288e-03 -7.78844421e-04 2.16606448e+00] [-2.85032580e-03 9.99985386e-01 4.59377771e-03 -2.04954981e-01] [ 7.91943373e-04 -4.59153765e-03 9.99989145e-01 7.83159554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52255784399998 meters 0.28908599859934714 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99998751e-01 -1.08065929e-03 -1.15327495e-03 2.16733877e+00] [ 1.08232128e-03 9.99998375e-01 1.44145040e-03 -2.09019737e-01] [ 1.15171536e-03 -1.44269681e-03 9.99998296e-01 7.82214087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58255784399998 meters 0.2887745164065731 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99998750e-01 -9.03755188e-04 -1.29750031e-03 2.16797834e+00] [ 9.06231137e-04 9.99997767e-01 1.90892733e-03 -2.11009851e-01] [ 1.29577221e-03 -1.91010077e-03 9.99997336e-01 7.81545360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64255784399998 meters 0.29005817967487374 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99998912e-01 -7.84770791e-04 -1.24882233e-03 2.16767771e+00] [ 7.87518038e-04 9.99997268e-01 2.20090123e-03 -2.12194669e-01] [ 1.24709172e-03 -2.20188231e-03 9.99996798e-01 7.81946625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70255784399998 meters 0.28966117623924215 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99999186e-01 -7.26609695e-04 -1.04908019e-03 2.16704472e+00] [ 7.29070821e-04 9.99996979e-01 2.34751158e-03 -2.12746737e-01] [ 1.04737129e-03 -2.34827452e-03 9.99996694e-01 7.82266134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76255784399999 meters 0.28871769522960705 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.21, Z:0.78 [[ 9.99999325e-01 -6.31267221e-04 -9.75732507e-04 2.16691288e+00] [ 6.33814261e-04 9.99996387e-01 2.61228683e-03 -2.13840591e-01] [ 9.74079930e-04 -2.61290350e-03 9.99996112e-01 7.82158472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822557844 meters 0.2883010521411357 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.22, Z:0.78 [[ 9.99999028e-01 -4.53912742e-04 -1.31812317e-03 2.16755415e+00] [ 4.58174478e-04 9.99994663e-01 3.23468508e-03 -2.16294641e-01] [ 1.31664787e-03 -3.23528587e-03 9.99993900e-01 7.82616359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882557844 meters 0.2888693100219209 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.22, Z:0.78 [[ 9.99998736e-01 -3.43721467e-04 -1.55233700e-03 2.16828203e+00] [ 3.49255781e-04 9.99993580e-01 3.56628655e-03 -2.17715634e-01] [ 1.55110122e-03 -3.56682421e-03 9.99992436e-01 7.82255702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942557844 meters 0.28896229369582227 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.22, Z:0.78 [[ 9.99998781e-01 -1.48074873e-04 -1.55437027e-03 2.16813134e+00] [ 1.54447145e-04 9.99991582e-01 4.10026506e-03 -2.19889700e-01] [ 1.55375003e-03 -4.10050013e-03 9.99990386e-01 7.82598518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002557844 meters 0.28732367853352625 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.22, Z:0.78 [[ 9.99998879e-01 6.23732881e-05 -1.49586101e-03 2.16766913e+00] [-5.53870705e-05 9.99989094e-01 4.66995225e-03 -2.22211941e-01] [ 1.49613598e-03 -4.66986416e-03 9.99987977e-01 7.83411158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062557844 meters 0.2891419584075968 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.22, Z:0.78 [[ 9.99971975e-01 7.45722639e-03 6.62784064e-04 2.18967120e+00] [-7.45855123e-03 9.99970146e-01 2.01943602e-03 -2.22509525e-01] [-6.47704885e-04 -2.02432284e-03 9.99997741e-01 7.81645807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122557844 meters 0.28907189749911805 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99993207e-01 3.56185595e-03 9.48295482e-04 2.18874282e+00] [-3.56071783e-03 9.99992942e-01 -1.19916581e-03 -2.25985232e-01] [-9.52560044e-04 1.19578105e-03 9.99998831e-01 7.81891826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18255784399997 meters 0.28859583171708103 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99992868e-01 3.64779640e-03 9.78393529e-04 2.18861798e+00] [-3.64685048e-03 9.99992883e-01 -9.66850722e-04 -2.26927218e-01] [-9.81913440e-04 9.63275772e-04 9.99999054e-01 7.82007252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24255784399998 meters 0.28862368112149844 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99992186e-01 3.89081718e-03 6.99869502e-04 2.18925513e+00] [-3.89055368e-03 9.99992361e-01 -3.77461121e-04 -2.29401105e-01] [-7.01332788e-04 3.74735291e-04 9.99999684e-01 7.82295881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30255784399998 meters 0.28964847047521863 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.23, Z:0.78 [[ 9.99991510e-01 4.08712789e-03 5.25422861e-04 2.18982964e+00] [-4.08722531e-03 9.99991630e-01 1.84471659e-04 -2.31796323e-01] [-5.24664504e-04 -1.86617615e-04 9.99999845e-01 7.81968905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36255784399998 meters 0.2889816627841092 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.78 [[ 9.99999855e-01 1.52539089e-04 5.16837475e-04 2.18973877e+00] [-1.50929879e-04 9.99995146e-01 -3.11218051e-03 -2.36060802e-01] [-5.17309695e-04 3.11210205e-03 9.99995024e-01 7.82228480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42255784399998 meters 0.2903480824934525 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.24, Z:0.78 [[ 9.99989175e-01 -4.63056539e-03 4.56529404e-04 2.21469345e+00] [ 4.63018195e-03 9.99988930e-01 8.37407031e-04 -2.37338619e-01] [-4.60402018e-04 -8.35284152e-04 9.99999545e-01 7.80730327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48255784399998 meters 0.289069186628757 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.78 [[ 9.99998475e-01 9.69446498e-04 -1.45265019e-03 2.19195975e+00] [-9.72224416e-04 9.99997698e-01 -1.91282615e-03 -2.38987689e-01] [ 1.45079246e-03 1.91423553e-03 9.99997115e-01 7.82367689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542557844 meters 0.2894860072073413 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.24, Z:0.78 [[ 9.99994533e-01 -3.14833973e-03 1.01054940e-03 2.21574496e+00] [ 3.14676701e-03 9.99993841e-01 1.55413452e-03 -2.38556803e-01] [-1.01543612e-03 -1.55094606e-03 9.99998282e-01 7.80326731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602557844 meters 0.29037018639062157 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.24, Z:0.78 [[ 9.99993896e-01 -3.29448656e-03 1.16335866e-03 2.21534612e+00] [ 3.29323190e-03 9.99993995e-01 1.07875379e-03 -2.36643592e-01] [-1.16690561e-03 -1.07491600e-03 9.99998741e-01 7.80363037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662557844 meters 0.29078808735418826 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.24, Z:0.78 [[ 9.99993815e-01 -3.32009295e-03 1.16022455e-03 2.21537632e+00] [ 3.31892117e-03 9.99993982e-01 1.01043376e-03 -2.36365493e-01] [-1.16357230e-03 -1.00657682e-03 9.99998816e-01 7.80309391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722557844 meters 0.28955921935081247 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.24, Z:0.78 [[ 9.99993929e-01 -3.31790269e-03 1.06419367e-03 2.21581047e+00] [ 3.31682003e-03 9.99993982e-01 1.01750320e-03 -2.36442759e-01] [-1.06756324e-03 -1.01396728e-03 9.99998916e-01 7.79823592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782557844 meters 0.2885483870681359 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.24, Z:0.78 [[ 9.99998933e-01 1.45493818e-03 1.27419698e-04 2.19199305e+00] [-1.45464186e-03 9.99996307e-01 -2.29552204e-03 -2.39480603e-01] [-1.30759070e-04 2.29533424e-03 9.99997357e-01 7.81633790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842557844 meters 0.28964426289891515 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.24, Z:0.78 [[ 9.99987654e-01 -3.60918780e-03 3.41562577e-03 2.21379903e+00] [ 3.60556999e-03 9.99992933e-01 1.06475886e-03 -2.42804943e-01] [-3.41944455e-03 -1.05243044e-03 9.99993600e-01 7.80195514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90255784399997 meters 0.28936037283804306 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.25, Z:0.78 [[ 9.99988348e-01 -3.40745060e-03 3.41960860e-03 2.21349023e+00] [ 3.40184803e-03 9.99992864e-01 1.64284648e-03 -2.45103806e-01] [-3.42518212e-03 -1.63119435e-03 9.99992804e-01 7.80916886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96255784399997 meters 0.2878188338227939 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.25, Z:0.78 [[ 9.99997916e-01 1.16732241e-03 1.67514700e-03 2.19054318e+00] [-1.16511439e-03 9.99998452e-01 -1.31847966e-03 -2.51161748e-01] [-1.67668349e-03 1.31652517e-03 9.99997728e-01 7.82540706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02255784399998 meters 0.2907460619572353 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.25, Z:0.78 [[ 9.99998432e-01 1.76271326e-03 1.69109099e-04 2.23122342e+00] [-1.76223564e-03 9.99994572e-01 -2.78409132e-03 -2.51979176e-01] [-1.74015735e-04 2.78378895e-03 9.99996110e-01 7.84277007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08255784399998 meters 0.28864841607014197 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.26, Z:0.79 [[ 9.99979680e-01 -5.22853855e-03 -3.64727798e-03 2.21122687e+00] [ 5.23053594e-03 9.99986176e-01 5.38313868e-04 -2.57166592e-01] [ 3.64441297e-03 -5.57380148e-04 9.99993204e-01 7.86185212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14255784399998 meters 0.2897383471430333 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.26, Z:0.79 [[ 9.99979473e-01 -5.15310611e-03 -3.80766916e-03 2.21167416e+00] [ 5.15600394e-03 9.99986425e-01 7.51628068e-04 -2.58070510e-01] [ 3.80374425e-03 -7.71244997e-04 9.99992468e-01 7.86085321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20255784399998 meters 0.28969497926851456 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.26, Z:0.79 [[ 9.99979568e-01 -5.09688630e-03 -3.85822485e-03 2.21183088e+00] [ 5.10041646e-03 9.99986583e-01 9.05683233e-04 -2.58720387e-01] [ 3.85355692e-03 -9.25343281e-04 9.99992147e-01 7.86024887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26255784399999 meters 0.29051202943691284 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.26, Z:0.79 [[ 9.99990584e-01 4.12074760e-03 -1.36047103e-03 2.22971235e+00] [-4.12109688e-03 9.99991476e-01 -2.54030808e-04 -2.61254716e-01] [ 1.35941264e-03 2.59635049e-04 9.99999042e-01 7.86967914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322557844 meters 0.2896853934681686 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.26, Z:0.79 [[ 9.99990625e-01 4.11877558e-03 -1.33636705e-03 2.22957608e+00] [-4.11912968e-03 9.99991482e-01 -2.62326376e-04 -2.61205642e-01] [ 1.33527520e-03 2.67828586e-04 9.99999073e-01 7.87142264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382557844 meters 0.28978605814938746 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.26, Z:0.79 [[ 9.99990712e-01 4.08809080e-03 -1.36482361e-03 2.22937357e+00] [-4.08857506e-03 9.99991580e-01 -3.52215996e-04 -2.60773682e-01] [ 1.36337222e-03 3.57792908e-04 9.99999007e-01 7.87815376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442557844 meters 0.2907026978244349 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.26, Z:0.79 [[ 9.99990723e-01 4.11494243e-03 -1.27323060e-03 2.22909308e+00] [-4.11530514e-03 9.99991492e-01 -2.82387694e-04 -2.61039356e-01] [ 1.27205776e-03 2.87624807e-04 9.99999150e-01 7.87946343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502557844 meters 0.2898938433382866 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.26, Z:0.79 [[ 9.99990184e-01 4.28622487e-03 -1.12228479e-03 2.22839413e+00] [-4.28591482e-03 9.99990777e-01 2.78520156e-04 -2.63154122e-01] [ 1.12346824e-03 -2.73707405e-04 9.99999331e-01 7.88742097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562557844 meters 0.2893684443068799 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.27, Z:0.79 [[ 9.99988937e-01 4.55217676e-03 -1.18444061e-03 2.22828902e+00] [-4.55079722e-03 9.99988967e-01 1.16481643e-03 -2.66563735e-01] [ 1.18972999e-03 -1.15941340e-03 9.99998620e-01 7.89355052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622557844 meters 0.2888068878269068 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.27, Z:0.79 [[ 9.99988040e-01 4.76744667e-03 -1.09167155e-03 2.22785725e+00] [-4.76555930e-03 9.99987157e-01 1.72500614e-03 -2.68805586e-01] [ 1.09988141e-03 -1.71978309e-03 9.99997916e-01 7.89764434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68255784399997 meters 0.2891815447628803 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.27, Z:0.79 [[ 9.99999235e-01 7.13086398e-04 -1.01062010e-03 2.22745927e+00] [-7.14921723e-04 9.99998094e-01 -1.81684249e-03 -2.71907170e-01] [ 1.00932261e-03 1.81756361e-03 9.99997839e-01 7.90159010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74255784399998 meters 0.2896435701981576 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 9.99998661e-01 1.02017922e-03 -1.27945107e-03 2.22810221e+00] [-1.02134430e-03 9.99999064e-01 -9.10285735e-04 -2.75582240e-01] [ 1.27852122e-03 9.11591276e-04 9.99998767e-01 7.90259137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80255784399998 meters 0.28925519218126183 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 9.99997865e-01 1.48277462e-03 -1.43891836e-03 2.22827851e+00] [-1.48205246e-03 9.99998775e-01 5.02815090e-04 -2.81143771e-01] [ 1.43966215e-03 -5.00681465e-04 9.99998838e-01 7.90668373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86255784399998 meters 0.2906629859384713 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 9.99997255e-01 1.76051240e-03 -1.54612058e-03 2.22868043e+00] [-1.75865428e-03 9.99997731e-01 1.20233441e-03 -2.84061714e-01] [ 1.54823379e-03 -1.19961202e-03 9.99998082e-01 7.90370553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92255784399998 meters 0.2889870102379813 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99996865e-01 1.95263413e-03 -1.56783890e-03 2.22845029e+00] [-1.94995075e-03 9.99996635e-01 1.71122558e-03 -2.86081984e-01] [ 1.57117503e-03 -1.70816300e-03 9.99997307e-01 7.91018485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98255784399998 meters 0.29047322184380187 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.79 [[ 9.99979164e-01 -6.44027176e-03 4.41848401e-04 2.25027821e+00] [ 6.43941480e-03 9.99977435e-01 1.91423911e-03 -2.88307745e-01] [-4.54166650e-04 -1.91135398e-03 9.99998070e-01 7.90734433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042557844 meters 0.28867268835451204 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99998180e-01 1.67999593e-03 9.04058601e-04 2.22975849e+00] [-1.68142381e-03 9.99997337e-01 1.58097548e-03 -2.92858694e-01] [-9.01400161e-04 -1.58249271e-03 9.99998342e-01 7.90247671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102557844 meters 0.2902836926687373 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99998050e-01 1.73790717e-03 9.37918196e-04 2.22971874e+00] [-1.73955218e-03 9.99996945e-01 1.75593849e-03 -2.93557128e-01] [-9.34863673e-04 -1.75756662e-03 9.99998018e-01 7.90133816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162557844 meters 0.28843823755189346 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.29, Z:0.79 [[ 9.99981925e-01 5.76099912e-03 -1.72043726e-03 2.20723124e+00] [-5.76426906e-03 9.99981578e-01 -1.90177230e-03 -2.94467427e-01] [ 1.70944946e-03 1.91165499e-03 9.99996712e-01 7.91781195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222557844 meters 0.2898314122713283 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99994136e-01 -1.91528907e-03 -2.83900033e-03 2.22988780e+00] [ 1.91095300e-03 9.99997005e-01 -1.52924795e-03 -2.89599101e-01] [ 2.84192078e-03 1.52381379e-03 9.99994801e-01 7.92401491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282557844 meters 0.2890825032220517 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99994316e-01 -1.98720454e-03 -2.72364210e-03 2.22946794e+00] [ 1.98252952e-03 9.99996559e-01 -1.71808387e-03 -2.88812008e-01] [ 2.72704692e-03 1.71267440e-03 9.99994815e-01 7.92709210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342557844 meters 0.2891939740683135 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 9.99994525e-01 -2.09578398e-03 -2.56081162e-03 2.22883530e+00] [ 2.09065349e-03 9.99995806e-01 -2.00449761e-03 -2.87552026e-01] [ 2.56500188e-03 1.99913287e-03 9.99994712e-01 7.93229847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40255784399997 meters 0.28904262730221725 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.79 [[ 0.99999478 -0.00223721 -0.00233152 2.22801019] [ 0.00223165 0.99999466 -0.00238717 -0.28593073] [ 0.00233685 0.00238195 0.99999443 0.79390428] [ 0. 0. 0. 1. ]] SLAMing on 251.46255784399997 meters 0.2894549794021109 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 0.99999366 -0.00263905 -0.00239 2.22847406] [ 0.0026308 0.99999059 -0.00344938 -0.28169995] [ 0.00239908 0.00344307 0.99999119 0.79329911] [ 0. 0. 0. 1. ]] SLAMing on 251.52255784399998 meters 0.28823399917515596 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 0.9999925 -0.00292465 -0.00253999 2.22910417] [ 0.00291376 0.9999866 -0.00427962 -0.27839517] [ 0.00255248 0.00427219 0.99998762 0.79273601] [ 0. 0. 0. 1. ]] SLAMing on 251.58255784399998 meters 0.2892708505418668 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.79 [[ 0.99999136 -0.00322876 -0.00261769 2.22952517] [ 0.00321534 0.99998177 -0.0051118 -0.27510165] [ 0.00263415 0.00510334 0.99998351 0.79231798] [ 0. 0. 0. 1. ]] SLAMing on 251.64255784399998 meters 0.2894359307560838 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.27, Z:0.79 [[ 9.99996070e-01 9.07371264e-04 -2.65252875e-03 2.22933717e+00] [-9.10933373e-04 9.99998685e-01 -1.34201086e-03 -2.72888152e-01] [ 2.65130756e-03 1.34442187e-03 9.99995582e-01 7.92873553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70255784399998 meters 0.29045892526214345 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.27, Z:0.79 [[ 9.99996255e-01 6.88243126e-04 -2.64864449e-03 2.22940250e+00] [-6.93280266e-04 9.99997952e-01 -1.90133234e-03 -2.70595037e-01] [ 2.64733049e-03 1.90316148e-03 9.99994685e-01 7.92732661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76255784399999 meters 0.28931755099040407 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.79 [[ 9.99967628e-01 -5.94300531e-03 -5.42435540e-03 2.20821518e+00] [ 5.94892072e-03 9.99981727e-01 1.07504434e-03 -2.67595870e-01] [ 5.41786729e-03 -1.10727860e-03 9.99984710e-01 7.94357434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822557844 meters 0.289321671481809 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.79 [[ 9.99965870e-01 -6.04543215e-03 -5.63129153e-03 2.20897243e+00] [ 6.04995602e-03 9.99981389e-01 7.86657333e-04 -2.66451882e-01] [ 5.62643105e-03 -8.20699551e-04 9.99983835e-01 7.93680037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882557844 meters 0.28913941087149975 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.27, Z:0.79 [[ 9.99966837e-01 -6.05892792e-03 -5.44193319e-03 2.20824446e+00] [ 6.06305065e-03 9.99981345e-01 7.41409489e-04 -2.66182841e-01] [ 5.43733952e-03 -7.74379619e-04 9.99984918e-01 7.94372010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942557844 meters 0.2892785076662893 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.80 [[ 9.99986750e-01 2.73868977e-03 -4.35872019e-03 2.22608116e+00] [-2.74027235e-03 9.99996182e-01 -3.57154869e-04 -2.75037171e-01] [ 4.35772541e-03 3.69094217e-04 9.99990437e-01 7.96570187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002557844 meters 0.28784890453747075 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.80 [[ 9.99986822e-01 2.89437479e-03 -4.24007022e-03 2.22554587e+00] [-2.89425354e-03 9.99995811e-01 3.47316709e-05 -2.76612572e-01] [ 4.24015298e-03 -2.24593750e-05 9.99991010e-01 7.97095870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062557844 meters 0.2883412713916832 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.28, Z:0.80 [[ 9.99987186e-01 3.04496095e-03 -4.04425654e-03 2.22485596e+00] [-3.04326162e-03 9.99995278e-01 4.26271056e-04 -2.78153532e-01] [ 4.04553543e-03 -4.13957863e-04 9.99991731e-01 7.97585047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122557844 meters 0.29049727518600643 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.80 [[ 9.99974714e-01 -4.98491435e-03 -5.07159497e-03 2.24650066e+00] [ 4.99102111e-03 9.99986834e-01 1.19216715e-03 -2.75805180e-01] [ 5.06558534e-03 -1.21744944e-03 9.99986429e-01 7.97985377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18255784399997 meters 0.28977048432157365 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.80 [[ 9.99972942e-01 7.39971442e-05 -7.35600350e-03 2.22520815e+00] [-8.60974018e-05 9.99998644e-01 -1.64464690e-03 -2.81080587e-01] [ 7.35587182e-03 1.64523573e-03 9.99971592e-01 7.99145939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24255784399998 meters 0.2903877575085953 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.80 [[ 9.99982056e-01 -4.14758955e-03 -4.32267416e-03 2.24770030e+00] [ 4.15717023e-03 9.99988917e-01 2.20975386e-03 -2.84246012e-01] [ 4.31346110e-03 -2.22768430e-03 9.99988216e-01 7.97526517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30255784399998 meters 0.2901115770431726 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.29, Z:0.80 [[ 9.99985917e-01 3.26354829e-03 -4.18521700e-03 2.22829265e+00] [-3.25644272e-03 9.99993247e-01 1.70347091e-03 -2.92212062e-01] [ 4.19074810e-03 -1.68981800e-03 9.99989791e-01 7.96134816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36255784399998 meters 0.2906487083942245 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.79 [[ 9.99988542e-01 -4.57814926e-03 -1.39857674e-03 2.25085466e+00] [ 4.58124536e-03 9.99987045e-01 2.21862453e-03 -2.97531229e-01] [ 1.38840143e-03 -2.22500634e-03 9.99996561e-01 7.94815005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42255784399998 meters 0.2901792848798374 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.79 [[ 9.99989487e-01 -4.37379988e-03 -1.37711575e-03 2.25077015e+00] [ 4.37755890e-03 9.99986669e-01 2.73855389e-03 -2.99670372e-01] [ 1.36511950e-03 -2.74455351e-03 9.99995302e-01 7.94883579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48255784399998 meters 0.2896854486024907 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.30, Z:0.80 [[ 9.99991233e-01 9.37977843e-04 -4.08099493e-03 2.22991341e+00] [-9.37127994e-04 9.99999539e-01 2.10152670e-04 -3.04488351e-01] [ 4.08119016e-03 -2.06326413e-04 9.99991651e-01 7.96099339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542557844 meters 0.29031534396161573 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99990176e-01 1.26147748e-03 -4.24928058e-03 2.23046712e+00] [-1.25748769e-03 9.99998766e-01 9.41475856e-04 -3.07563455e-01] [ 4.25046299e-03 -9.36123189e-04 9.99990529e-01 7.95907780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602557844 meters 0.29047399561169146 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99989782e-01 1.40251662e-03 -4.29755661e-03 2.23063701e+00] [-1.39695644e-03 9.99998184e-01 1.29652900e-03 -3.09035365e-01] [ 4.29936721e-03 -1.29051225e-03 9.99989925e-01 7.95803636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662557844 meters 0.2905151806441922 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99989564e-01 1.53351576e-03 -4.30356901e-03 2.23072541e+00] [-1.52640704e-03 9.99997466e-01 1.65462001e-03 -3.10495855e-01] [ 4.30609549e-03 -1.64803374e-03 9.99989371e-01 7.95625765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722557844 meters 0.2907662173328295 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99988812e-01 1.61722051e-03 -4.44525925e-03 2.23127997e+00] [-1.60891419e-03 9.99996954e-01 1.87152196e-03 -3.11479715e-01] [ 4.44827238e-03 -1.86434898e-03 9.99988368e-01 7.95184132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782557844 meters 0.29091897410438256 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99988045e-01 1.72233367e-03 -4.57639499e-03 2.23168911e+00] [-1.71255104e-03 9.99996242e-01 2.14068804e-03 -3.12619561e-01] [ 4.58006477e-03 -2.13282514e-03 9.99987237e-01 7.95022545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842557844 meters 0.2909043870873524 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99988643e-01 1.85140765e-03 -4.39152691e-03 2.23106971e+00] [-1.84057012e-03 9.99995254e-01 2.47058740e-03 -3.13938654e-01] [ 4.39608013e-03 -2.46247642e-03 9.99987305e-01 7.95411645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90255784399997 meters 0.2900330234682621 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.32, Z:0.80 [[ 9.99988490e-01 1.96395190e-03 -4.37755603e-03 2.23084035e+00] [-1.95192025e-03 9.99994311e-01 2.75106505e-03 -3.15053876e-01] [ 4.38293408e-03 -2.74248874e-03 9.99986634e-01 7.95831560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96255784399997 meters 0.2899366228670392 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.32, Z:0.80 [[ 9.99988529e-01 1.99812696e-03 -4.35297609e-03 2.23051844e+00] [-1.98578475e-03 9.99994002e-01 2.83782950e-03 -3.15354792e-01] [ 4.35862032e-03 -2.82915287e-03 9.99986499e-01 7.96418281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02255784399998 meters 0.29185928323543797 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.80 [[ 0.99998066 -0.00556386 -0.00277964 2.25017496] [ 0.00557326 0.99997873 0.00338679 -0.30981527] [ 0.00276073 -0.00340221 0.9999904 0.79650447] [ 0. 0. 0. 1. ]] SLAMing on 253.08255784399998 meters 0.2918173377483585 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.80 [[ 0.99997938 -0.00564842 -0.00305469 2.25112476] [ 0.00565807 0.999979 0.00316045 -0.30893805] [ 0.00303677 -0.00317767 0.99999034 0.79576002] [ 0. 0. 0. 1. ]] SLAMing on 253.14255784399998 meters 0.2918339712034666 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.80 [[ 0.9999801 -0.00555353 -0.00299305 2.25053532] [ 0.0055637 0.99997874 0.00340115 -0.30985764] [ 0.0029741 -0.00341773 0.99998974 0.79678153] [ 0. 0. 0. 1. ]] SLAMing on 253.20255784399998 meters 0.29204778959488104 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.80 [[ 0.99998009 -0.00555891 -0.00298793 2.25060555] [ 0.00556902 0.99997875 0.00338805 -0.30982198] [ 0.00296903 -0.00340462 0.9999898 0.7966001 ] [ 0. 0. 0. 1. ]] SLAMing on 253.26255784399999 meters 0.29205050880949274 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.80 [[ 0.99998011 -0.00545615 -0.00316419 2.25118544] [ 0.00546776 0.99997831 0.00367281 -0.31107133] [ 0.00314408 -0.00369003 0.99998825 0.79629281] [ 0. 0. 0. 1. ]] SLAMing on 253.322557844 meters 0.2911377673976613 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.32, Z:0.80 [[ 9.99993734e-01 1.88814013e-03 -2.99444547e-03 2.23088942e+00] [-1.87898026e-03 9.99993556e-01 3.05882394e-03 -3.17359378e-01] [ 3.00020166e-03 -3.05317827e-03 9.99990838e-01 7.95809568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382557844 meters 0.29212025592503343 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.32, Z:0.80 [[ 9.99993824e-01 1.77416526e-03 -3.03387171e-03 2.23120278e+00] [-1.76580035e-03 9.99994639e-01 2.75763287e-03 -3.16163739e-01] [ 3.03874794e-03 -2.75225863e-03 9.99991596e-01 7.95315684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442557844 meters 0.29091756915423767 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.31, Z:0.80 [[ 9.99995694e-01 1.54902183e-03 -2.49266754e-03 2.22989411e+00] [-1.54426557e-03 9.99996986e-01 1.90889746e-03 -3.12688749e-01] [ 2.49561695e-03 -1.90503989e-03 9.99995071e-01 7.95361936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502557844 meters 0.2924448931506977 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.79 [[ 9.99996868e-01 -2.39565480e-03 -7.24165546e-04 2.25279856e+00] [ 2.39931849e-03 9.99984109e-01 5.10137477e-03 -3.06425105e-01] [ 7.11932905e-04 -5.10309629e-03 9.99986726e-01 7.94131543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562557844 meters 0.2943200417346553 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.30, Z:0.79 [[ 9.99970285e-01 7.54997496e-03 1.55793636e-03 2.27214263e+00] [-7.55552814e-03 9.99965013e-01 3.58989062e-03 -3.02471320e-01] [-1.53077827e-03 -3.60155497e-03 9.99992343e-01 7.92792459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622557844 meters 0.29212240207872553 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.79 [[ 9.99996726e-01 -2.21378455e-03 1.28333399e-03 2.25215421e+00] [ 2.20811122e-03 9.99987858e-01 4.40545914e-03 -2.97882584e-01] [-1.29307115e-03 -4.40261097e-03 9.99989472e-01 7.91765257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68255784399997 meters 0.29233814878644043 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.79 [[ 9.99996417e-01 -2.45188029e-03 1.07452162e-03 2.25301252e+00] [ 2.44775869e-03 9.99989706e-01 3.82043143e-03 -2.95578911e-01] [-1.08387780e-03 -3.81778757e-03 9.99992125e-01 7.90991697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74255784399998 meters 0.2906975182773859 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.79 [[ 9.99995858e-01 -2.65019575e-03 1.12264862e-03 2.25296778e+00] [ 2.64645899e-03 9.99990997e-01 3.31702749e-03 -2.93498738e-01] [-1.13142929e-03 -3.31404271e-03 9.99993868e-01 7.90805802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80255784399998 meters 0.2902465797965458 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.79 [[ 9.99995439e-01 -2.76748141e-03 1.20970846e-03 2.25256369e+00] [ 2.76382423e-03 9.99991637e-01 3.01447564e-03 -2.92169686e-01] [-1.21804084e-03 -3.01111847e-03 9.99994725e-01 7.91199639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86255784399998 meters 0.290143278354943 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.29, Z:0.79 [[ 9.99995874e-01 -2.67500462e-03 1.04658524e-03 2.25277471e+00] [ 2.67154941e-03 9.99991023e-01 3.28899524e-03 -2.93246753e-01] [-1.05537392e-03 -3.28618567e-03 9.99994044e-01 7.91702218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92255784399998 meters 0.29019281052620843 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.30, Z:0.79 [[ 9.99998725e-01 1.56957956e-03 -2.93174079e-04 2.22937622e+00] [-1.56958276e-03 9.99998768e-01 -1.06818735e-05 -2.97646542e-01] [ 2.93156951e-04 1.11420208e-05 9.99999957e-01 7.93088459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98255784399998 meters 0.2887968725282977 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.30, Z:0.79 [[ 9.99998483e-01 1.68053637e-03 -4.57513724e-04 2.22983480e+00] [-1.68040674e-03 9.99998548e-01 2.83578066e-04 -2.98885243e-01] [ 4.57989623e-04 -2.82808827e-04 9.99999855e-01 7.92976834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042557844 meters 0.2901040519330476 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.30, Z:0.79 [[ 9.99995322e-01 -2.29721736e-03 2.01960640e-03 2.25464667e+00] [ 2.28902421e-03 9.99989180e-01 4.04979943e-03 -3.04626139e-01] [-2.02888782e-03 -4.04515756e-03 9.99989760e-01 7.90625182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102557844 meters 0.29015480142280253 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.79 [[ 9.99995510e-01 -2.22645783e-03 2.00549095e-03 2.25470486e+00] [ 2.21795421e-03 9.99988583e-01 4.23245965e-03 -3.05386891e-01] [-2.01489144e-03 -4.22799256e-03 9.99989032e-01 7.90576707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162557844 meters 0.2914224057867015 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.31, Z:0.79 [[ 9.99974174e-01 5.78414899e-03 4.26563813e-03 2.27480921e+00] [-5.79300464e-03 9.99981085e-01 2.06661954e-03 -3.09042487e-01] [-4.25360381e-03 -2.09127703e-03 9.99988767e-01 7.89688225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222557844 meters 0.2901208717710744 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.31, Z:0.79 [[ 0.99998408 -0.00462649 0.00323086 2.25446344] [ 0.00461751 0.99998547 0.00278173 -0.30914721] [-0.00324369 -0.00276676 0.99999091 0.790196 ] [ 0. 0. 0. 1. ]] SLAMing on 254.282557844 meters 0.29095960596161335 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.31, Z:0.79 [[ 9.99980982e-01 3.41067401e-03 5.13843238e-03 2.27433665e+00] [-3.41226035e-03 9.99994133e-01 2.99983632e-04 -3.11305223e-01] [-5.13737909e-03 -3.17511596e-04 9.99986753e-01 7.89779068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342557844 meters 0.2905349807775867 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.31, Z:0.79 [[ 9.99980882e-01 3.40286521e-03 5.16292089e-03 2.27429401e+00] [-3.40433821e-03 9.99994167e-01 2.76540567e-04 -3.11213190e-01] [-5.16194974e-03 -2.94111609e-04 9.99986634e-01 7.89733893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784399997 meters 0.2914200016004556 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.31, Z:0.79 [[ 9.99979926e-01 -3.97228411e-03 4.93639867e-03 2.29530810e+00] [ 3.96805815e-03 9.99991753e-01 8.65579539e-04 -3.05823841e-01] [-4.93979628e-03 -8.45974247e-04 9.99987441e-01 7.90347733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46255784399997 meters 0.2915873464070086 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.31, Z:0.79 [[ 9.99979287e-01 -4.01823602e-03 5.02794118e-03 2.29502083e+00] [ 4.01458283e-03 9.99991670e-01 7.36459511e-04 -3.05265403e-01] [-5.03085857e-03 -7.16259170e-04 9.99987089e-01 7.90473283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52255784399998 meters 0.2896147286953236 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.30, Z:0.79 [[ 9.99998980e-01 9.96596239e-04 1.02352887e-03 2.27366384e+00] [-9.94337520e-04 9.99997075e-01 -2.20493852e-03 -3.01076613e-01] [-1.02572331e-03 2.20391854e-03 9.99997045e-01 7.92779300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58255784399998 meters 0.2921174017006533 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:0.79 [[ 9.99995837e-01 2.86616220e-03 -3.32802896e-04 2.31339096e+00] [-2.86749952e-03 9.99987525e-01 -4.08991320e-03 -2.94040268e-01] [ 3.21076390e-04 4.09085049e-03 9.99991581e-01 7.94317246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64255784399998 meters 0.2914940794296298 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:0.79 [[ 9.99996615e-01 2.59062472e-03 -2.41243935e-04 2.31347885e+00] [-2.59177585e-03 9.99984635e-01 -4.90027365e-03 -2.90850484e-01] [ 2.28545458e-04 4.90088231e-03 9.99987964e-01 7.93647456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70255784399998 meters 0.29244672023073676 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:0.79 [[ 9.99996701e-01 2.54698661e-03 -3.33931504e-04 2.31374378e+00] [-2.54862876e-03 9.99984187e-01 -5.01305927e-03 -2.90401292e-01] [ 3.21158028e-04 5.01389380e-03 9.99987379e-01 7.93582442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76255784399999 meters 0.2896272458477681 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.30, Z:0.79 [[ 9.99999224e-01 1.09906611e-03 5.86196993e-04 2.27546306e+00] [-1.09718317e-03 9.99994269e-01 -3.20283903e-03 -2.95669962e-01] [-5.89713765e-04 3.20219338e-03 9.99994699e-01 7.91023345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822557844 meters 0.2912869681940647 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.30, Z:0.79 [[ 9.99987007e-01 -2.91506727e-03 4.18184121e-03 2.29677474e+00] [ 2.91329573e-03 9.99995664e-01 4.29656864e-04 -2.96886823e-01] [-4.18307555e-03 -4.17468341e-04 9.99991164e-01 7.89799557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882557844 meters 0.29069762332733207 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.79 [[ 9.99994217e-01 3.38223398e-03 3.56502701e-04 2.27498244e+00] [-3.38169376e-03 9.99993149e-01 -1.50519604e-03 -2.91951390e-01] [-3.61591184e-04 1.50398175e-03 9.99998804e-01 7.91941610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942557844 meters 0.29097795100295176 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.79 [[ 9.99994852e-01 3.13945875e-03 6.62699049e-04 2.27424496e+00] [-3.13782890e-03 9.99992085e-01 -2.44628640e-03 -2.88322846e-01] [-6.70373819e-04 2.44419437e-03 9.99996788e-01 7.92081345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002557844 meters 0.2908127018869907 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99998154e-01 -9.81867469e-04 1.65149183e-03 2.29745456e+00] [ 9.80600747e-04 9.99999225e-01 7.67651577e-04 -2.81361164e-01] [-1.65224429e-03 -7.66030706e-04 9.99998342e-01 7.90978721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062557844 meters 0.29076707382674216 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99998330e-01 -1.09242070e-03 1.46535357e-03 2.29804451e+00] [ 1.09173807e-03 9.99999295e-01 4.66563234e-04 -2.80186792e-01] [-1.46586222e-03 -4.64962673e-04 9.99998818e-01 7.90637677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122557844 meters 0.29005986037837406 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99997655e-01 -1.01895467e-03 1.91111669e-03 2.29638247e+00] [ 1.01785586e-03 9.99999316e-01 5.75841752e-04 -2.80336185e-01] [-1.91170214e-03 -5.73895160e-04 9.99998008e-01 7.92107782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18255784399997 meters 0.2904562033075724 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99997768e-01 -9.61433384e-04 1.88148861e-03 2.29627352e+00] [ 9.60062682e-04 9.99999273e-01 7.29287669e-04 -2.80925496e-01] [-1.88218841e-03 -7.27479694e-04 9.99997964e-01 7.92544720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24255784399998 meters 0.29125954590674347 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99996730e-01 -2.46130169e-03 6.94776264e-04 2.30208806e+00] [ 2.46189045e-03 9.99996610e-01 -8.47831349e-04 -2.80323101e-01] [-6.92687140e-04 8.49539039e-04 9.99999399e-01 7.88294983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30255784399998 meters 0.29053567154379945 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99996915e-01 -2.33608958e-03 8.43881854e-04 2.30152643e+00] [ 2.33652533e-03 9.99997137e-01 -5.15748731e-04 -2.81656125e-01] [-8.42674603e-04 5.17718891e-04 9.99999511e-01 7.88777833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36255784399998 meters 0.291599563553028 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.28, Z:0.79 [[ 0.99997805 0.00520948 0.00409484 2.32084715] [-0.00519659 0.99998153 -0.00315321 -0.28178138] [-0.00411119 0.00313186 0.99998664 0.78874892] [ 0. 0. 0. 1. ]] SLAMing on 255.42255784399998 meters 0.2920827853743793 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.28, Z:0.79 [[ 0.99997943 0.00515247 0.00381867 2.32175403] [-0.00513985 0.99998133 -0.00330579 -0.28122984] [-0.00383563 0.00328609 0.99998724 0.7881588 ] [ 0. 0. 0. 1. ]] SLAMing on 255.48255784399998 meters 0.2907905380341227 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.28, Z:0.79 [[ 9.99987105e-01 -2.75472417e-03 4.26622899e-03 2.29893116e+00] [ 2.75765415e-03 9.99995966e-01 -6.81052610e-04 -2.77881472e-01] [-4.26433567e-03 6.92808613e-04 9.99990668e-01 7.88907452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542557844 meters 0.29258537915352567 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.27, Z:0.79 [[ 9.99994001e-01 -3.65624181e-04 3.44450535e-03 2.33630142e+00] [ 3.70712433e-04 9.99998841e-01 -1.47668563e-03 -2.72262971e-01] [-3.44396145e-03 1.47795369e-03 9.99992977e-01 7.92468713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602557844 meters 0.2925300546657059 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.27, Z:0.79 [[ 9.99994104e-01 -5.76358925e-04 3.38523794e-03 2.33672146e+00] [ 5.83201302e-04 9.99997789e-01 -2.02060031e-03 -2.70043944e-01] [-3.38406586e-03 2.02256267e-03 9.99992229e-01 7.91825177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662557844 meters 0.2913568622285307 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.27, Z:0.79 [[ 9.99993879e-01 -6.96234479e-04 3.42887646e-03 2.33652489e+00] [ 7.04272075e-04 9.99997006e-01 -2.34344088e-03 -2.68706867e-01] [-3.42723461e-03 2.34584140e-03 9.99991376e-01 7.92018814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722557844 meters 0.2928159590675011 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.27, Z:0.79 [[ 9.99994398e-01 -7.67778991e-04 3.25786182e-03 2.33700985e+00] [ 7.75982744e-04 9.99996530e-01 -2.51762370e-03 -2.68011083e-01] [-3.25591754e-03 2.52013764e-03 9.99991524e-01 7.91907884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782557844 meters 0.29149232556533183 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.26, Z:0.79 [[ 9.99995099e-01 3.13024733e-03 -6.58301916e-05 2.31401930e+00] [-3.13059695e-03 9.99975660e-01 -6.23525827e-03 -2.64572521e-01] [ 4.63106887e-05 6.23543380e-03 9.99980558e-01 7.94101356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842557844 meters 0.2908050185913317 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99989099e-01 -4.59021792e-03 -8.55238059e-04 2.29209373e+00] [ 4.58721918e-03 9.99983438e-01 -3.47589689e-03 -2.62731107e-01] [ 8.71179018e-04 3.47193583e-03 9.99993593e-01 7.95432152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784399997 meters 0.2910207578761979 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99988811e-01 -4.66514230e-03 -7.83413678e-04 2.29188422e+00] [ 4.66223419e-03 9.99982383e-01 -3.67378573e-03 -2.61917990e-01] [ 8.00538610e-04 3.67009217e-03 9.99992945e-01 7.95489675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96255784399997 meters 0.29168796222245474 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99988853e-01 -4.65679665e-03 -7.80267439e-04 2.29165584e+00] [ 4.65391396e-03 9.99982486e-01 -3.65644819e-03 -2.61953337e-01] [ 7.97281109e-04 3.65277613e-03 9.99993011e-01 7.96009979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.022557844 meters 0.29169047625730615 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99999766e-01 -3.31433125e-04 -5.98004592e-04 2.29037456e+00] [ 3.31803815e-04 9.99999753e-01 6.19884313e-04 -2.62182886e-01] [ 5.97798994e-04 -6.20082588e-04 9.99999629e-01 7.97639487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.082557844 meters 0.29184604723928437 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99999727e-01 -4.13427303e-04 -6.13170482e-04 2.29056464e+00] [ 4.13677848e-04 9.99999831e-01 4.08535592e-04 -2.61338301e-01] [ 6.13001479e-04 -4.08789135e-04 9.99999729e-01 7.97300661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.142557844 meters 0.2896632480422049 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.26, Z:0.80 [[ 9.99998691e-01 -1.59276610e-03 2.85672525e-04 2.25139990e+00] [ 1.59234221e-03 9.99997640e-01 1.47796072e-03 -2.61986319e-01] [-2.88025897e-04 -1.47750390e-03 9.99998867e-01 7.95079148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.202557844 meters 0.29180692701624705 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99999889e-01 -3.98788989e-04 -2.50543362e-04 2.28925814e+00] [ 3.98834489e-04 9.99999904e-01 1.81584305e-04 -2.58407741e-01] [ 2.50470924e-04 -1.81684210e-04 9.99999952e-01 7.98380799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.262557844 meters 0.2918880711479173 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.26, Z:0.80 [[ 9.99999840e-01 -4.10923083e-04 -3.87673353e-04 2.28969977e+00] [ 4.10981634e-04 9.99999904e-01 1.50965858e-04 -2.58333076e-01] [ 3.87611281e-04 -1.51125161e-04 9.99999913e-01 7.98112820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters 0.2904312456906637 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.26, Z:0.80 [[ 9.99991314e-01 -3.96905906e-03 1.27232318e-03 2.24856230e+00] [ 3.96885974e-03 9.99992111e-01 1.59142810e-04 -2.64891761e-01] [-1.27294479e-03 -1.54091756e-04 9.99999178e-01 7.97558597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382557844 meters 0.2896778774429282 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.80 [[ 9.99992242e-01 -3.59278870e-03 1.61493169e-03 2.24705716e+00] [ 3.59021646e-03 9.99992287e-01 1.59287045e-03 -2.69975135e-01] [-1.62064208e-03 -1.58706014e-03 9.99997427e-01 7.99204024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442557844 meters 0.2893575866210485 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.80 [[ 9.99993857e-01 -3.30862844e-03 1.15726657e-03 2.24819969e+00] [ 3.30540314e-03 9.99990679e-01 2.77789404e-03 -2.74620841e-01] [-1.16644680e-03 -2.77405174e-03 9.99995472e-01 7.98892216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502557844 meters 0.2907416394624114 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.80 [[ 9.99993862e-01 -3.46877103e-03 4.93357568e-04 2.25017394e+00] [ 3.46698857e-03 9.99987621e-01 3.56901139e-03 -2.79412729e-01] [-5.05731544e-04 -3.56727902e-03 9.99993509e-01 7.98366213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562557844 meters 0.2907725078571372 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.28, Z:0.80 [[ 9.99994561e-01 -3.29273574e-03 1.88164277e-04 2.25102628e+00] [ 3.29193471e-03 9.99986137e-01 4.10962682e-03 -2.81623852e-01] [-2.01693584e-04 -4.10898505e-03 9.99991538e-01 7.97950523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622557844 meters 0.28909818392861814 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.28, Z:0.80 [[ 9.99989609e-01 4.39608507e-03 -1.20663105e-03 2.23041353e+00] [-4.39207251e-03 9.99984883e-01 3.30816734e-03 -2.83181141e-01] [ 1.22115580e-03 -3.30283336e-03 9.99993800e-01 7.97177391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68255784400003 meters 0.2908568438636422 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.80 [[ 0.99999267 -0.00271847 0.00269617 2.24688489] [ 0.0027087 0.99998977 0.0036235 -0.27483071] [-0.002706 -0.00361617 0.9999898 0.79802893] [ 0. 0. 0. 1. ]] SLAMing on 256.74255784400003 meters 0.2916096813975325 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.80 [[ 0.99999204 -0.00295656 0.00267748 2.24698275] [ 0.00294845 0.99999108 0.00302547 -0.27235419] [-0.0026864 -0.00301756 0.99999184 0.79791738] [ 0. 0. 0. 1. ]] SLAMing on 256.80255784400003 meters 0.29135227002583625 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.27, Z:0.80 [[ 0.99999196 -0.00314906 0.00248096 2.24754182] [ 0.00314284 0.99999192 0.00250646 -0.27027865] [-0.00248884 -0.00249865 0.99999378 0.79771679] [ 0. 0. 0. 1. ]] SLAMing on 256.86255784400004 meters 0.29076886301940913 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.26, Z:0.80 [[ 9.99994739e-01 -4.50818524e-04 3.21220055e-03 2.24450135e+00] [ 4.38264877e-04 9.99992269e-01 3.90774700e-03 -2.62637563e-01] [-3.21393740e-03 -3.90631865e-03 9.99987206e-01 7.99443098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92255784400004 meters 0.2924677876948127 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.26, Z:0.80 [[ 0.99994397 0.00938201 0.00490157 2.26383472] [-0.00939598 0.99995184 0.00283533 -0.26305307] [-0.00487473 -0.00288123 0.99998397 0.79879304] [ 0. 0. 0. 1. ]] SLAMing on 256.98255784400004 meters 0.29090403281399657 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.25, Z:0.80 [[ 9.99991162e-01 -6.00368919e-04 4.16123982e-03 2.24361648e+00] [ 5.89171977e-04 9.99996204e-01 2.69147460e-03 -2.54744271e-01] [-4.16283991e-03 -2.68899913e-03 9.99987720e-01 7.98345375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.042557844 meters 0.29066891816694834 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.25, Z:0.80 [[ 9.99990483e-01 -8.81948115e-04 4.27264252e-03 2.24333541e+00] [ 8.73680287e-04 9.99997743e-01 1.93654210e-03 -2.51623518e-01] [-4.27434080e-03 -1.93279074e-03 9.99988997e-01 7.98351671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.102557844 meters 0.28935874350323265 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.24, Z:0.80 [[ 9.99985491e-01 1.17355029e-03 5.25750234e-03 2.23897103e+00] [-1.18907511e-03 9.99994940e-01 2.95073822e-03 -2.43770186e-01] [-5.25401290e-03 -2.95694697e-03 9.99981826e-01 8.01073296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.162557844 meters 0.2905764395335085 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.24, Z:0.80 [[ 9.99987347e-01 6.33162927e-04 4.99057064e-03 2.24028353e+00] [-6.38099059e-04 9.99999309e-01 9.87561500e-04 -2.36361400e-01] [-4.98994190e-03 -9.90733482e-04 9.99987059e-01 7.99583930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.222557844 meters 0.29089639510357307 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.23, Z:0.80 [[ 9.99987851e-01 2.16180578e-04 4.92448671e-03 2.24084206e+00] [-2.13260450e-04 9.99999801e-01 -5.93498547e-04 -2.30372341e-01] [-4.92461403e-03 5.92441139e-04 9.99987699e-01 7.98705393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.282557844 meters 0.2909773502555232 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.22, Z:0.80 [[ 9.99982967e-01 3.38055214e-03 4.75799653e-03 2.24189090e+00] [-3.38548333e-03 9.99993740e-01 1.02872920e-03 -2.18071593e-01] [-4.75448907e-03 -1.04481980e-03 9.99988152e-01 7.97814515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.342557844 meters 0.2908576340245128 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.21, Z:0.80 [[ 9.99984666e-01 2.77715206e-03 4.79107057e-03 2.24211656e+00] [-2.77518653e-03 9.99996062e-01 -4.16848309e-04 -2.12151613e-01] [-4.79220936e-03 4.03545802e-04 9.99988436e-01 7.97297228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.402557844 meters 0.2918756579647535 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.21, Z:0.80 [[ 9.99986753e-01 2.30377318e-03 4.60278277e-03 2.24268274e+00] [-2.29699020e-03 9.99996269e-01 -1.47841235e-03 -2.07882761e-01] [-4.60617153e-03 1.46782022e-03 9.99988314e-01 7.97159719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.462557844 meters 0.29146843173575687 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.20, Z:0.80 [[ 9.99986046e-01 1.88854733e-03 4.93359872e-03 2.24161936e+00] [-1.87628995e-03 9.99995145e-01 -2.48791860e-03 -2.03784108e-01] [-4.93827332e-03 2.47862702e-03 9.99984735e-01 7.97789101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.522557844 meters 0.2925635991793152 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.20, Z:0.80 [[ 9.99986594e-01 1.51921332e-03 4.95009631e-03 2.24169098e+00] [-1.50274267e-03 9.99993329e-01 -3.32936222e-03 -2.00284996e-01] [-4.95512130e-03 3.32187886e-03 9.99982206e-01 7.97601029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.582557844 meters 0.2927611796714088 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.19, Z:0.80 [[ 9.99987603e-01 8.57257152e-04 4.90497235e-03 2.24256902e+00] [-8.33533250e-04 9.99987956e-01 -4.83670611e-03 -1.94011559e-01] [-4.90905957e-03 4.83255769e-03 9.99976273e-01 7.96355153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.642557844 meters 0.2921708200156805 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.19, Z:0.80 [[ 0.99997822 0.00302662 0.00586583 2.23778197] [-0.00300559 0.99998904 -0.00359063 -0.18684711] [-0.00587663 0.00357292 0.99997635 0.79965889] [ 0. 0. 0. 1. ]] SLAMing on 257.702557844 meters 0.29214295606846136 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.18, Z:0.80 [[ 0.99997942 0.00252823 0.00589592 2.23774376] [-0.00250008 0.99998546 -0.00477758 -0.18189694] [-0.00590792 0.00476274 0.99997121 0.79971436] [ 0. 0. 0. 1. ]] SLAMing on 257.762557844 meters 0.2908366980167616 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.18, Z:0.80 [[ 9.99979610e-01 -4.00327209e-03 4.97525531e-03 2.21587854e+00] [ 4.01180131e-03 9.99990498e-01 -1.70553366e-03 -1.77430490e-01] [-4.96838033e-03 1.72545862e-03 9.99986169e-01 8.00386317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters 0.2907872308265901 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.18, Z:0.80 [[ 9.99978177e-01 -4.20023215e-03 5.09933331e-03 2.21549922e+00] [ 4.21148526e-03 9.99988716e-01 -2.19805051e-03 -1.75401552e-01] [-5.09004345e-03 2.21947830e-03 9.99984583e-01 8.00547184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters 0.292232510710233 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.17, Z:0.80 [[ 0.99997815 -0.00428774 0.00503215 2.21568317] [ 0.00430001 0.9999878 -0.00243034 -0.17444332] [-0.00502166 0.00245192 0.99998439 0.80053188] [ 0. 0. 0. 1. ]] SLAMing on 257.942557844 meters 0.2903961631302085 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.17, Z:0.80 [[ 0.99997814 -0.00433233 0.00499487 2.2159378 ] [ 0.0043451 0.99998731 -0.00254829 -0.17396687] [-0.00498377 0.00256994 0.99998428 0.80016616] [ 0. 0. 0. 1. ]] SLAMing on 258.002557844 meters 0.2907107367688531 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.17, Z:0.80 [[ 9.99988725e-01 -2.84145477e-04 4.74009351e-03 2.21689941e+00] [ 2.77871976e-04 9.99999085e-01 1.32410336e-03 -1.73196200e-01] [-4.74046541e-03 -1.32277129e-03 9.99987889e-01 7.99406572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters 0.29282841407645527 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.17, Z:0.80 [[ 9.99994931e-01 1.03199688e-04 3.18246390e-03 2.25616013e+00] [-1.04926938e-04 9.99999847e-01 5.42577871e-04 -1.72752840e-01] [-3.18240742e-03 -5.42909046e-04 9.99994789e-01 8.03002270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters 0.29185351941441173 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.17, Z:0.80 [[ 9.99994973e-01 -2.04586129e-04 3.16412275e-03 2.25635429e+00] [ 2.05216419e-04 9.99999959e-01 -1.98875632e-04 -1.69672989e-01] [-3.16408193e-03 1.99523962e-04 9.99994974e-01 8.02747342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters 0.2909558739521236 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.17, Z:0.80 [[ 9.99994647e-01 -3.78760338e-04 3.25009873e-03 2.25595151e+00] [ 3.80923418e-04 9.99999706e-01 -6.64949689e-04 -1.67734033e-01] [-3.24984592e-03 6.66184168e-04 9.99994497e-01 8.03261015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters 0.29149953081485 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.16, Z:0.80 [[ 9.99994778e-01 -8.30404776e-04 3.12308020e-03 2.25655575e+00] [ 8.35960305e-04 9.99998070e-01 -1.77797779e-03 -1.63109277e-01] [-3.12159773e-03 1.78057928e-03 9.99993543e-01 8.02852672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters 0.29223726090871854 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.16, Z:0.80 [[ 9.99994201e-01 -1.17558163e-03 3.19635093e-03 2.25650588e+00] [ 1.18432536e-03 9.99995559e-01 -2.73502125e-03 -1.59223438e-01] [-3.19312150e-03 2.73879091e-03 9.99991151e-01 8.02612018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters 0.29156800482154116 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.15, Z:0.80 [[ 9.99992616e-01 2.29341741e-03 3.08367816e-03 2.25691453e+00] [-2.29213267e-03 9.99997285e-01 -4.20094234e-04 -1.50839782e-01] [-3.08463323e-03 4.13022933e-04 9.99995157e-01 8.02559369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters 0.2910989064375307 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.14, Z:0.80 [[ 9.99993741e-01 1.69160124e-03 3.10753064e-03 2.25681047e+00] [-1.68509407e-03 9.99996385e-01 -2.09542833e-03 -1.44041023e-01] [-3.11106403e-03 2.09017873e-03 9.99992976e-01 8.02738182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48255784400004 meters 0.2923530848832509 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.13, Z:0.80 [[ 9.99983734e-01 -3.67572006e-03 4.36133286e-03 2.27903042e+00] [ 3.67557224e-03 9.99993244e-01 4.19066190e-05 -1.30957654e-01] [-4.36145743e-03 -2.58755434e-05 9.99990488e-01 8.02338557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.542557844 meters 0.29101047393686685 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.13, Z:0.80 [[ 9.99985731e-01 5.00945673e-03 1.85542836e-03 2.25913000e+00] [-5.00746492e-03 9.99986883e-01 -1.07659895e-03 -1.26460330e-01] [-1.86079720e-03 1.06729259e-03 9.99997699e-01 8.02164448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.602557844 meters 0.2916263725410895 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.12, Z:0.80 [[ 9.99989379e-01 4.55682801e-03 6.90751277e-04 2.26235757e+00] [-4.55547806e-03 9.99987735e-01 -1.94346209e-03 -1.23217815e-01] [-6.99598828e-04 1.94029475e-03 9.99997873e-01 8.00876106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.662557844 meters 0.2920102354371147 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.12, Z:0.80 [[ 9.99989762e-01 4.46510786e-03 7.33844220e-04 2.26214871e+00] [-4.46349826e-03 9.99987661e-01 -2.18058019e-03 -1.22241109e-01] [-7.43571691e-04 2.17728235e-03 9.99997353e-01 8.01138965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.722557844 meters 0.2926865256426292 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.12, Z:0.80 [[ 9.99987598e-01 -3.48953188e-03 3.55335224e-03 2.28143029e+00] [ 3.49491360e-03 9.99992754e-01 -1.50946484e-03 -1.19945330e-01] [-3.54805917e-03 1.52186478e-03 9.99992548e-01 8.02618937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.782557844 meters 0.29275247098843793 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.12, Z:0.80 [[ 9.99987882e-01 -3.56306203e-03 3.39706364e-03 2.28202340e+00] [ 3.56891882e-03 9.99992153e-01 -1.71957380e-03 -1.19073137e-01] [-3.39091004e-03 1.73167680e-03 9.99992751e-01 8.02155487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.842557844 meters 0.2904962143573235 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.12, Z:0.80 [[ 9.99983795e-01 5.42748068e-03 1.71841635e-03 2.26060120e+00] [-5.42333469e-03 9.99982394e-01 -2.40821277e-03 -1.16198958e-01] [-1.73145663e-03 2.39885420e-03 9.99995624e-01 8.02231220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.902557844 meters 0.29076030020926025 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.11, Z:0.80 [[ 9.99984390e-01 5.24944536e-03 1.91380771e-03 2.25986947e+00] [-5.24375121e-03 9.99981846e-01 -2.96827530e-03 -1.13871193e-01] [-1.92935477e-03 2.95819343e-03 9.99993763e-01 8.02943900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.962557844 meters 0.2918927284564579 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.11, Z:0.80 [[ 9.99996654e-01 -1.80455681e-03 -1.85326214e-03 2.28550199e+00] [ 1.80106897e-03 9.99996607e-01 -1.88194794e-03 -1.05383381e-01] [ 1.85665194e-03 1.87860380e-03 9.99996512e-01 8.02188129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.022557844 meters 0.2897055134087076 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.10, Z:0.80 [[ 9.99999703e-01 -1.40935297e-04 -7.57510956e-04 2.24582257e+00] [ 1.40193935e-04 9.99999511e-01 -9.78645999e-04 -9.81696763e-02] [ 7.57648511e-04 9.78539511e-04 9.99999234e-01 7.99408639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.082557844 meters 0.2911624701466446 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.09, Z:0.80 [[ 9.99999448e-01 4.75402155e-04 -9.36963845e-04 2.28208470e+00] [-4.76604583e-04 9.99999063e-01 -1.28351923e-03 -9.18782017e-02] [ 9.36352779e-04 1.28396508e-03 9.99998737e-01 8.04336018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.142557844 meters 0.2917177088065143 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.09, Z:0.80 [[ 9.99999638e-01 -8.95682740e-05 -8.46392898e-04 2.28195581e+00] [ 8.73951516e-05 9.99996701e-01 -2.56719843e-03 -8.65382531e-02] [ 8.46620046e-04 2.56712353e-03 9.99996347e-01 8.04241349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.202557844 meters 0.29227994734198465 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.08, Z:0.80 [[ 9.99999651e-01 -3.97621311e-04 -7.34536141e-04 2.28174787e+00] [ 3.95198283e-04 9.99994490e-01 -3.29592408e-03 -8.35316306e-02] [ 7.35842624e-04 3.29563264e-03 9.99994299e-01 8.04103312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.262557844 meters 0.2920398291779248 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.08, Z:0.80 [[ 9.99999446e-01 -6.81514045e-04 -8.01918036e-04 2.28214192e+00] [ 6.78333159e-04 9.99991928e-01 -3.96020727e-03 -8.07753909e-02] [ 8.04610500e-04 3.95966111e-03 9.99991837e-01 8.03720728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322557844 meters 0.28996490654224044 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.08, Z:0.81 [[ 9.99987222e-01 -3.59127014e-03 -3.55783814e-03 2.25911765e+00] [ 3.59668627e-03 9.99992381e-01 1.51708173e-03 -7.58516492e-02] [ 3.55236278e-03 -1.52985877e-03 9.99992520e-01 8.06163699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382557844 meters 0.29122776800000943 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.07, Z:0.81 [[ 9.99989112e-01 4.47590466e-03 -1.31961243e-03 2.27901015e+00] [-4.47615947e-03 9.99989964e-01 -1.90202484e-04 -7.48036358e-02] [ 1.31874786e-03 1.96107209e-04 9.99999111e-01 8.06293664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442557844 meters 0.2911450811478792 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.07, Z:0.81 [[ 9.99990281e-01 4.16071848e-03 -1.45811311e-03 2.27950179e+00] [-4.16223319e-03 9.99990800e-01 -1.03732734e-03 -7.12989572e-02] [ 1.45378367e-03 1.04338627e-03 9.99998399e-01 8.06072214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502557844 meters 0.29166520040666216 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.07, Z:0.81 [[ 9.99992125e-01 3.62757755e-03 -1.60937182e-03 2.28045587e+00] [-3.63134515e-03 9.99990659e-01 -2.34433016e-03 -6.55191918e-02] [ 1.60085255e-03 2.35015588e-03 9.99995957e-01 8.05306698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562557844 meters 0.2927400177381934 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.80 [[ 9.99996184e-01 -2.46447187e-03 1.24869436e-03 2.30297605e+00] [ 2.46447093e-03 9.99996963e-01 2.29268572e-06 -6.16301586e-02] [-1.24869622e-03 7.84693988e-07 9.99999220e-01 8.03155556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622557844 meters 0.29240009096460673 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.80 [[ 9.99995628e-01 -2.66852703e-03 1.27391959e-03 2.30291196e+00] [ 2.66916972e-03 9.99996311e-01 -5.03058523e-04 -5.95362378e-02] [-1.27257246e-03 5.06456631e-04 9.99999062e-01 8.03192405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68255784400003 meters 0.2910763497099723 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.81 [[ 0.99999207 0.00312446 -0.00247126 2.28112395] [-0.00313396 0.99998768 -0.00385034 -0.05347113] [ 0.0024592 0.00385806 0.99998953 0.80537906] [ 0. 0. 0. 1. ]] SLAMing on 259.74255784400003 meters 0.29367872741356327 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.80 [[ 9.99991938e-01 -3.58527792e-03 -1.80842325e-03 2.30507438e+00] [ 3.58256163e-03 9.99992453e-01 -1.50303298e-03 -4.93877064e-02] [ 1.81379839e-03 1.49654207e-03 9.99997235e-01 8.03374032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80255784400003 meters 0.29253604208318074 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99991653e-01 -3.72247067e-03 -1.68434637e-03 2.30454321e+00] [ 3.71935814e-03 9.99991377e-01 -1.84729291e-03 -4.79832961e-02] [ 1.69120834e-03 1.84101281e-03 9.99996875e-01 8.03885859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters 0.290796990505963 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.80 [[ 0.99998205 0.00550024 -0.00237838 2.28331034] [-0.00550645 0.99998143 -0.00261272 -0.04866516] [ 0.00236397 0.00262577 0.99999376 0.80364576] [ 0. 0. 0. 1. ]] SLAMing on 259.92255784400004 meters 0.29158639817705717 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.80 [[ 9.99991781e-01 -3.69102381e-03 -1.67738798e-03 2.30505223e+00] [ 3.68721964e-03 9.99990636e-01 -2.26537402e-03 -4.59763287e-02] [ 1.68573382e-03 2.25917051e-03 9.99996027e-01 8.03712322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters 0.29022844961849803 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.80 [[ 9.99991533e-01 -3.80272086e-03 -1.57238036e-03 2.30466304e+00] [ 3.79868174e-03 9.99989498e-01 -2.56384948e-03 -4.47635362e-02] [ 1.58211345e-03 2.55785480e-03 9.99995477e-01 8.04037925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.042557844 meters 0.28996372182476626 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.80 [[ 9.99990671e-01 -3.98593238e-03 -1.66449311e-03 2.30484161e+00] [ 3.98077636e-03 9.99987304e-01 -3.08955481e-03 -4.26348112e-02] [ 1.67678673e-03 3.08290001e-03 9.99993842e-01 8.04205801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.102557844 meters 0.2912268054386189 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.80 [[ 9.99989887e-01 -4.12516543e-03 -1.79116790e-03 2.30531069e+00] [ 4.11889585e-03 9.99985427e-01 -3.48997051e-03 -4.09756129e-02] [ 1.80553850e-03 3.48255759e-03 9.99992306e-01 8.03866394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.162557844 meters 0.2911677225757502 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.80 [[ 9.99998491e-01 2.62544980e-04 -1.71730139e-03 2.30495186e+00] [-2.60964211e-04 9.99999542e-01 9.20655279e-04 -4.15111293e-02] [ 1.71754232e-03 -9.20205735e-04 9.99998102e-01 8.04129330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.222557844 meters 0.2913762127710011 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.80 [[ 9.99998437e-01 1.16760186e-04 -1.76439071e-03 2.30498598e+00] [-1.15814803e-04 9.99999850e-01 5.35905136e-04 -3.99238870e-02] [ 1.76445302e-03 -5.35699956e-04 9.99998300e-01 8.04357469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.282557844 meters 0.291513268923989 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.81 [[ 9.99995836e-01 5.56531837e-04 -2.83147914e-03 2.34478863e+00] [-5.52585645e-04 9.99998875e-01 1.39427710e-03 -4.12632941e-02] [ 2.83225192e-03 -1.39270666e-03 9.99995019e-01 8.07312009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.342557844 meters 0.289900717144422 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.81 [[ 9.99999121e-01 1.13240470e-03 -6.90321146e-04 2.30327034e+00] [-1.13220332e-03 9.99999316e-01 2.92049512e-04 -3.37070193e-02] [ 6.90651392e-04 -2.91267671e-04 9.99999719e-01 8.05358933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.402557844 meters 0.28939355440954395 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.80 [[ 9.99999015e-01 8.98526172e-04 -1.07814941e-03 2.30443976e+00] [-8.99015380e-04 9.99999493e-01 -4.53349291e-04 -3.05146108e-02] [ 1.07774152e-03 4.54318117e-04 9.99999316e-01 8.04968972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.462557844 meters 0.2901649697638694 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.80 [[ 9.99999044e-01 7.24669661e-04 -1.17795903e-03 2.30483864e+00] [-7.25780358e-04 9.99999292e-01 -9.42746231e-04 -2.84881974e-02] [ 1.17727502e-03 9.43600269e-04 9.99998862e-01 8.04646915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.522557844 meters 0.29061886830393296 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:0.80 [[ 9.99987718e-01 -4.93150854e-03 4.93181745e-04 2.32626884e+00] [ 4.93026998e-03 9.99984766e-01 2.48181347e-03 -2.39734696e-02] [-5.05413316e-04 -2.47935147e-03 9.99996799e-01 8.04560820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.582557844 meters 0.29058608941141933 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:0.80 [[ 9.99986777e-01 -5.12052236e-03 4.74890613e-04 2.32629715e+00] [ 5.11955767e-03 9.99984873e-01 2.01084527e-03 -2.20303214e-02] [-4.85180007e-04 -2.00838745e-03 9.99997865e-01 8.04618266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.642557844 meters 0.2901794780074116 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99992958e-01 3.53729748e-03 -1.25394361e-03 2.30782138e+00] [-3.53664987e-03 9.99993612e-01 5.18295742e-04 -2.31320561e-02] [ 1.25576896e-03 -5.13857332e-04 9.99999079e-01 8.03368162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.702557844 meters 0.29013598306354194 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99993992e-01 3.28408497e-03 -1.10917435e-03 2.30737846e+00] [-3.28412491e-03 9.99994607e-01 -3.41900289e-05 -2.07995009e-02] [ 1.10905609e-03 3.78324906e-05 9.99999384e-01 8.03567562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.762557844 meters 0.2891693326650865 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99994532e-01 3.08464555e-03 -1.19173382e-03 2.30769009e+00] [-3.08532790e-03 9.99995077e-01 -5.71150210e-04 -1.85663424e-02] [ 1.18996616e-03 5.74823977e-04 9.99999127e-01 8.03352372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822557844 meters 0.29076793442557625 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.80 [[ 9.99990172e-01 -3.66286976e-03 -2.49795363e-03 2.33118280e+00] [ 3.66692529e-03 9.99991963e-01 1.62089661e-03 -1.03762764e-02] [ 2.49199642e-03 -1.63004049e-03 9.99995566e-01 8.03643942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882557844 meters 0.29065374341587896 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.01, Z:0.80 [[ 9.99989286e-01 -3.99195352e-03 -2.34372667e-03 2.33076373e+00] [ 3.99321712e-03 9.99991884e-01 5.34708840e-04 -6.10954767e-03] [ 2.34157312e-03 -5.44062121e-04 9.99997111e-01 8.03756042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters 0.29110787695903334 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.00, Z:0.80 [[ 9.99988128e-01 -4.32031870e-03 -2.25342227e-03 2.33044583e+00] [ 4.31931396e-03 9.99990570e-01 -4.50548034e-04 -2.16104542e-03] [ 2.25534753e-03 4.40809447e-04 9.99997360e-01 8.04027963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002557844 meters 0.28966109152821423 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.80 [[ 9.99976269e-01 4.10140106e-03 -5.53532793e-03 2.31014152e+00] [-4.11334148e-03 9.99989234e-01 -2.14747146e-03 6.39065195e-03] [ 5.52646070e-03 2.17018919e-03 9.99982374e-01 8.04419250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters 0.2912315305654447 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99979502e-01 -2.42033044e-03 -5.92775377e-03 2.33425477e+00] [ 2.42264856e-03 9.99996992e-01 3.83912857e-04 1.33876925e-02] [ 5.92680674e-03 -3.98265852e-04 9.99982357e-01 8.03225665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters 0.29074587738685814 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99977547e-01 -2.75628881e-03 -6.10804008e-03 2.33476496e+00] [ 2.75379160e-03 9.99996121e-01 -4.17211432e-04 1.67156862e-02] [ 6.10916635e-03 4.00381795e-04 9.99981259e-01 8.03211424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18255784400003 meters 0.2923729452724732 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99976503e-01 -3.12725237e-03 -6.10033948e-03 2.33478887e+00] [ 3.11935002e-03 9.99994284e-01 -1.30448082e-03 2.04045297e-02] [ 6.10438405e-03 1.28542107e-03 9.99980542e-01 8.03169212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24255784400003 meters 0.2915040449601128 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99980816e-01 7.46668779e-04 -6.14901243e-03 2.33520783e+00] [-7.36636648e-04 9.99998394e-01 1.63360605e-03 2.58207423e-02] [ 6.15022232e-03 -1.62904513e-03 9.99979760e-01 8.02570400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30255784400003 meters 0.29200225272174385 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99980627e-01 4.86171056e-04 -6.20566262e-03 2.33562117e+00] [-4.80125783e-04 9.99999409e-01 9.75606965e-04 2.85942299e-02] [ 6.20613327e-03 -9.72608566e-04 9.99980269e-01 8.02015872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters 0.29205261975262314 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99980966e-01 2.42159573e-04 -6.16508084e-03 2.33540168e+00] [-2.39858338e-04 9.99999901e-01 3.74005901e-04 3.10633783e-02] [ 6.16517080e-03 -3.72520036e-04 9.99980926e-01 8.02326661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42255784400004 meters 0.2912514737178631 Centerline is valid? [False, False] Translation: X:2.33, Y:0.03, Z:0.80 [[ 9.99981703e-01 -6.64741304e-05 -6.04883252e-03 2.33486321e+00] [ 6.44036416e-05 9.99999939e-01 -3.42489764e-04 3.40176311e-02] [ 6.04885492e-03 3.42093931e-04 9.99981647e-01 8.02897104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48255784400004 meters 0.2912174240023625 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.80 [[ 9.99982276e-01 -2.07711422e-04 -5.95017234e-03 2.33451244e+00] [ 2.03529238e-04 9.99999732e-01 -7.03464565e-04 3.54812767e-02] [ 5.95031686e-03 7.02241063e-04 9.99982050e-01 8.03156833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.542557844 meters 0.2916367381534066 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.80 [[ 9.99982829e-01 -2.97983237e-04 -5.85268080e-03 2.33401244e+00] [ 2.92514208e-04 9.99999520e-01 -9.35282301e-04 3.63958402e-02] [ 5.85295669e-03 9.33554248e-04 9.99982436e-01 8.03779894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.602557844 meters 0.29044026888083274 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.80 [[ 9.99982850e-01 -4.18781519e-04 -5.84152140e-03 2.33389997e+00] [ 4.11547596e-04 9.99999147e-01 -1.23950979e-03 3.76406484e-02] [ 5.84203550e-03 1.23708447e-03 9.99982170e-01 8.03980355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.662557844 meters 0.2910818193975685 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.80 [[ 9.99982111e-01 -3.56781328e-04 -5.97085104e-03 2.33446723e+00] [ 3.50242851e-04 9.99999338e-01 -1.09607606e-03 3.70607323e-02] [ 5.97123814e-03 1.09396521e-03 9.99981574e-01 8.03454738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.722557844 meters 0.2883837190570383 Centerline is valid? [False, False] Translation: X:2.29, Y:0.04, Z:0.80 [[ 9.99982785e-01 1.30301927e-03 -5.72122605e-03 2.29495672e+00] [-1.30914310e-03 9.99998574e-01 -1.06675468e-03 4.13625972e-02] [ 5.71982789e-03 1.07422622e-03 9.99983065e-01 8.01004113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.782557844 meters 0.2911513549411813 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.80 [[ 9.99992170e-01 2.38016080e-03 -3.16153254e-03 2.33899925e+00] [-2.37691453e-03 9.99996645e-01 1.03016299e-03 4.01605455e-02] [ 3.16397389e-03 -1.02264023e-03 9.99994472e-01 7.99586348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.842557844 meters 0.2906226685539128 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.80 [[ 9.99993433e-01 2.18248589e-03 -2.89324144e-03 2.33821386e+00] [-2.18136074e-03 9.99997544e-01 3.91984833e-04 4.25535749e-02] [ 2.89408983e-03 -3.85671056e-04 9.99995738e-01 7.99992691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.902557844 meters 0.29093071652609837 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.80 [[ 0.99998118 -0.00266099 -0.00552819 2.31856855] [ 0.0026796 0.99999076 0.00336077 0.0506262 ] [ 0.0055192 -0.00337552 0.99997907 0.79996949] [ 0. 0. 0. 1. ]] SLAMing on 261.962557844 meters 0.2895785562968046 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.80 [[ 0.9999788 -0.00284791 -0.00585493 2.31938487] [ 0.0028636 0.99999233 0.00267296 0.05336266] [ 0.00584727 -0.00268967 0.99997929 0.79991263] [ 0. 0. 0. 1. ]] SLAMing on 262.022557844 meters 0.28944884972259877 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99978335e-01 -3.09755459e-03 -5.80813344e-03 2.31897500e+00] [ 3.10861950e-03 9.99993369e-01 1.89701128e-03 5.64298812e-02] [ 5.80221883e-03 -1.91502545e-03 9.99981333e-01 8.00648649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.082557844 meters 0.2897352092885054 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99977856e-01 -3.43687674e-03 -5.69872463e-03 2.31850396e+00] [ 3.44081202e-03 9.99993849e-01 6.80893913e-04 6.11265007e-02] [ 5.69634942e-03 -7.00487075e-04 9.99983530e-01 8.01094571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.142557844 meters 0.2888426688095528 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99977343e-01 -3.71255801e-03 -5.61528190e-03 2.31816077e+00] [ 3.71140834e-03 9.99993090e-01 -2.15145640e-04 6.46522030e-02] [ 5.61604184e-03 1.94300161e-04 9.99984211e-01 8.01409897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.202557844 meters 0.28959793794858957 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99973753e-01 -4.06993086e-03 -5.99408340e-03 2.31892142e+00] [ 4.06081473e-03 9.99990581e-01 -1.53224138e-03 6.97856420e-02] [ 6.00026305e-03 1.50786030e-03 9.99980861e-01 8.01828204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.262557844 meters 0.2889327667267587 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.80 [[ 0.99995771 0.00502301 -0.00770401 2.29943585] [-0.00504583 0.99998293 -0.00294597 0.07046414] [ 0.00768909 0.00298472 0.99996598 0.80075481] [ 0. 0. 0. 1. ]] SLAMing on 262.322557844 meters 0.28939871492225144 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99981679e-01 -1.40346311e-03 -5.88829508e-03 2.32087580e+00] [ 1.40593559e-03 9.99998925e-01 4.15778770e-04 7.23612239e-02] [ 5.88770522e-03 -4.24049716e-04 9.99982577e-01 7.99938978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters 0.2895879670210969 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99980703e-01 -1.58361301e-03 -6.00712908e-03 2.32121751e+00] [ 1.58298210e-03 9.99998741e-01 -1.09780154e-04 7.45080519e-02] [ 6.00729537e-03 1.00268858e-04 9.99981951e-01 7.99826330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters 0.2904559426390172 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99981558e-01 -1.61919296e-03 -5.85332822e-03 2.32071295e+00] [ 1.61806318e-03 9.99998671e-01 -1.97746687e-04 7.48684496e-02] [ 5.85364064e-03 1.88271985e-04 9.99982850e-01 8.00101283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters 0.2891925953550047 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99981782e-01 -1.45340291e-03 -5.85852715e-03 2.32094049e+00] [ 1.45462261e-03 9.99998921e-01 2.03937917e-04 7.32134564e-02] [ 5.85822443e-03 -2.12456147e-04 9.99982818e-01 7.99666206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters 0.2897818691282549 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99981816e-01 -1.32567726e-03 -5.88300412e-03 2.32096988e+00] [ 1.32887884e-03 9.99998971e-01 5.40333206e-04 7.18314531e-02] [ 5.88228176e-03 -5.48141181e-04 9.99982549e-01 7.99757548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters 0.2890490651616878 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99985439e-01 -1.25419463e-03 -5.24860893e-03 2.31912133e+00] [ 1.25818856e-03 9.99998921e-01 7.57718151e-04 7.08089636e-02] [ 5.24765294e-03 -7.64310858e-04 9.99985939e-01 8.00617455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters 0.28908947828797993 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99986165e-01 -1.15126955e-03 -5.13271815e-03 2.31877187e+00] [ 1.15677494e-03 9.99998759e-01 1.06976741e-03 6.95689016e-02] [ 5.13148019e-03 -1.07569001e-03 9.99986255e-01 8.00807586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74255784400003 meters 0.2883315060302537 Centerline is valid? [False, False] Translation: X:2.30, Y:0.07, Z:0.80 [[ 9.99944138e-01 8.58195561e-03 -6.17010048e-03 2.29812097e+00] [-8.57692186e-03 9.99962863e-01 8.41827920e-04 6.61816053e-02] [ 6.17709587e-03 -7.88860424e-04 9.99980610e-01 7.99932683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters 0.28882677883264496 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99977642e-01 -2.49325636e-03 -6.20480621e-03 2.31944554e+00] [ 2.49300559e-03 9.99996891e-01 -4.81502166e-05 7.01135604e-02] [ 6.20490697e-03 3.26805236e-05 9.99980749e-01 8.00115282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters 0.28920477524029803 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99977658e-01 -2.47374326e-03 -6.20992497e-03 2.31938303e+00] [ 2.47381442e-03 9.99996940e-01 3.77737624e-06 6.99002133e-02] [ 6.20989662e-03 -1.91394938e-05 9.99980718e-01 8.00285039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters 0.2894140500973572 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99978232e-01 -2.29221667e-03 -6.18720533e-03 2.31939550e+00] [ 2.29533805e-03 9.99997242e-01 4.97436375e-04 6.78901659e-02] [ 6.18604803e-03 -5.11627274e-04 9.99980735e-01 8.00141139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98255784400004 meters 0.2889842300216271 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:0.80 [[ 9.99978492e-01 -2.11881943e-03 -6.20697820e-03 2.31958248e+00] [ 2.12477067e-03 9.99997289e-01 9.52359735e-04 6.60379697e-02] [ 6.20494350e-03 -9.65527657e-04 9.99980283e-01 7.99864739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.042557844 meters 0.2885721498766479 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99977890e-01 -1.92804094e-03 -6.36405406e-03 2.32006592e+00] [ 1.93724466e-03 9.99997086e-01 1.44035710e-03 6.40184711e-02] [ 6.36125845e-03 -1.45265398e-03 9.99978712e-01 7.99712921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.102557844 meters 0.28936185267360887 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99976969e-01 -1.72334387e-03 -6.56445626e-03 2.32063806e+00] [ 1.73613203e-03 9.99996606e-01 1.94289140e-03 6.19747772e-02] [ 6.56108571e-03 -1.95424342e-03 9.99976566e-01 7.99610082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.162557844 meters 0.28806814591714863 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99978528e-01 -1.56791347e-03 -6.36284909e-03 2.32020372e+00] [ 1.58292008e-03 9.99995976e-01 2.35412259e-03 6.03000913e-02] [ 6.35913243e-03 -2.36414392e-03 9.99976986e-01 7.99481386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.222557844 meters 0.2885157467643818 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99980467e-01 -1.42139715e-03 -6.08654931e-03 2.31963414e+00] [ 1.43795129e-03 9.99995277e-01 2.71627941e-03 5.88288159e-02] [ 6.08265965e-03 -2.72497852e-03 9.99977788e-01 7.99270036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.282557844 meters 0.2886920234705742 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:0.80 [[ 9.99979615e-01 -1.28560072e-03 -6.25436361e-03 2.32020188e+00] [ 1.30483162e-03 9.99994431e-01 3.07168915e-03 5.73892343e-02] [ 6.25037982e-03 -3.07978743e-03 9.99975724e-01 7.98946427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.342557844 meters 0.29017575984279204 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.80 [[ 9.99979608e-01 -1.02685381e-03 -6.30317281e-03 2.32080751e+00] [ 1.05054074e-03 9.99992395e-01 3.75577837e-03 5.45234466e-02] [ 6.29926824e-03 -3.76232352e-03 9.99973082e-01 7.97843546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.402557844 meters 0.28919030000783297 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:0.80 [[ 9.99968004e-01 -4.93997175e-03 -6.29192002e-03 2.32100902e+00] [ 4.94342244e-03 9.99987639e-01 5.32997494e-04 4.99522588e-02] [ 6.28920925e-03 -5.64084059e-04 9.99980064e-01 7.97514084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.462557844 meters 0.2902471439046807 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.80 [[ 9.99982243e-01 3.49482105e-03 -4.82709785e-03 2.34148101e+00] [-3.49168041e-03 9.99993687e-01 6.58900784e-04 4.22514781e-02] [ 4.82937012e-03 -6.42034400e-04 9.99988132e-01 7.97939000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.522557844 meters 0.28985169395845656 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.80 [[ 9.99987747e-01 -5.14199624e-04 -4.92354531e-03 2.34195237e+00] [ 5.00629656e-04 9.99996074e-01 -2.75697324e-03 3.84655154e-02] [ 4.92494362e-03 2.75447459e-03 9.99984079e-01 7.97369649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.582557844 meters 0.2900454190304861 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:0.80 [[ 9.99986984e-01 -3.10557978e-04 -5.09262294e-03 2.34242867e+00] [ 2.99177054e-04 9.99997457e-01 -2.23539588e-03 3.63020470e-02] [ 5.09330421e-03 2.23384319e-03 9.99984534e-01 7.97314924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.642557844 meters 0.2897631829972637 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99986872e-01 -1.49161978e-04 -5.12194434e-03 2.34241947e+00] [ 1.39838922e-04 9.99998333e-01 -1.82052788e-03 3.45818906e-02] [ 5.12220736e-03 1.81978773e-03 9.99985226e-01 7.97544239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.702557844 meters 0.28982134224859124 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99986995e-01 -9.37820355e-05 -5.09907232e-03 2.34239733e+00] [ 8.52926794e-05 9.99998610e-01 -1.66507443e-03 3.39557358e-02] [ 5.09922139e-03 1.66461786e-03 9.99985613e-01 7.97472875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.762557844 meters 0.2901081387162626 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99987450e-01 7.68790195e-05 -5.00946155e-03 2.34184561e+00] [-8.30672086e-05 9.99999234e-01 -1.23510391e-03 3.20988116e-02] [ 5.00936276e-03 1.23550453e-03 9.99986690e-01 7.98243252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.822557844 meters 0.2894872554642855 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99987501e-01 2.52549052e-04 -4.99336505e-03 2.34182800e+00] [-2.56287733e-04 9.99999687e-01 -7.48104021e-04 3.01193240e-02] [ 4.99317455e-03 7.49374409e-04 9.99987253e-01 7.98218294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.882557844 meters 0.28949112863536225 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99987980e-01 4.55873096e-04 -4.88176792e-03 2.34157397e+00] [-4.56737049e-04 9.99999880e-01 -1.75862065e-04 2.78103453e-02] [ 4.88168716e-03 1.78089635e-04 9.99988069e-01 7.98166917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942557844 meters 0.289924192383759 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:0.80 [[ 9.99987996e-01 6.68587339e-04 -4.85386721e-03 2.34140587e+00] [-6.66988936e-04 9.99999723e-01 3.30916256e-04 2.57060652e-02] [ 4.85408711e-03 -3.27674808e-04 9.99988165e-01 7.98418424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002557844 meters 0.2885933783845125 Centerline is valid? [False, False] Translation: X:2.30, Y:0.02, Z:0.79 [[ 9.99986995e-01 2.52979150e-03 -4.42840086e-03 2.30388421e+00] [-2.52274491e-03 9.99995544e-01 1.59609013e-03 2.40257332e-02] [ 4.43241890e-03 -1.58489765e-03 9.99988921e-01 7.94186344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters 0.2887230573153204 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.79 [[ 9.99987388e-01 2.39913489e-03 -4.41221863e-03 2.30400206e+00] [-2.39392713e-03 9.99996432e-01 1.18520799e-03 2.56406294e-02] [ 4.41504637e-03 -1.17463052e-03 9.99989564e-01 7.93718342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122557844 meters 0.29036094174248106 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:0.79 [[ 0.99997725 -0.00451815 -0.00500936 2.32612646] [ 0.00453428 0.99998456 0.00321165 0.03542415] [ 0.00499477 -0.00323429 0.9999823 0.79323385] [ 0. 0. 0. 1. ]] SLAMing on 264.18255784400003 meters 0.2889633584360953 Centerline is valid? [False, False] Translation: X:2.31, Y:0.04, Z:0.79 [[ 9.99969757e-01 1.74242878e-03 -7.57944800e-03 2.30506158e+00] [-1.74500522e-03 9.99998422e-01 -3.33324405e-04 3.74062348e-02] [ 7.57885525e-03 3.46540501e-04 9.99971220e-01 7.94346937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24255784400003 meters 0.289859794657972 Centerline is valid? [False, False] Translation: X:2.31, Y:0.04, Z:0.79 [[ 9.99968223e-01 1.79518652e-03 -7.76721051e-03 2.30551104e+00] [-1.79657414e-03 9.99998371e-01 -1.71677955e-04 3.67482838e-02] [ 7.76688967e-03 1.85626869e-04 9.99969820e-01 7.94404652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30255784400003 meters 0.2896358711599456 Centerline is valid? [False, False] Translation: X:2.31, Y:0.03, Z:0.79 [[ 9.99967092e-01 1.92516300e-03 -7.88084759e-03 2.30577953e+00] [-1.92294257e-03 9.99998109e-01 2.89318893e-04 3.49640720e-02] [ 7.88138968e-03 -2.74154955e-04 9.99968904e-01 7.94457023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters 0.289950120861832 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.80 [[ 9.99968476e-01 2.06590391e-03 -7.66674324e-03 2.30490328e+00] [-2.06033084e-03 9.99997608e-01 7.34741722e-04 3.30388325e-02] [ 7.66824281e-03 -7.18922533e-04 9.99970340e-01 7.95470837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters 0.2888300598627887 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.80 [[ 9.99968323e-01 2.14343590e-03 -7.66538425e-03 2.30472667e+00] [-2.13634879e-03 9.99997283e-01 9.32629521e-04 3.22209171e-02] [ 7.66736246e-03 -9.16224044e-04 9.99970186e-01 7.95869959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters 0.2899929429700027 Centerline is valid? [False, False] Translation: X:2.31, Y:0.03, Z:0.80 [[ 9.99967469e-01 2.30843269e-03 -7.72865479e-03 2.30507023e+00] [-2.29818844e-03 9.99996469e-01 1.33410805e-03 3.05591269e-02] [ 7.73170720e-03 -1.31630275e-03 9.99969244e-01 7.95528584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.542557844 meters 0.2887201483469096 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.80 [[ 9.99968343e-01 2.51041713e-03 -7.55049471e-03 2.30431075e+00] [-2.49605898e-03 9.99995060e-01 1.91043938e-03 2.80770195e-02] [ 7.55525341e-03 -1.89153242e-03 9.99969670e-01 7.96404557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.602557844 meters 0.2882688685420505 Centerline is valid? [False, False] Translation: X:2.30, Y:0.03, Z:0.80 [[ 9.99970455e-01 -1.65048499e-03 -7.50767035e-03 2.30418080e+00] [ 1.63643257e-03 9.99996899e-01 -1.87749957e-03 2.58318036e-02] [ 7.51074585e-03 1.86515831e-03 9.99970054e-01 7.96499257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.662557844 meters 0.29013452439796217 Centerline is valid? [False, False] Translation: X:2.31, Y:0.02, Z:0.80 [[ 9.99969525e-01 -1.20141305e-03 -7.71401971e-03 2.30521445e+00] [ 1.19627995e-03 9.99999060e-01 -6.70004481e-04 2.07447348e-02] [ 7.71481741e-03 6.60755935e-04 9.99970022e-01 7.95339810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.722557844 meters 0.2879737503416173 Centerline is valid? [False, False] Translation: X:2.28, Y:0.01, Z:0.80 [[ 0.99995449 0.00510075 -0.00806234 2.28118691] [-0.00512792 0.99998123 -0.00335354 0.0146122 ] [ 0.00804508 0.00339473 0.99996188 0.79693155] [ 0. 0. 0. 1. ]] SLAMing on 264.782557844 meters 0.2882396940129466 Centerline is valid? [False, False] Translation: X:2.28, Y:0.01, Z:0.80 [[ 0.99995101 0.0054082 -0.00828999 2.2821839 ] [-0.00543013 0.99998181 -0.00262443 0.01153691] [ 0.00827564 0.00266932 0.99996219 0.79608325] [ 0. 0. 0. 1. ]] SLAMing on 264.842557844 meters 0.2884910049090421 Centerline is valid? [False, False] Translation: X:2.28, Y:0.01, Z:0.80 [[ 0.999951 0.0055482 -0.00819856 2.28228403] [-0.00556711 0.99998189 -0.00228629 0.01014417] [ 0.00818573 0.00233182 0.99996378 0.79539504] [ 0. 0. 0. 1. ]] SLAMing on 264.902557844 meters 0.2889446460077381 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:0.80 [[ 9.99975988e-01 -3.27657933e-03 -6.10640857e-03 2.30255115e+00] [ 3.27185430e-03 9.99994340e-01 -7.83610761e-04 6.33401610e-03] [ 6.10894157e-03 7.63612666e-04 9.99981049e-01 7.95647731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962557844 meters 0.2893023966515288 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:0.80 [[ 9.99975386e-01 -2.89546662e-03 -6.39086257e-03 2.30347891e+00] [ 2.89812572e-03 9.99995718e-01 4.06856674e-04 1.57891768e-03] [ 6.38965716e-03 -4.25368183e-04 9.99979495e-01 7.95281504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022557844 meters 0.2897869269191412 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.00, Z:0.79 [[ 9.99974757e-01 -2.33972517e-03 -6.70899884e-03 2.30462077e+00] [ 2.35221622e-03 9.99995514e-01 1.85454946e-03 -4.28350772e-03] [ 6.70462960e-03 -1.87028367e-03 9.99975775e-01 7.94742278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082557844 meters 0.2884515353184515 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:0.80 [[ 9.99959547e-01 3.60813734e-03 -8.23925662e-03 2.28264493e+00] [-3.61860161e-03 9.99992665e-01 -1.25549673e-03 -8.74015482e-03] [ 8.23466618e-03 1.28526053e-03 9.99965269e-01 7.95521892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142557844 meters 0.28961803075115766 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.79 [[ 9.99985375e-01 -2.39110924e-03 -4.85103748e-03 2.30293836e+00] [ 2.40226137e-03 9.99994482e-01 2.29439269e-03 -1.20234098e-02] [ 4.84552457e-03 -2.30601259e-03 9.99985601e-01 7.94472134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202557844 meters 0.2895549856225016 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.79 [[ 9.99985324e-01 -2.22775176e-03 -4.93843394e-03 2.30313800e+00] [ 2.24120708e-03 9.99993787e-01 2.72075668e-03 -1.37618641e-02] [ 4.93234209e-03 -2.73178481e-03 9.99984105e-01 7.94589653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262557844 meters 0.28794019367391865 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.02, Z:0.80 [[ 9.99973232e-01 3.55954383e-03 -6.39263400e-03 2.28007904e+00] [-3.56275141e-03 9.99993533e-01 -4.90443775e-04 -1.68851747e-02] [ 6.39084691e-03 5.13206012e-04 9.99979447e-01 7.95810477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322557844 meters 0.28984856883050186 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.80 [[ 9.99974171e-01 3.90078155e-03 -6.03658670e-03 2.31659117e+00] [-3.90278339e-03 9.99992333e-01 -3.19872503e-04 -1.28497705e-02] [ 6.03529266e-03 3.43423731e-04 9.99981728e-01 8.00319013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters 0.2879112045891613 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.80 [[ 9.99978542e-01 -2.85922921e-03 -5.89414333e-03 2.29046639e+00] [ 2.87157969e-03 9.99993697e-01 2.08798495e-03 -1.16798608e-02] [ 5.88813616e-03 -2.10486565e-03 9.99980450e-01 8.02902681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442557844 meters 0.2864058284200899 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.80 [[ 9.99969805e-01 5.66188527e-03 -5.32285931e-03 2.27005804e+00] [-5.65578959e-03 9.99983334e-01 1.15954533e-03 -1.67222222e-02] [ 5.32933581e-03 -1.12940535e-03 9.99985161e-01 8.01751382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters 0.28851339693737355 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99983817e-01 3.93441553e-03 -4.10938120e-03 2.31130750e+00] [-3.93469421e-03 9.99992257e-01 -5.97344325e-05 -1.50035280e-02] [ 4.10911436e-03 7.59026243e-05 9.99991555e-01 8.03151891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters 0.2879145522884837 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.80 [[ 9.99973850e-01 -4.16623708e-03 -5.91116193e-03 2.29208695e+00] [ 4.17510882e-03 9.99990175e-01 1.48930092e-03 -1.45104277e-02] [ 5.90489907e-03 -1.51394172e-03 9.99981420e-01 8.01646163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters 0.2887347691538689 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.80 [[ 9.99982629e-01 1.96463610e-03 -5.55712046e-03 2.31644473e+00] [-1.97232358e-03 9.99997105e-01 -1.37821433e-03 -1.76755286e-02] [ 5.55439669e-03 1.38915083e-03 9.99983609e-01 8.00019459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters 0.2891017524269803 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.80 [[ 9.99981488e-01 2.25971762e-03 -5.64961912e-03 2.31689011e+00] [-2.26329228e-03 9.99997243e-01 -6.26412230e-04 -2.07573779e-02] [ 5.64818802e-03 6.39187373e-04 9.99983845e-01 7.99661100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters 0.2877678939978586 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.03, Z:0.80 [[ 9.99983154e-01 2.47845749e-03 -5.24867223e-03 2.27992750e+00] [-2.47421586e-03 9.99996607e-01 8.14473051e-04 -3.04662985e-02] [ 5.25067306e-03 -8.01472982e-04 9.99985894e-01 7.95434306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters 0.2886563290350557 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.04, Z:0.79 [[ 9.99986030e-01 -1.42238268e-03 -5.09080091e-03 2.27983684e+00] [ 1.41136977e-03 9.99996658e-01 -2.16623543e-03 -3.56598671e-02] [ 5.09386511e-03 2.15902017e-03 9.99984695e-01 7.94974059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters 0.2898851388795942 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 0.99997084 0.0066137 -0.00381746 2.29894446] [-0.00662501 0.99997368 -0.00295814 -0.04500396] [ 0.0037978 0.00298334 0.99998834 0.79649761] [ 0. 0. 0. 1. ]] SLAMing on 265.92255784400004 meters 0.2879687800772052 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.80 [[ 9.99984515e-01 -2.43225929e-03 -5.00531270e-03 2.27686750e+00] [ 2.42394865e-03 9.99995675e-01 -1.66576112e-03 -4.94840012e-02] [ 5.00934261e-03 1.65360271e-03 9.99986086e-01 7.96899791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98255784400004 meters 0.2885562278962944 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.05, Z:0.80 [[ 9.99986111e-01 -1.97030581e-03 -4.88833656e-03 2.27667132e+00] [ 1.96742205e-03 9.99997888e-01 -5.94664695e-04 -5.38867316e-02] [ 4.88949791e-03 5.85039014e-04 9.99987875e-01 7.96802484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.042557844 meters 0.28830106878490047 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99986225e-01 -1.74101975e-03 -4.95166417e-03 2.27710590e+00] [ 1.74099960e-03 9.99998484e-01 -8.38120190e-06 -5.63064592e-02] [ 4.95167126e-03 -2.39758877e-07 9.99987740e-01 7.96260954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.102557844 meters 0.28935925836832005 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99985361e-01 -1.48983318e-03 -5.20181181e-03 2.27806206e+00] [ 1.49290444e-03 9.99998714e-01 5.86589898e-04 -5.87729057e-02] [ 5.20093119e-03 -5.94347118e-04 9.99986298e-01 7.95634696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.162557844 meters 0.28866863547967436 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99986102e-01 -1.39050217e-03 -5.08549284e-03 2.27756833e+00] [ 1.39483957e-03 9.99998666e-01 8.49449269e-04 -5.98198914e-02] [ 5.08430490e-03 -8.56530910e-04 9.99986708e-01 7.96151301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.222557844 meters 0.2894579029076048 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987057e-01 -1.33041001e-03 -4.91069648e-03 2.27713427e+00] [ 1.33537131e-03 9.99998601e-01 1.00716522e-03 -6.04614237e-02] [ 4.90934967e-03 -1.01370979e-03 9.99987435e-01 7.96158318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.282557844 meters 0.28871099207582684 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987344e-01 -1.27911324e-03 -4.86582401e-03 2.27706832e+00] [ 1.28467801e-03 9.99998524e-01 1.14069084e-03 -6.10062616e-02] [ 4.86435776e-03 -1.14692742e-03 9.99987511e-01 7.96062266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.342557844 meters 0.2893247509590868 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987417e-01 -1.28891923e-03 -4.84819057e-03 2.27696776e+00] [ 1.29433543e-03 9.99998542e-01 1.11418634e-03 -6.08931421e-02] [ 4.84674740e-03 -1.12044750e-03 9.99987627e-01 7.96184894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.402557844 meters 0.28931416224310824 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987637e-01 -1.33685058e-03 -4.78949609e-03 2.27677581e+00] [ 1.34159711e-03 9.99998612e-01 9.87952445e-04 -6.03718033e-02] [ 4.78816870e-03 -9.94365804e-04 9.99988042e-01 7.96266125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462557844 meters 0.28914780663046813 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987636e-01 -1.46279010e-03 -4.75260115e-03 2.27682538e+00] [ 1.46599389e-03 9.99998701e-01 6.70698538e-04 -5.90742381e-02] [ 4.75161388e-03 -6.77657530e-04 9.99988481e-01 7.95915929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522557844 meters 0.28900639700798414 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99987223e-01 -1.58224942e-03 -4.80116284e-03 2.27703816e+00] [ 1.58390097e-03 9.99998688e-01 3.40207322e-04 -5.77590857e-02] [ 4.80061825e-03 -3.47807541e-04 9.99988416e-01 7.95655525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582557844 meters 0.28950321587253264 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99986849e-01 -1.61411251e-03 -4.86789880e-03 2.27746454e+00] [ 1.61538292e-03 9.99998662e-01 2.57056753e-04 -5.74273645e-02] [ 4.86747737e-03 -2.64916893e-04 9.99988119e-01 7.95061020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642557844 meters 0.288358801526573 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.06, Z:0.80 [[ 0.99997625 0.00391142 -0.00567443 2.254256 ] [-0.00393038 0.99998672 -0.00333347 -0.05964411] [ 0.00566131 0.00335569 0.99997834 0.79600039] [ 0. 0. 0. 1. ]] SLAMing on 266.702557844 meters 0.28884213958817856 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99992867e-01 -2.28227327e-03 -3.00950448e-03 2.27530264e+00] [ 2.28186178e-03 9.99997387e-01 -1.40155681e-04 -6.17436078e-02] [ 3.00981649e-03 1.33287408e-04 9.99995462e-01 7.95696064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762557844 meters 0.28801674369913294 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.80 [[ 9.99993213e-01 -2.09890988e-03 -3.02783182e-03 2.27543643e+00] [ 2.10000684e-03 9.99997730e-01 3.59156072e-04 -6.37733781e-02] [ 3.02707111e-03 -3.65512102e-04 9.99995352e-01 7.95522580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters 0.28886377311666933 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.79 [[ 9.99990956e-01 4.20391140e-03 -6.44074974e-04 2.29846900e+00] [-4.20529668e-03 9.99988815e-01 -2.16475802e-03 -6.57969591e-02] [ 6.34967319e-04 2.16744697e-03 9.99997449e-01 7.93562682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters 0.2897104395611279 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.79 [[ 9.99989878e-01 4.46144174e-03 -5.82913962e-04 2.29820593e+00] [-4.46225195e-03 9.99989070e-01 -1.39611722e-03 -6.88403974e-02] [ 5.76678895e-04 1.39870420e-03 9.99998856e-01 7.93846962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters 0.287504973192677 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.79 [[ 9.99999620e-01 6.28036855e-04 -6.03833519e-04 2.29802128e+00] [-6.30731720e-04 9.99989797e-01 -4.47314379e-03 -7.41129690e-02] [ 6.01018059e-04 4.47352295e-03 9.99989813e-01 7.94404307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters 0.28766191039405703 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.79 [[ 9.99999280e-01 9.59195269e-04 -7.20756903e-04 2.29838024e+00] [-9.61785683e-04 9.99993049e-01 -3.60230905e-03 -7.76521599e-02] [ 7.17296575e-04 3.60299967e-03 9.99993252e-01 7.94296586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters 0.2885565965784167 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.79 [[ 9.99998917e-01 1.23648251e-03 -7.98497937e-04 2.29902310e+00] [-1.23882118e-03 9.99994925e-01 -2.93501542e-03 -8.04278259e-02] [ 7.94864790e-04 2.93600144e-03 9.99995374e-01 7.93419461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters 0.28739622489497413 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.79 [[ 9.99998721e-01 1.31419588e-03 -9.11342820e-04 2.29949222e+00] [-1.31667877e-03 9.99995409e-01 -2.72920584e-03 -8.12870555e-02] [ 9.07751925e-04 2.73040229e-03 9.99995860e-01 7.93000881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters 0.2870591498236446 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.79 [[ 9.99998902e-01 1.37123447e-03 -5.62476491e-04 2.29857869e+00] [-1.37268412e-03 9.99995717e-01 -2.58502583e-03 -8.18550154e-02] [ 5.58929405e-04 2.58579510e-03 9.99996501e-01 7.93174726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters 0.2879062682653046 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.08, Z:0.79 [[ 9.99998774e-01 1.42415669e-03 -6.50861192e-04 2.29897991e+00] [-1.42574274e-03 9.99996000e-01 -2.44290709e-03 -8.24641994e-02] [ 6.47379506e-04 2.44383206e-03 9.99996804e-01 7.92772608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters 0.2880639333866464 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.79 [[ 9.99988288e-01 -3.98007460e-03 2.75354550e-03 2.31876087e+00] [ 3.97613025e-03 9.99991063e-01 1.43645497e-03 -8.58200735e-02] [-2.75923809e-03 -1.42548969e-03 9.99995177e-01 7.92803063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters 0.2878260432205583 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.79 [[ 9.99988602e-01 -3.75993931e-03 2.94269437e-03 2.31802342e+00] [ 3.75375091e-03 9.99990738e-01 2.10567459e-03 -8.85270555e-02] [-2.95058432e-03 -2.09460445e-03 9.99993453e-01 7.93519779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters 0.2890299955688835 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.79 [[ 0.99999076 -0.00341886 0.00260576 2.3194878 ] [ 0.0034105 0.99998905 0.00320538 -0.09346888] [-0.00261669 -0.00319646 0.99999147 0.79194872] [ 0. 0. 0. 1. ]] SLAMing on 267.48255784400004 meters 0.28682292425336026 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:0.79 [[ 9.99998333e-01 1.82133083e-03 1.29709779e-04 2.29714096e+00] [-1.82132704e-03 9.99998341e-01 -2.93075347e-05 -9.57193183e-02] [-1.29762943e-04 2.90712420e-05 9.99999991e-01 7.93391205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.542557844 meters 0.28814081262838953 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:0.79 [[ 9.99996987e-01 2.44595874e-03 -2.10102597e-04 2.29775637e+00] [-2.44569162e-03 9.99996212e-01 1.26237322e-03 -1.01146282e-01] [ 2.13189515e-04 -1.26185557e-03 9.99999181e-01 7.94019945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.602557844 meters 0.2883298798990871 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:0.79 [[ 9.99995979e-01 2.79980741e-03 -4.50788678e-04 2.29878016e+00] [-2.79883776e-03 9.99993799e-01 2.13745703e-03 -1.04824432e-01] [ 4.56770350e-04 -2.13618675e-03 9.99997614e-01 7.93116241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.662557844 meters 0.29006196942506174 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.79 [[ 9.99981396e-01 -5.73556485e-03 2.07649682e-03 2.31924651e+00] [ 5.72845300e-03 9.99977762e-01 3.41482563e-03 -1.07460068e-01] [-2.09603660e-03 -3.40286699e-03 9.99992014e-01 7.92092347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.722557844 meters 0.28930201279870854 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.79 [[ 9.99982740e-01 -5.53783271e-03 1.96291790e-03 2.31964892e+00] [ 5.53018442e-03 9.99977179e-01 3.88063043e-03 -1.09402818e-01] [-1.98436339e-03 -3.86970815e-03 9.99990544e-01 7.91938266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.782557844 meters 0.2893957588820215 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.79 [[ 9.99984806e-01 -5.17973504e-03 1.88620655e-03 2.31977942e+00] [ 5.17045347e-03 9.99974663e-01 4.89283180e-03 -1.13533363e-01] [-1.91150233e-03 -4.88300491e-03 9.99986251e-01 7.92230837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.842557844 meters 0.2896155460273754 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.79 [[ 9.99986517e-01 -4.93476778e-03 1.61680294e-03 2.32038781e+00] [ 4.92536738e-03 9.99971238e-01 5.76747876e-03 -1.16962885e-01] [-1.64521761e-03 -5.75943765e-03 9.99982061e-01 7.92426892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.902557844 meters 0.2895609336945308 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.79 [[ 9.99986988e-01 -4.87175966e-03 1.51351000e-03 2.32067621e+00] [ 4.86269234e-03 9.99970547e-01 5.93792432e-03 -1.17675471e-01] [-1.54239357e-03 -5.93048732e-03 9.99981225e-01 7.92398848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.962557844 meters 0.28867540386133295 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:0.79 [[ 9.99994621e-01 3.25954231e-03 3.64903624e-04 2.30013847e+00] [-3.26128754e-03 9.99982731e-01 4.88888477e-03 -1.18793389e-01] [-3.48961796e-04 -4.89004853e-03 9.99987983e-01 7.90989157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.022557844 meters 0.28964473665178675 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.12, Z:0.79 [[ 9.99995408e-01 3.01109121e-03 3.41724962e-04 2.30033232e+00] [-3.01246213e-03 9.99987120e-01 4.08478303e-03 -1.15608035e-01] [-3.29420906e-04 -4.08579370e-03 9.99991599e-01 7.90575262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.082557844 meters 0.2899271003566013 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.11, Z:0.79 [[ 9.99996191e-01 2.73211423e-03 3.91212343e-04 2.30031223e+00] [-2.73337045e-03 9.99990992e-01 3.24739679e-03 -1.12244838e-01] [-3.82336559e-04 -3.24845375e-03 9.99994651e-01 7.90307046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.142557844 meters 0.2892598025444528 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.11, Z:0.79 [[ 9.99996534e-01 2.57634017e-03 5.42281758e-04 2.29964179e+00] [-2.57785428e-03 9.99992729e-01 2.81017016e-03 -1.10376003e-01] [-5.35037861e-04 -2.81155835e-03 9.99995904e-01 7.91010739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.202557844 meters 0.28711113329679483 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.11, Z:0.79 [[ 9.99984304e-01 -5.25000035e-03 -1.95702498e-03 2.27666864e+00] [ 5.25883622e-03 9.99975878e-01 4.53748164e-03 -1.11151810e-01] [ 1.93315600e-03 -4.54770209e-03 9.99987791e-01 7.93317051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.262557844 meters 0.28870190755700414 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.11, Z:0.79 [[ 9.99990687e-01 4.29989337e-03 -3.68731209e-04 2.29753399e+00] [-4.29846925e-03 9.99983618e-01 3.77975490e-03 -1.10161503e-01] [ 3.84977712e-04 -3.77813472e-03 9.99992789e-01 7.92732767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters 0.2897208639403698 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.10, Z:0.79 [[ 9.99992947e-01 -3.74372193e-03 -3.01176711e-04 2.31677212e+00] [ 3.74501213e-03 9.99983290e-01 4.40387885e-03 -1.01922152e-01] [ 2.84684781e-04 -4.40497570e-03 9.99990258e-01 7.94013686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters 0.2898244182523426 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.10, Z:0.79 [[ 9.99991845e-01 -4.01461420e-03 -4.38923475e-04 2.31730834e+00] [ 4.01615877e-03 9.99985539e-01 3.57665729e-03 -9.85960330e-02] [ 4.24558228e-04 -3.57839091e-03 9.99993507e-01 7.93581083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters 0.2882380654891786 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.10, Z:0.79 [[ 9.99988400e-01 4.81629572e-03 -5.68035821e-05 2.29420473e+00] [-4.81611378e-03 9.99984321e-01 2.85704405e-03 -9.85340226e-02] [ 7.05630605e-05 -2.85673733e-03 9.99995917e-01 7.94374188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters 0.28956986410913327 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.80 [[ 9.99993939e-01 -3.30336493e-03 1.10025597e-03 2.31392927e+00] [ 3.29979853e-03 9.99989347e-01 3.22762245e-03 -9.06340374e-02] [-1.11090626e-03 -3.22397226e-03 9.99994186e-01 7.95470576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters 0.29019773569285773 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.80 [[ 9.99992176e-01 -3.73257972e-03 1.31007139e-03 2.31346761e+00] [ 3.72973960e-03 9.99990704e-01 2.16370289e-03 -8.62201421e-02] [-1.31813541e-03 -2.15879974e-03 9.99996801e-01 7.95103522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters 0.28921426676593137 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.79 [[ 9.99992370e-01 3.69011952e-03 -1.28181515e-03 2.29489831e+00] [-3.69009128e-03 9.99993191e-01 2.43991955e-05 -8.46118284e-02] [ 1.28189646e-03 -1.96689944e-05 9.99999178e-01 7.93505397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68255784400003 meters 0.29017872825728136 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.80 [[ 9.99989936e-01 -3.97382562e-03 -2.08267181e-03 2.31319201e+00] [ 3.97492134e-03 9.99991964e-01 5.22239065e-04 -7.22006987e-02] [ 2.08057978e-03 -5.30512265e-04 9.99997695e-01 7.96175688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters 0.29052289804420817 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.80 [[ 9.99989756e-01 -4.04690376e-03 -2.02746368e-03 2.31283266e+00] [ 4.04757056e-03 9.99991756e-01 3.24887824e-04 -7.13717764e-02] [ 2.02613218e-03 -3.33090798e-04 9.99997892e-01 7.96663170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80255784400003 meters 0.28962190071974525 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.80 [[ 9.99989791e-01 -4.06811385e-03 -1.96691389e-03 2.31267744e+00] [ 4.06863513e-03 9.99991689e-01 2.61095899e-04 -7.11165428e-02] [ 1.96583537e-03 -2.69095889e-04 9.99998032e-01 7.96664072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters 0.2896633986165717 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.80 [[ 9.99990170e-01 -3.97560895e-03 -1.96328113e-03 2.31250926e+00] [ 3.97662126e-03 9.99991962e-01 5.11983750e-04 -7.21337447e-02] [ 1.96122991e-03 -5.19785943e-04 9.99997942e-01 7.97050038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92255784400004 meters 0.28841105311097764 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.07, Z:0.80 [[ 9.99991555e-01 -3.75369543e-03 -1.67350744e-03 2.31161438e+00] [ 3.75575783e-03 9.99992189e-01 1.23094764e-03 -7.49543306e-02] [ 1.66887376e-03 -1.23722254e-03 9.99997842e-01 7.97671749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98255784400004 meters 0.2884030136414857 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.80 [[ 9.99991457e-01 -3.59723219e-03 -2.03632575e-03 2.31265951e+00] [ 3.60079621e-03 9.99991987e-01 1.74926825e-03 -7.70847574e-02] [ 2.03001691e-03 -1.75658570e-03 9.99996397e-01 7.97358593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.042557844 meters 0.2889481544864243 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.08, Z:0.80 [[ 9.99991860e-01 -3.34191596e-03 -2.26076335e-03 2.31355160e+00] [ 3.34751010e-03 9.99991334e-01 2.47520852e-03 -8.01903781e-02] [ 2.25247182e-03 -2.48275630e-03 9.99994381e-01 7.96608543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.102557844 meters 0.28699631303879736 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.09, Z:0.80 [[ 9.99995620e-01 2.11626882e-03 -2.06893845e-03 2.28906637e+00] [-2.11723283e-03 9.99997651e-01 -4.63863415e-04 -8.66488557e-02] [ 2.06795193e-03 4.68241808e-04 9.99997752e-01 7.98114226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.162557844 meters 0.28905722242353143 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.80 [[ 9.99994950e-01 -3.15759140e-03 -3.59076170e-04 2.31347623e+00] [ 3.15866063e-03 9.99990460e-01 3.01720203e-03 -8.76994822e-02] [ 3.49545653e-04 -3.01832099e-03 9.99995384e-01 7.95801188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.222557844 meters 0.28918945091136994 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.09, Z:0.79 [[ 0.99997909 0.00575303 -0.00295172 2.2941302 ] [-0.0057457 0.99998041 0.00248458 -0.08752824] [ 0.00296595 -0.00246757 0.99999256 0.79493864] [ 0. 0. 0. 1. ]] SLAMing on 269.282557844 meters 0.2899641806068077 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.80 [[ 9.99980945e-01 5.50228260e-03 -2.79917421e-03 2.29369777e+00] [-5.49767706e-03 9.99983526e-01 1.65036186e-03 -8.42123722e-02] [ 2.80820885e-03 -1.63494146e-03 9.99994720e-01 7.95016557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.342557844 meters 0.29013101781329387 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.79 [[ 9.99981945e-01 5.30625159e-03 -2.82003202e-03 2.29380480e+00] [-5.30311571e-03 9.99985313e-01 1.11831848e-03 -8.20491348e-02] [ 2.82592468e-03 -1.10334333e-03 9.99995398e-01 7.94887765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.402557844 meters 0.2891538048403102 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.80 [[ 9.99983735e-01 4.98220378e-03 -2.77604697e-03 2.29357303e+00] [-4.98141828e-03 9.99987551e-01 2.89801386e-04 -7.86298276e-02] [ 2.77745626e-03 -2.75968021e-04 9.99996105e-01 7.95055797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462557844 meters 0.28825840842084627 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.80 [[ 9.99985046e-01 4.93418170e-03 -2.35825177e-03 2.29224220e+00] [-4.93380964e-03 9.99987815e-01 1.63559902e-04 -7.80174465e-02] [ 2.35903007e-03 -1.51922291e-04 9.99997206e-01 7.95864797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522557844 meters 0.28894652657459663 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.08, Z:0.80 [[ 9.99985576e-01 4.78072322e-03 -2.44797803e-03 2.29247967e+00] [-4.78132739e-03 9.99988540e-01 -2.41009892e-04 -7.63622178e-02] [ 2.44679778e-03 2.52711000e-04 9.99996975e-01 7.95814319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582557844 meters 0.29014466513535014 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.07, Z:0.79 [[ 9.99986634e-01 4.38698393e-03 -2.73625770e-03 2.29357146e+00] [-4.39143715e-03 9.99989040e-01 -1.62360534e-03 -7.09798568e-02] [ 2.72910498e-03 1.63559974e-03 9.99994938e-01 7.94773215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642557844 meters 0.2903277408606289 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.80 [[ 9.99982986e-01 -1.49278951e-03 -5.63905490e-03 2.30931965e+00] [ 1.49245105e-03 9.99998884e-01 -6.42289641e-05 -6.30871749e-02] [ 5.63914449e-03 5.58118579e-05 9.99984098e-01 7.99061961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702557844 meters 0.2907966349260291 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.80 [[ 9.99985146e-01 -1.84088417e-03 -5.13013610e-03 2.30786709e+00] [ 1.83458005e-03 9.99997557e-01 -1.23327517e-03 -5.82990339e-02] [ 5.13239388e-03 1.22384521e-03 9.99986080e-01 7.99499658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762557844 meters 0.28936993129039973 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.80 [[ 9.99983958e-01 -2.18518146e-03 -5.22576724e-03 2.30832357e+00] [ 2.17400980e-03 9.99995342e-01 -2.14252859e-03 -5.45682683e-02] [ 5.23042471e-03 2.13113335e-03 9.99984050e-01 7.99014141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822557844 meters 0.2888946622690502 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99989524e-01 2.36356564e-04 -4.57123216e-03 2.30373859e+00] [-2.38304709e-04 9.99999881e-01 -4.25634943e-04 -4.98333136e-02] [ 4.57113101e-03 4.26719830e-04 9.99989461e-01 8.02871952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882557844 meters 0.2880000873945881 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99989647e-01 2.54189033e-04 -4.54330892e-03 2.30349406e+00] [-2.55906043e-04 9.99999896e-01 -3.77343241e-04 -5.00172984e-02] [ 4.54321254e-03 3.78501994e-04 9.99989608e-01 8.03321696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942557844 meters 0.2885759823008317 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99987663e-01 2.59557109e-04 -4.96043816e-03 2.30486063e+00] [-2.61235159e-04 9.99999909e-01 -3.37641646e-04 -5.02580813e-02] [ 4.96035007e-03 3.38933322e-04 9.99987640e-01 8.02277776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002557844 meters 0.2891031020047573 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99988052e-01 1.53862891e-04 -4.88596380e-03 2.30460613e+00] [-1.56919276e-04 9.99999792e-01 -6.25166779e-04 -4.90649883e-02] [ 4.88586660e-03 6.25926012e-04 9.99987868e-01 8.02392022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062557844 meters 0.28889580010062016 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.80 [[ 9.99988307e-01 -4.74154259e-05 -4.83559127e-03 2.30460285e+00] [ 4.08209862e-05 9.99999069e-01 -1.36381932e-03 -4.62146825e-02] [ 4.83565144e-03 1.36360598e-03 9.99987378e-01 8.02011589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters 0.29081885094244825 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.80 [[ 9.99981038e-01 2.64774288e-03 -5.56003477e-03 2.30897982e+00] [-2.64439250e-03 9.99996318e-01 6.09848245e-04 -4.13607958e-02] [ 5.56162902e-03 -5.95133767e-04 9.99984357e-01 7.98533481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters 0.28871231215327914 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.80 [[ 9.99989999e-01 1.17886455e-03 -4.31412308e-03 2.26882725e+00] [-1.18125447e-03 9.99999150e-01 -5.51471086e-04 -4.16624999e-02] [ 4.31346931e-03 5.56561648e-04 9.99990542e-01 7.95809094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24255784400003 meters 0.2885615261619401 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.80 [[ 9.99990552e-01 1.27921953e-03 -4.15445235e-03 2.26814879e+00] [-1.28005950e-03 9.99999161e-01 -1.99533444e-04 -4.30566737e-02] [ 4.15419362e-03 2.04849505e-04 9.99991350e-01 7.96624877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30255784400003 meters 0.28901944650818534 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.80 [[ 9.99988552e-01 1.45471203e-03 -4.55857247e-03 2.26927447e+00] [-1.45296556e-03 9.99998870e-01 3.86405096e-04 -4.54385590e-02] [ 4.55912943e-03 -3.79777224e-04 9.99989535e-01 7.96289076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36255784400004 meters 0.288410177242781 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.80 [[ 9.99988634e-01 1.70229522e-03 -4.45347667e-03 2.26863568e+00] [-1.69756378e-03 9.99997991e-01 1.06597971e-03 -4.83278252e-02] [ 4.45528234e-03 -1.05840754e-03 9.99989515e-01 7.97225267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42255784400004 meters 0.28855300850981686 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.05, Z:0.80 [[ 9.99989098e-01 1.74014803e-03 -4.33301011e-03 2.26811966e+00] [-1.73510107e-03 9.99997812e-01 1.16825711e-03 -4.87200776e-02] [ 4.33503357e-03 -1.16072617e-03 9.99989930e-01 7.97762505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters 0.29093711161600067 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.99998315 -0.00405098 -0.00415907 2.29200016] [ 0.00406892 0.99998242 0.00431429 -0.04449808] [ 0.00414152 -0.00433114 0.99998204 0.79600752] [ 0. 0. 0. 1. ]] SLAMing on 270.542557844 meters 0.2901351515828962 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.99998302 -0.00424202 -0.0039954 2.29153034] [ 0.00425713 0.99998378 0.00378249 -0.04231709] [ 0.00397929 -0.00379944 0.99998486 0.7960723 ] [ 0. 0. 0. 1. ]] SLAMing on 270.602557844 meters 0.28968540348788757 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.99998339 -0.00427981 -0.00385965 2.29095378] [ 0.00429401 0.99998401 0.00367868 -0.04185451] [ 0.00384385 -0.00369519 0.99998579 0.7966179 ] [ 0. 0. 0. 1. ]] SLAMing on 270.662557844 meters 0.2891710447559028 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.99998156 -0.00423944 -0.00434718 2.29238454] [ 0.00425625 0.99998348 0.00386409 -0.04270216] [ 0.00433072 -0.00388252 0.99998309 0.79596199] [ 0. 0. 0. 1. ]] SLAMing on 270.722557844 meters 0.29043798159664896 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.9999808 -0.00408954 -0.00465491 2.29327404] [ 0.00410955 0.99998232 0.00429688 -0.04450721] [ 0.00463726 -0.00431592 0.99997993 0.79568148] [ 0. 0. 0. 1. ]] SLAMing on 270.782557844 meters 0.2911713700531522 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.04, Z:0.80 [[ 0.99997962 -0.00413788 -0.00486163 2.29400106] [ 0.00415815 0.99998267 0.00416705 -0.04400473] [ 0.0048443 -0.00418718 0.9999795 0.79512657] [ 0. 0. 0. 1. ]] SLAMing on 270.842557844 meters 0.28973977811062324 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.04, Z:0.80 [[ 0.99996035 0.00575717 -0.00679308 2.27305777] [-0.00572949 0.99997523 0.00408731 -0.0422597 ] [ 0.00681644 -0.00404823 0.99996857 0.79510711] [ 0. 0. 0. 1. ]] SLAMing on 270.902557844 meters 0.29177086060346075 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.03, Z:0.80 [[ 0.99996633 -0.00233106 -0.0078686 2.29420865] [ 0.0023683 0.99998603 0.00472662 -0.03315396] [ 0.00785748 -0.0047451 0.99995787 0.79538054] [ 0. 0. 0. 1. ]] SLAMing on 270.962557844 meters 0.28942138106571785 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.03, Z:0.80 [[ 0.99992948 0.00734166 -0.00933497 2.27138211] [-0.00730173 0.99996408 0.00430377 -0.02692707] [ 0.00936624 -0.0042353 0.99994717 0.79655722] [ 0. 0. 0. 1. ]] SLAMing on 271.022557844 meters 0.2879645837423603 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.80 [[ 0.99993373 0.00697341 -0.00915955 2.27039179] [-0.00694273 0.9999702 0.00337643 -0.022807 ] [ 0.00918282 -0.00331261 0.99995235 0.79759457] [ 0. 0. 0. 1. ]] SLAMing on 271.082557844 meters 0.2881382857611233 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:0.80 [[ 0.99993633 0.00662027 -0.00913828 2.27035481] [-0.00659702 0.99997493 0.00257251 -0.01954878] [ 0.00915508 -0.00251206 0.99995494 0.79742641] [ 0. 0. 0. 1. ]] SLAMing on 271.142557844 meters 0.28923677429492567 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.80 [[ 9.99958950e-01 -1.86225582e-03 -8.86737742e-03 2.29026668e+00] [ 1.88570596e-03 9.99994745e-01 2.63691391e-03 -7.56028158e-03] [ 8.86242022e-03 -2.65352693e-03 9.99957207e-01 7.99229903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202557844 meters 0.28875968962128407 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.00, Z:0.80 [[ 9.99958438e-01 -2.20494887e-03 -8.84652544e-03 2.29021383e+00] [ 2.22133271e-03 9.99995835e-01 1.84261086e-03 -4.29285741e-03] [ 8.84242573e-03 -1.86218536e-03 9.99959171e-01 7.99104058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262557844 meters 0.28989787453437704 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.80 [[ 9.99941355e-01 7.12599256e-03 -8.15522024e-03 2.31328028e+00] [-7.11846112e-03 9.99974210e-01 9.52166177e-04 -3.17944279e-04] [ 8.16179504e-03 -8.94057719e-04 9.99966292e-01 7.98040896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters 0.29008039692705806 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:0.80 [[ 9.99944193e-01 6.75435938e-03 -8.12336251e-03 2.31321997e+00] [-6.75493508e-03 9.99977184e-01 -4.34340622e-05 3.72853088e-03] [ 8.12288380e-03 9.83044247e-05 9.99967004e-01 7.97923582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters 0.2898300661950225 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.80 [[ 9.99947360e-01 6.43853204e-03 -7.98894123e-03 2.31256199e+00] [-6.44552968e-03 9.99978866e-01 -8.50478550e-04 7.12498880e-03] [ 7.98329656e-03 9.01926739e-04 9.99967726e-01 7.98538191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters 0.28858255597341664 Centerline is valid? [False, False] Translation: X:2.31, Y:0.01, Z:0.80 [[ 9.99949374e-01 6.15446227e-03 -7.96069092e-03 2.31204460e+00] [-6.16683493e-03 9.99979813e-01 -1.53060717e-03 9.94305413e-03] [ 7.95111016e-03 1.57962195e-03 9.99967142e-01 7.99420486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502557844 meters 0.2901156136529108 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99966974e-01 -2.69514037e-03 -7.66729341e-03 2.33313903e+00] [ 2.68645770e-03 9.99995739e-01 -1.14250330e-03 1.54271966e-02] [ 7.67033995e-03 1.12186770e-03 9.99969953e-01 8.00116911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562557844 meters 0.28881406403452986 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99967180e-01 -2.84826959e-03 -7.58462685e-03 2.33269400e+00] [ 2.83640489e-03 9.99994738e-01 -1.57460548e-03 1.72095357e-02] [ 7.58907184e-03 1.55304073e-03 9.99969997e-01 8.00609413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters 0.28748660437769774 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99967425e-01 -2.96256253e-03 -7.50817571e-03 2.33241015e+00] [ 2.94840008e-03 9.99993855e-01 -1.89663728e-03 1.85279325e-02] [ 7.51374848e-03 1.87443839e-03 9.99970015e-01 8.00801622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68255784400003 meters 0.28819815569586726 Centerline is valid? [False, False] Translation: X:2.33, Y:0.02, Z:0.80 [[ 9.99966168e-01 -2.89279895e-03 -7.70031157e-03 2.33306940e+00] [ 2.87985498e-03 9.99994423e-01 -1.69152460e-03 1.76437248e-02] [ 7.70516187e-03 1.66929159e-03 9.99968921e-01 8.00397537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74255784400003 meters 0.29046719820947103 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99962975e-01 -2.62117120e-03 -8.19620383e-03 2.33426929e+00] [ 2.61541186e-03 9.99996325e-01 -7.13323701e-04 1.38492896e-02] [ 8.19804346e-03 6.91860842e-04 9.99966156e-01 8.00427910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80255784400003 meters 0.2884858486441954 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99964753e-01 -2.40450443e-03 -8.04428167e-03 2.33365349e+00] [ 2.40434391e-03 9.99997109e-01 -2.96247487e-05 1.10847616e-02] [ 8.04432965e-03 1.02824848e-05 9.99967644e-01 8.01037833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86255784400004 meters 0.2887468606674191 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99963966e-01 -2.20900085e-03 -8.19673753e-03 2.33420539e+00] [ 2.21307167e-03 9.99997432e-01 4.87602390e-04 8.94026518e-03] [ 8.19563936e-03 -5.05724788e-04 9.99966287e-01 8.00653164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92255784400004 meters 0.28903442705146315 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99964306e-01 -2.21720247e-03 -8.15298497e-03 2.33409077e+00] [ 2.22108252e-03 9.99997424e-01 4.66881941e-04 9.02757350e-03] [ 8.15192880e-03 -4.84973729e-04 9.99966655e-01 8.00660268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98255784400004 meters 0.2879182050030668 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99965841e-01 -2.07038066e-03 -8.00187311e-03 2.33332877e+00] [ 2.07729392e-03 9.99997476e-01 8.55739900e-04 7.30274070e-03] [ 8.00008121e-03 -8.72332911e-04 9.99967618e-01 8.01540928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.042557844 meters 0.289380091272722 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.80 [[ 9.99964481e-01 -1.90671478e-03 -8.20981648e-03 2.33412536e+00] [ 1.91770256e-03 9.99997276e-01 1.33070690e-03 5.34695113e-03] [ 8.20725683e-03 -1.34640363e-03 9.99965413e-01 8.00914326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.102557844 meters 0.2878923048170772 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:0.80 [[ 9.99944494e-01 3.36471926e-03 -9.98439707e-03 2.31353795e+00] [-3.38289829e-03 9.99992650e-01 -1.80441456e-03 -3.66166079e-03] [ 9.97825233e-03 1.83809061e-03 9.99948527e-01 8.00895718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.162557844 meters 0.28920772670286693 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.80 [[ 9.99973839e-01 -2.72663015e-03 -6.69979092e-03 2.33530582e+00] [ 2.73899173e-03 9.99994562e-01 1.83658695e-03 -1.21101061e-02] [ 6.69474680e-03 -1.85488957e-03 9.99975870e-01 7.99485666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.222557844 meters 0.2879140203961182 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99966252e-01 2.83641554e-03 -7.71032761e-03 2.31228024e+00] [-2.84623940e-03 9.99995151e-01 -1.26344309e-03 -1.84383392e-02] [ 7.70670657e-03 1.28534589e-03 9.99969477e-01 8.00311250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.282557844 meters 0.28708164837794264 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99964732e-01 3.25843048e-03 -7.74068122e-03 2.31220473e+00] [-3.26092065e-03 9.99994635e-01 -3.09099834e-04 -2.23095166e-02] [ 7.73963251e-03 3.34330680e-04 9.99969993e-01 8.00725856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.342557844 meters 0.28859149830248265 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99968874e-01 -7.93767778e-04 -7.84986624e-03 2.31259892e+00] [ 7.65162056e-04 9.99993059e-01 -3.64643524e-03 -2.61299953e-02] [ 7.85270618e-03 3.64031532e-03 9.99962541e-01 8.00443608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.402557844 meters 0.2889453739245709 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99966378e-01 -5.66345728e-04 -8.18057780e-03 2.31369246e+00] [ 5.41368520e-04 9.99995187e-01 -3.05512458e-03 -2.85045421e-02] [ 8.18226868e-03 3.05059315e-03 9.99961871e-01 7.99877791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.462557844 meters 0.2892674707837776 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99967869e-01 -5.01426579e-04 -8.00060421e-03 2.31349123e+00] [ 4.78547485e-04 9.99995792e-01 -2.86132890e-03 -2.92763467e-02] [ 8.00200529e-03 2.85740829e-03 9.99963901e-01 7.99287213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522557844 meters 0.28910177871092513 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99966563e-01 -3.88502343e-04 -8.16834112e-03 2.31403896e+00] [ 3.67399358e-04 9.99996592e-01 -2.58485110e-03 -3.04231986e-02] [ 8.16931750e-03 2.58176363e-03 9.99963298e-01 7.99034283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.582557844 meters 0.2905635381263743 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99966149e-01 -3.42006898e-04 -8.22099872e-03 2.31428996e+00] [ 3.21827159e-04 9.99996933e-01 -2.45585537e-03 -3.09515857e-02] [ 8.22181342e-03 2.45312649e-03 9.99963191e-01 7.98762684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.642557844 meters 0.28989256195930047 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99968060e-01 -3.60279449e-04 -7.98427897e-03 2.31345941e+00] [ 3.40172410e-04 9.99996768e-01 -2.51954368e-03 -3.06389953e-02] [ 7.98516090e-03 2.51674718e-03 9.99964951e-01 7.99379431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.702557844 meters 0.28952204868035547 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.80 [[ 9.99969631e-01 -4.13363872e-04 -7.78240226e-03 2.31275690e+00] [ 3.92671784e-04 9.99996385e-01 -2.66017073e-03 -3.00050473e-02] [ 7.78347374e-03 2.65703402e-03 9.99966178e-01 7.99783812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.762557844 meters 0.28769165685710835 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.03, Z:0.80 [[ 9.99974535e-01 -7.03005964e-04 -7.10172492e-03 2.27493003e+00] [ 6.84018856e-04 9.99996186e-01 -2.67566623e-03 -3.31574604e-02] [ 7.10357884e-03 2.67074038e-03 9.99971203e-01 7.95473713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822557844 meters 0.2895177737394671 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.79 [[ 0.9999846 -0.00371792 -0.00412111 2.29845415] [ 0.0037294 0.99998918 0.00277967 -0.03279988] [ 0.00411073 -0.002795 0.99998764 0.79224128] [ 0. 0. 0. 1. ]] SLAMing on 272.882557844 meters 0.28873358579805064 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.03, Z:0.79 [[ 9.99967268e-01 5.30986399e-03 -6.10470262e-03 2.27808007e+00] [-5.29873866e-03 9.99984274e-01 1.83715065e-03 -2.90591590e-02] [ 6.11436164e-03 -1.80474329e-03 9.99979679e-01 7.91591795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters 0.28954867473790263 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.79 [[ 9.99990797e-01 -2.63740198e-03 -3.38378803e-03 2.29483320e+00] [ 2.64511480e-03 9.99993910e-01 2.27689680e-03 -1.82846482e-02] [ 3.37776233e-03 -2.28582635e-03 9.99991683e-01 7.93620174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002557844 meters 0.28839574571302234 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.79 [[ 9.99990966e-01 -2.86677923e-03 -3.13841256e-03 2.29397353e+00] [ 2.87210346e-03 9.99994442e-01 1.69328089e-03 -1.58360515e-02] [ 3.13354086e-03 -1.70227944e-03 9.99993642e-01 7.94117066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062557844 meters 0.2875341459803102 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.79 [[ 9.99989312e-01 -3.09985986e-03 -3.43022026e-03 2.29496467e+00] [ 3.10365553e-03 9.99994577e-01 1.10176798e-03 -1.34003787e-02] [ 3.42678633e-03 -1.11240243e-03 9.99993510e-01 7.93340617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters 0.28854788937208226 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:0.79 [[ 9.99989112e-01 -3.18119888e-03 -3.41398658e-03 2.29491961e+00] [ 3.18426685e-03 9.99994531e-01 8.93589113e-04 -1.25444840e-02] [ 3.41112523e-03 -9.04450429e-04 9.99993773e-01 7.93318938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18255784400003 meters 0.2882508012020779 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.79 [[ 9.99986605e-01 5.00528119e-03 -1.31804917e-03 2.31362161e+00] [-5.00588626e-03 9.99987366e-01 -4.56166760e-04 -1.50816804e-02] [ 1.31574928e-03 4.62758654e-04 9.99999027e-01 7.94668324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24255784400003 meters 0.2879377079758922 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:0.80 [[ 9.99986230e-01 5.10533274e-03 -1.21469355e-03 2.31316755e+00] [-5.10554176e-03 9.99986952e-01 -1.69030695e-04 -1.62290629e-02] [ 1.21381474e-03 1.75230036e-04 9.99999248e-01 7.95189051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30255784400003 meters 0.28774613170406643 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.80 [[ 9.99979572e-01 -5.11484988e-03 -3.83314180e-03 2.29290976e+00] [ 5.11367142e-03 9.99986875e-01 -3.17177334e-04 -2.10952676e-02] [ 3.83471380e-03 2.97569427e-04 9.99992603e-01 7.95250085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36255784400004 meters 0.28756811207891714 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:0.79 [[ 9.99978369e-01 -4.90040372e-03 -4.38722176e-03 2.29453689e+00] [ 4.90272872e-03 9.99987847e-01 5.19349384e-04 -2.44324066e-02] [ 4.38462342e-03 -5.40847508e-04 9.99990241e-01 7.94494890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters 0.2866553561310809 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.79 [[ 9.99978745e-01 -4.60160627e-03 -4.61887801e-03 2.29508793e+00] [ 4.60955796e-03 9.99987910e-01 1.71239770e-03 -2.90161191e-02] [ 4.61094239e-03 -1.73365229e-03 9.99987867e-01 7.94540584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48255784400004 meters 0.2870000871019049 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.79 [[ 9.99999132e-01 1.29486171e-03 -2.45109353e-04 2.31481164e+00] [-1.29498250e-03 9.99999040e-01 -4.93314366e-04 -3.05754227e-02] [ 2.44470344e-04 4.93631350e-04 9.99999848e-01 7.94112991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.542557844 meters 0.2872731967297755 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.79 [[ 9.99998846e-01 1.51641477e-03 -8.72225537e-05 2.31433935e+00] [-1.51639783e-03 9.99998831e-01 1.93990560e-04 -3.33463265e-02] [ 8.75166219e-05 -1.93858072e-04 9.99999977e-01 7.94319600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.602557844 meters 0.28779364675853997 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.79 [[ 9.99998771e-01 1.56528160e-03 -8.53565985e-05 2.31440399e+00] [-1.56525412e-03 9.99998723e-01 3.21085736e-04 -3.38758170e-02] [ 8.58590791e-05 -3.20951737e-04 9.99999945e-01 7.94167929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.662557844 meters 0.28664067287761125 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.79 [[ 9.99998464e-01 1.74448810e-03 1.67555415e-04 2.31351968e+00] [-1.74463655e-03 9.99998082e-01 8.89935294e-04 -3.61989870e-02] [-1.66002612e-04 -8.90226251e-04 9.99999590e-01 7.94855763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.722557844 meters 0.2869365315873937 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:0.79 [[ 9.99997943e-01 1.72459883e-03 -1.06758036e-03 2.31696114e+00] [-1.72300173e-03 9.99997398e-01 1.49512004e-03 -3.92065749e-02] [ 1.07015607e-03 -1.49327752e-03 9.99998312e-01 7.93247368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.782557844 meters 0.2874499845160027 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:0.79 [[ 9.99997610e-01 1.96286292e-03 -9.63388109e-04 2.31666596e+00] [-1.96066023e-03 9.99995474e-01 2.28205069e-03 -4.23144981e-02] [ 9.67863101e-04 -2.28015635e-03 9.99996932e-01 7.93353077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.842557844 meters 0.28832189996417396 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.79 [[ 9.99997249e-01 -2.05708044e-03 -1.12688117e-03 2.31708500e+00] [ 2.05568547e-03 9.99997121e-01 -1.23766629e-03 -4.57618854e-02] [ 1.12942390e-03 1.23534638e-03 9.99998599e-01 7.93290341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.902557844 meters 0.2879214262006725 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.79 [[ 9.99997783e-01 -1.81840960e-03 -1.06210721e-03 2.31695283e+00] [ 1.81778647e-03 9.99998175e-01 -5.87367663e-04 -4.84407929e-02] [ 1.06317335e-03 5.85435676e-04 9.99999263e-01 7.93230035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.962557844 meters 0.2875269383186224 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.05, Z:0.79 [[ 9.99998488e-01 -1.49801840e-03 -8.83309983e-04 2.31636294e+00] [ 1.49849780e-03 9.99998730e-01 5.42328513e-04 -5.28466970e-02] [ 8.82496444e-04 -5.43651331e-04 9.99999463e-01 7.93672945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.022557844 meters 0.285656740172641 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:0.79 [[ 9.99997132e-01 -2.10435235e-03 -1.14356443e-03 2.28061876e+00] [ 2.10554227e-03 9.99997242e-01 1.04032549e-03 -5.97023108e-02] [ 1.14137207e-03 -1.04273033e-03 9.99998805e-01 7.89052945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.082557844 meters 0.28882323513599756 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.07, Z:0.79 [[ 9.99996109e-01 -1.80671601e-03 2.12542872e-03 2.32536117e+00] [ 1.80290408e-03 9.99996765e-01 1.79403797e-03 -6.61467026e-02] [-2.12866316e-03 -1.79019905e-03 9.99996132e-01 7.86863207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.142557844 meters 0.2882912966337902 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.79 [[ 9.99996075e-01 -1.66216245e-03 2.25555687e-03 2.32496815e+00] [ 1.65714932e-03 9.99996157e-01 2.22261879e-03 -6.78818010e-02] [-2.25924255e-03 -2.21887228e-03 9.99994986e-01 7.87021883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.202557844 meters 0.28763287832325396 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.07, Z:0.79 [[ 9.99996326e-01 -1.65885421e-03 2.14392824e-03 2.32525556e+00] [ 1.65406844e-03 9.99996141e-01 2.23209543e-03 -6.79234555e-02] [-2.14762269e-03 -2.22854103e-03 9.99995211e-01 7.87019008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.262557844 meters 0.2877094029242673 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.07, Z:0.79 [[ 9.99996093e-01 -1.80653561e-03 2.13332306e-03 2.32526471e+00] [ 1.80266041e-03 9.99996724e-01 1.81703713e-03 -6.62293123e-02] [-2.13659861e-03 -1.81318437e-03 9.99996074e-01 7.87049228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters 0.28822058176950566 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.79 [[ 9.99995163e-01 -2.11966059e-03 2.27627158e-03 2.32477025e+00] [ 2.11766981e-03 9.99997373e-01 8.76634161e-04 -6.23862046e-02] [-2.27812377e-03 -8.71809529e-04 9.99997025e-01 7.87418881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters 0.28864070211687926 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:0.79 [[ 9.99987055e-01 4.85266686e-03 -1.53049451e-03 2.30730198e+00] [-4.85493154e-03 9.99987120e-01 -1.47947430e-03 -5.93356573e-02] [ 1.52329540e-03 1.48688559e-03 9.99997734e-01 7.85767375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442557844 meters 0.28978938390337106 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99998887e-01 -9.65210317e-04 1.13731540e-03 2.32894355e+00] [ 9.64033622e-04 9.99999000e-01 1.03471898e-03 -5.39239071e-02] [-1.13831298e-03 -1.03362142e-03 9.99998818e-01 7.85021778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters 0.2884825471597203 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99998764e-01 -1.09923338e-03 1.12398725e-03 2.32878785e+00] [ 1.09846301e-03 9.99999162e-01 6.85782190e-04 -5.24882274e-02] [-1.12474014e-03 -6.84546684e-04 9.99999133e-01 7.85445114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters 0.28842792484230334 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.78 [[ 9.99998971e-01 -1.11390845e-03 9.03541206e-04 2.32951759e+00] [ 1.11333154e-03 9.99999176e-01 6.38756475e-04 -5.23510353e-02] [-9.04251978e-04 -6.37749877e-04 9.99999388e-01 7.84908046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622557844 meters 0.2889466887875045 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99998802e-01 -1.06730713e-03 1.12130946e-03 2.32862708e+00] [ 1.06642352e-03 9.99999121e-01 7.88320429e-04 -5.29698428e-02] [-1.12214985e-03 -7.87123694e-04 9.99999061e-01 7.85911933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters 0.28859567535885744 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99998981e-01 -1.04952205e-03 9.67862949e-04 2.32895557e+00] [ 1.04871162e-03 9.99999099e-01 8.37470107e-04 -5.31701721e-02] [-9.68741021e-04 -8.36454245e-04 9.99999181e-01 7.86053318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters 0.2883734509442003 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99999389e-01 -1.08718730e-03 2.01362324e-04 2.33093397e+00] [ 1.08706356e-03 9.99999221e-01 6.13576868e-04 -5.22701514e-02] [-2.02029240e-04 -6.13357599e-04 9.99999791e-01 7.85480569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters 0.2885526056362696 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99999305e-01 -1.11478894e-03 3.84119902e-04 2.33026054e+00] [ 1.11458846e-03 9.99999243e-01 5.21746579e-04 -5.18941056e-02] [-3.84701248e-04 -5.21318081e-04 9.99999790e-01 7.86164875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters 0.28837787646993296 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99999203e-01 -1.10738488e-03 6.06191909e-04 2.32947591e+00] [ 1.10705705e-03 9.99999241e-01 5.40872988e-04 -5.19562029e-02] [-6.06790404e-04 -5.40201468e-04 9.99999670e-01 7.86874435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters 0.2883042583763952 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99999171e-01 -1.03123249e-03 7.70890595e-04 2.32893404e+00] [ 1.03064704e-03 9.99999180e-01 7.59469912e-04 -5.28440213e-02] [-7.71673153e-04 -7.58674767e-04 9.99999414e-01 7.87223662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters 0.28915768748574217 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.79 [[ 9.99999333e-01 -9.54908447e-04 6.50387073e-04 2.32936568e+00] [ 9.54279629e-04 9.99999078e-01 9.66460900e-04 -5.36919190e-02] [-6.51309354e-04 -9.65839603e-04 9.99999321e-01 7.86917633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.042557844 meters 0.28835554840248806 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:0.79 [[ 9.99999525e-01 -8.35261631e-04 5.01505030e-04 2.32976405e+00] [ 8.34610682e-04 9.99998811e-01 1.29679944e-03 -5.50244493e-02] [-5.02587601e-04 -1.29638027e-03 9.99999033e-01 7.86849708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.102557844 meters 0.28885950768020124 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:0.79 [[ 9.99999582e-01 -7.90975118e-04 4.58198161e-04 2.32993300e+00] [ 7.90327465e-04 9.99998691e-01 1.41193828e-03 -5.54990877e-02] [-4.59314369e-04 -1.41157556e-03 9.99998898e-01 7.86721724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.162557844 meters 0.28719128532391724 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:0.78 [[ 9.99998654e-01 -1.03543953e-03 1.27268545e-03 2.29106054e+00] [ 1.03265597e-03 9.99997078e-01 2.18587055e-03 -6.04807631e-02] [-1.27494507e-03 -2.18455336e-03 9.99996801e-01 7.83776798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.222557844 meters 0.28894225466201107 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.78 [[ 9.99986942e-01 4.95040306e-03 1.26833617e-03 2.31502004e+00] [-4.94908799e-03 9.99987215e-01 -1.03789704e-03 -6.47530908e-02] [-1.27345797e-03 1.03160638e-03 9.99998657e-01 7.82440650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.282557844 meters 0.28978000459716924 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.78 [[ 9.99985949e-01 5.21183603e-03 9.68300940e-04 2.31584735e+00] [-5.21165022e-03 9.99986400e-01 -1.94314287e-04 -6.81237033e-02] [-9.69300506e-04 1.89265111e-04 9.99999512e-01 7.82255219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.342557844 meters 0.2900638983133121 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.78 [[ 9.99998493e-01 1.39586128e-03 1.03257019e-03 2.31544578e+00] [-1.39251681e-03 9.99993805e-01 -3.23263867e-03 -7.35645993e-02] [-1.03707611e-03 3.23119592e-03 9.99994242e-01 7.82824460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.402557844 meters 0.28991045541895205 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.78 [[ 9.99997798e-01 1.85551795e-03 9.80661160e-04 2.31525383e+00] [-1.85349652e-03 9.99996164e-01 -2.05819707e-03 -7.83642705e-02] [-9.84476420e-04 2.05637489e-03 9.99997401e-01 7.83478665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462557844 meters 0.2894829387802145 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.78 [[ 9.99996338e-01 2.48752176e-03 1.06577873e-03 2.31533579e+00] [-2.48679174e-03 9.99996673e-01 -6.85738494e-04 -8.39544845e-02] [-1.06748097e-03 6.83085613e-04 9.99999197e-01 7.82904315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522557844 meters 0.2909236343419513 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.78 [[ 9.99995667e-01 2.80947051e-03 8.78973418e-04 2.31569418e+00] [-2.80954492e-03 9.99996050e-01 8.34339678e-05 -8.70509799e-02] [-8.78735540e-04 -8.59031215e-05 9.99999610e-01 7.83186872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582557844 meters 0.29068848508126355 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.09, Z:0.78 [[ 9.99993419e-01 3.25954557e-03 1.59289924e-03 2.31370134e+00] [-3.26157619e-03 9.99993870e-01 1.27386014e-03 -9.14137907e-02] [-1.58873727e-03 -1.27904712e-03 9.99997920e-01 7.83966738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642557844 meters 0.2895151865009578 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.78 [[ 9.99995720e-01 1.50391898e-03 2.50978842e-03 2.27391117e+00] [-1.50618992e-03 9.99998458e-01 9.03187476e-04 -9.74477028e-02] [-2.50842623e-03 -9.06963828e-04 9.99996443e-01 7.81977588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702557844 meters 0.29082341435254994 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.10, Z:0.78 [[ 9.99995962e-01 1.70580925e-03 2.27272978e-03 2.27467580e+00] [-1.70910756e-03 9.99997488e-01 1.45010411e-03 -9.96593090e-02] [-2.27025047e-03 -1.45398259e-03 9.99996366e-01 7.81543961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762557844 meters 0.29035913439339195 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.10, Z:0.78 [[ 9.99996031e-01 1.97955664e-03 2.00470407e-03 2.27577646e+00] [-1.98380285e-03 9.99995789e-01 2.11835666e-03 -1.02543007e-01] [-2.00050222e-03 -2.12232519e-03 9.99995747e-01 7.80594576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.822557844 meters 0.2921457530401041 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.10, Z:0.78 [[ 9.99996477e-01 2.33627705e-03 1.25999596e-03 2.31445183e+00] [-2.33850696e-03 9.99995697e-01 1.77121178e-03 -1.02844165e-01] [-1.25585250e-03 -1.77415205e-03 9.99997638e-01 7.84148227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters 0.2911954079872502 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.78 [[ 9.99995958e-01 2.55098676e-03 1.25562402e-03 2.31423396e+00] [-2.55410926e-03 9.99993634e-01 2.49152145e-03 -1.05613530e-01] [-1.24926019e-03 -2.49471838e-03 9.99996108e-01 7.84739701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters 0.29189890409184005 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.79 [[ 0.9999786 -0.00578077 0.00306442 2.33448649] [ 0.00576996 0.99997715 0.00352287 -0.10620325] [-0.00308472 -0.00350512 0.9999891 0.78554851] [ 0. 0. 0. 1. ]] SLAMing on 276.002557844 meters 0.29175671846989043 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.79 [[ 0.99997951 -0.00553813 0.00321017 2.33391112] [ 0.00552425 0.99997542 0.00431812 -0.10929268] [-0.003234 -0.00430029 0.99998552 0.78624642] [ 0. 0. 0. 1. ]] SLAMing on 276.062557844 meters 0.2916596795953377 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99998963e-01 -1.43067169e-03 1.64747648e-04 2.31453231e+00] [ 1.43054847e-03 9.99998699e-01 7.45615215e-04 -1.17117523e-01] [-1.65814164e-04 -7.45378762e-04 9.99999708e-01 7.85782636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122557844 meters 0.29189860462823586 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999320e-01 -1.15975756e-03 1.24472440e-04 2.31483216e+00] [ 1.15957618e-03 9.99998280e-01 1.44751579e-03 -1.20045579e-01] [-1.26150993e-04 -1.44737047e-03 9.99998945e-01 7.85361877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18255784400003 meters 0.2919067358996683 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.79 [[ 9.99999521e-01 -9.68176769e-04 -1.46922986e-04 2.31513988e+00] [ 9.68448690e-04 9.99997797e-01 1.86212864e-03 -1.21772112e-01] [ 1.45119792e-04 -1.86227003e-03 9.99998255e-01 7.86203570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters 0.29259741038369996 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999617e-01 -8.74912059e-04 1.51061429e-06 2.31484329e+00] [ 8.74906797e-04 9.99997311e-01 2.14773058e-03 -1.22906758e-01] [-3.38968560e-06 -2.14772843e-03 9.99997694e-01 7.86052778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30255784400003 meters 0.29235798363543947 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999595e-01 -7.63321092e-04 4.76075014e-04 2.31334726e+00] [ 7.62168969e-04 9.99996792e-01 2.41554984e-03 -1.23931394e-01] [-4.77917327e-04 -2.41518602e-03 9.99996969e-01 7.86958616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36255784400004 meters 0.2917394568455346 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999601e-01 -7.44540746e-04 4.94161722e-04 2.31324752e+00] [ 7.43319942e-04 9.99996683e-01 2.46605750e-03 -1.24127487e-01] [-4.95996163e-04 -2.46568919e-03 9.99996837e-01 7.87087396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42255784400004 meters 0.2915883092851095 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999590e-01 -7.84930936e-04 4.50718287e-04 2.31344978e+00] [ 7.83865941e-04 9.99996912e-01 2.35822012e-03 -1.23700246e-01] [-4.52567935e-04 -2.35786585e-03 9.99997118e-01 7.86858108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters 0.2923953720921275 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999564e-01 -7.97928206e-04 4.84611526e-04 2.31327536e+00] [ 7.96800855e-04 9.99996987e-01 2.32205344e-03 -1.23534218e-01] [-4.86462898e-04 -2.32166629e-03 9.99997187e-01 7.87051719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.542557844 meters 0.29257130594544456 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999615e-01 -7.89000665e-04 3.84326276e-04 2.31365062e+00] [ 7.88094638e-04 9.99996924e-01 2.35191756e-03 -1.23694989e-01] [-3.86180758e-04 -2.35161377e-03 9.99997160e-01 7.86759097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.602557844 meters 0.2928002771431851 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.79 [[ 9.99999678e-01 -7.51875965e-04 2.79296696e-04 2.31405131e+00] [ 7.51186018e-04 9.99996687e-01 2.46224635e-03 -1.24172688e-01] [-2.81147074e-04 -2.46203575e-03 9.99996930e-01 7.86434518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.662557844 meters 0.29294637346403596 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.79 [[ 9.99999699e-01 -6.38026379e-04 4.42527418e-04 2.31325321e+00] [ 6.36785034e-04 9.99995878e-01 2.79961809e-03 -1.25525591e-01] [-4.44311824e-04 -2.79933545e-03 9.99995983e-01 7.87506941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.722557844 meters 0.29160774603387457 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.79 [[ 9.99989739e-01 3.59556197e-03 -2.75568828e-03 2.29219374e+00] [-3.59698037e-03 9.99993401e-01 -5.09936071e-04 -1.30566028e-01] [ 2.75383658e-03 5.19842995e-04 9.99996073e-01 7.88274579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.782557844 meters 0.29223115739732525 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.79 [[ 9.99988148e-01 3.84019679e-03 -2.99279638e-03 2.29299509e+00] [-3.83965374e-03 9.99992611e-01 1.87176519e-04 -1.33474155e-01] [ 2.99349306e-03 -1.75682998e-04 9.99995504e-01 7.87841698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.842557844 meters 0.29229808376308664 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.79 [[ 9.99987437e-01 4.03384455e-03 -2.97554703e-03 2.29267503e+00] [-4.03185004e-03 9.99991644e-01 6.75995408e-04 -1.35459409e-01] [ 2.97824902e-03 -6.63989956e-04 9.99995345e-01 7.88495070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.902557844 meters 0.291948179550066 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.79 [[ 9.99986308e-01 4.11642963e-03 -3.23078325e-03 2.29342110e+00] [-4.11348895e-03 9.99991120e-01 9.16324154e-04 -1.36431783e-01] [ 3.23452655e-03 -9.03021816e-04 9.99994361e-01 7.88193963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.962557844 meters 0.2938418641453076 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.79 [[ 9.99996830e-01 -1.41931812e-03 -2.07963153e-03 2.31771523e+00] [ 1.42724353e-03 9.99991706e-01 3.81445283e-03 -1.35218021e-01] [ 2.07420036e-03 -3.81740888e-03 9.99990562e-01 7.86003756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.022557844 meters 0.29370868774222914 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.79 [[ 9.99997331e-01 -1.38460607e-03 -1.84930496e-03 2.31687772e+00] [ 1.39182365e-03 9.99991398e-01 3.90728982e-03 -1.35488500e-01] [ 1.84387900e-03 -3.90985330e-03 9.99990657e-01 7.86699219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082557844 meters 0.2938381535420141 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:0.79 [[ 9.99985155e-01 5.11749353e-03 1.87134408e-03 2.33638644e+00] [-5.11921088e-03 9.99986479e-01 9.14078395e-04 -1.35849869e-01] [-1.86664099e-03 -9.23644630e-04 9.99997831e-01 7.86248308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142557844 meters 0.2920877898309055 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.78 [[ 9.99993553e-01 1.99112638e-03 2.98827520e-03 2.29620792e+00] [-1.99143043e-03 9.99998012e-01 9.87742441e-05 -1.41579955e-01] [-2.98807258e-03 -1.04724549e-04 9.99995530e-01 7.84272926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.202557844 meters 0.29252565733358327 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:0.78 [[ 0.99997824 -0.00384711 0.00535971 2.31956113] [ 0.0038307 0.99998796 0.0030678 -0.14525505] [-0.00537145 -0.0030472 0.99998093 0.78212356] [ 0. 0. 0. 1. ]] SLAMing on 277.262557844 meters 0.29241446471526655 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.78 [[ 0.99998698 0.00375408 0.00345657 2.30243906] [-0.00376325 0.99998941 0.00264908 -0.15649514] [-0.00344659 -0.00266206 0.99999052 0.78114 ] [ 0. 0. 0. 1. ]] SLAMing on 277.322557844 meters 0.29246568581082283 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.78 [[ 0.99998619 0.00388651 0.00353705 2.30200684] [-0.00389715 0.99998789 0.00300396 -0.15792492] [-0.00352533 -0.0030177 0.99998923 0.78171721] [ 0. 0. 0. 1. ]] SLAMing on 277.382557844 meters 0.2921065229152102 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.16, Z:0.78 [[ 0.99998519 0.00406462 0.00362009 2.30161901] [-0.00407725 0.9999856 0.003489 -0.15987026] [-0.00360586 -0.00350371 0.99998736 0.78220296] [ 0. 0. 0. 1. ]] SLAMing on 277.442557844 meters 0.29319528162900577 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.78 [[ 9.99990462e-01 3.22393906e-03 2.94667066e-03 2.34104870e+00] [-3.22847480e-03 9.99993609e-01 1.53581711e-03 -1.60386472e-01] [-2.94170044e-03 -1.54531571e-03 9.99994479e-01 7.84913323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502557844 meters 0.2933505027576902 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.78 [[ 9.99990431e-01 3.36716925e-03 2.79282534e-03 2.34147862e+00] [-3.37265998e-03 9.99992385e-01 1.96363878e-03 -1.62125943e-01] [-2.78619217e-03 -1.97303924e-03 9.99994172e-01 7.84820704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562557844 meters 0.2923352009143825 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.78 [[ 9.99990630e-01 3.38981818e-03 2.69226580e-03 2.34200903e+00] [-3.39529023e-03 9.99992174e-01 2.03054542e-03 -1.62490724e-01] [-2.68536155e-03 -2.03966742e-03 9.99994314e-01 7.84168915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters 0.2917378458254307 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.78 [[ 9.99990992e-01 3.38835637e-03 2.55640226e-03 2.34221896e+00] [-3.39356011e-03 9.99992173e-01 2.03398782e-03 -1.62487180e-01] [-2.54949037e-03 -2.04264480e-03 9.99994664e-01 7.84482377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters 0.2922364438778225 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.78 [[ 9.99991037e-01 3.53199762e-03 2.33485960e-03 2.34268869e+00] [-3.53797794e-03 9.99990459e-01 2.56216836e-03 -1.64538880e-01] [-2.32578775e-03 -2.57040608e-03 9.99993992e-01 7.84699508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters 0.2937178048046956 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.17, Z:0.78 [[ 9.99970910e-01 -5.85429607e-03 4.88934316e-03 2.36348853e+00] [ 5.84302822e-03 9.99980248e-01 2.31568851e-03 -1.68002476e-01] [-4.90280331e-03 -2.28705258e-03 9.99985366e-01 7.84264422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters 0.29055780661595193 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.79 [[ 0.99996611 0.00234484 0.00789152 2.34071807] [-0.00237199 0.9999913 0.00343215 -0.17948588] [-0.0078834 -0.00345076 0.99996297 0.78581427] [ 0. 0. 0. 1. ]] SLAMing on 277.86255784400004 meters 0.2909188255054734 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.79 [[ 0.99996418 0.00264823 0.00803885 2.33990199] [-0.00268557 0.99998564 0.00463733 -0.18392127] [-0.00802646 -0.00465876 0.99995694 0.78706249] [ 0. 0. 0. 1. ]] SLAMing on 277.92255784400004 meters 0.2908789784779196 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.19, Z:0.79 [[ 0.999965 0.00294995 0.00782887 2.34013378] [-0.00299541 0.99997868 0.00580161 -0.18829514] [-0.00781159 -0.00582486 0.99995252 0.78770606] [ 0. 0. 0. 1. ]] SLAMing on 277.982557844 meters 0.29067903365497505 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.20, Z:0.79 [[ 9.99967838e-01 -7.11398445e-04 7.98856928e-03 2.33918173e+00] [ 6.85266146e-04 9.99994407e-01 3.27347230e-03 -1.95525934e-01] [-7.99085334e-03 -3.26789273e-03 9.99962733e-01 7.89021816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.042557844 meters 0.2910438838188356 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99932795e-01 6.00156712e-03 9.91899044e-03 2.36068342e+00] [-6.00693380e-03 9.99981827e-01 5.11346475e-04 -2.01195754e-01] [-9.91574131e-03 -5.70894829e-04 9.99950675e-01 7.87765398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.102557844 meters 0.29057822446449755 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99952362e-01 2.11628952e-03 9.52867018e-03 2.36226263e+00] [-2.09105878e-03 9.99994284e-01 -2.65706101e-03 -2.05231550e-01] [-9.53423882e-03 2.63700943e-03 9.99951071e-01 7.86057730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.162557844 meters 0.2905559067413736 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99953653e-01 2.32353775e-03 9.34311651e-03 2.36280854e+00] [-2.30412204e-03 9.99995165e-01 -2.08830325e-03 -2.07598122e-01] [-9.34792359e-03 2.06667878e-03 9.99954172e-01 7.85798914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.222557844 meters 0.2910630031917724 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99954419e-01 2.47374725e-03 9.22178121e-03 2.36317572e+00] [-2.45808752e-03 9.99995518e-01 -1.70907154e-03 -2.09185262e-01] [-9.22596769e-03 1.68632570e-03 9.99956018e-01 7.85672975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.282557844 meters 0.2925153279979956 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99954492e-01 2.67716194e-03 9.15675683e-03 2.36341372e+00] [-2.66698859e-03 9.99995813e-01 -1.12305126e-03 -2.11606891e-01] [-9.15972508e-03 1.09857918e-03 9.99957445e-01 7.85462259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.342557844 meters 0.2909138526599644 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99955121e-01 2.81097567e-03 9.04730838e-03 2.36358446e+00] [-2.80455927e-03 9.99995807e-01 -7.21814139e-04 -2.13205352e-01] [-9.04929945e-03 6.96408032e-04 9.99958812e-01 7.85698417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.402557844 meters 0.29094538793570945 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99956023e-01 2.86147996e-03 8.93105236e-03 2.36374875e+00] [-2.85652138e-03 9.99995759e-01 -5.67914083e-04 -2.13801957e-01] [-8.93263956e-03 5.42377366e-04 9.99959956e-01 7.86003137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.462557844 meters 0.2916522528961571 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99955811e-01 2.66767347e-03 9.01440869e-03 2.36360482e+00] [-2.65802299e-03 9.99995882e-01 -1.08237226e-03 -2.11700831e-01] [-9.01725899e-03 1.05836393e-03 9.99958784e-01 7.85881841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.522557844 meters 0.29142038592719066 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99955403e-01 2.42636257e-03 9.12711170e-03 2.36328162e+00] [-2.41111686e-03 9.99995680e-01 -1.68100839e-03 -2.09217405e-01] [-9.13115101e-03 1.65892689e-03 9.99956934e-01 7.85986908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.582557844 meters 0.29054140951209456 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99955904e-01 2.22676694e-03 9.12308497e-03 2.36305115e+00] [-2.20626113e-03 9.99995019e-01 -2.25713191e-03 -2.06913238e-01] [-9.12806563e-03 2.23690447e-03 9.99955836e-01 7.86572670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.642557844 meters 0.2899582346490301 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99946738e-01 2.30986333e-03 1.00591523e-02 2.36043320e+00] [-2.28949580e-03 9.99995307e-01 -2.03582127e-03 -2.07521492e-01] [-1.00638076e-02 2.01268245e-03 9.99947333e-01 7.87780369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702557844 meters 0.28968095795539156 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99938186e-01 2.40672656e-03 1.08550352e-02 2.35825801e+00] [-2.38787553e-03 9.99995619e-01 -1.74924258e-03 -2.08444578e-01] [-1.08591976e-02 1.72321398e-03 9.99939552e-01 7.88554809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762557844 meters 0.29024589774925075 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99943788e-01 2.25722600e-03 1.03598254e-02 2.35970817e+00] [-2.23592699e-03 9.99995364e-01 -2.06704525e-03 -2.07545896e-01] [-1.03644431e-02 2.04376524e-03 9.99944199e-01 7.87835668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822557844 meters 0.2918775165624139 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:0.79 [[ 9.99942785e-01 2.16263293e-03 1.04761582e-02 2.35960577e+00] [-2.13852059e-03 9.99995040e-01 -2.31229507e-03 -2.06563534e-01] [-1.04811069e-02 2.28975929e-03 9.99942450e-01 7.87420912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters 0.2897894135932398 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99942084e-01 1.99557301e-03 1.05757693e-02 2.35944305e+00] [-1.96643527e-03 9.99994244e-01 -2.76482448e-03 -2.04715285e-01] [-1.05812259e-02 2.74386778e-03 9.99940253e-01 7.87266272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters 0.2909877192616049 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99941418e-01 1.90064789e-03 1.06558964e-02 2.35923383e+00] [-1.86848256e-03 9.99993671e-01 -3.02769090e-03 -2.03643178e-01] [-1.06615836e-02 3.00760317e-03 9.99938641e-01 7.87323244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters 0.2898813017204218 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99940087e-01 1.84527576e-03 1.07896495e-02 2.35887258e+00] [-1.81093558e-03 9.99993267e-01 -3.19160116e-03 -2.02987758e-01] [-1.07954662e-02 3.17187058e-03 9.99936697e-01 7.87435138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters 0.2903119305540897 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99945205e-01 1.65573352e-03 1.03366459e-02 2.36048269e+00] [-1.61775806e-03 9.99991916e-01 -3.68114687e-03 -2.01199391e-01] [-1.03426573e-02 3.66422297e-03 9.99939800e-01 7.85856535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122557844 meters 0.29152552131817 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99946420e-01 1.47234229e-03 1.02463898e-02 2.36098506e+00] [-1.42963758e-03 9.99990267e-01 -4.17385828e-03 -1.99201068e-01] [-1.02524354e-02 4.15898603e-03 9.99938793e-01 7.85271693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18255784400003 meters 0.29084502731880474 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 9.99948672e-01 1.25862554e-03 1.00532885e-02 2.36152229e+00] [-1.21093790e-03 9.99987994e-01 -4.74816683e-03 -1.96859405e-01] [-1.00591440e-02 4.73574921e-03 9.99938191e-01 7.85264189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24255784400003 meters 0.28999525243175506 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:0.78 [[ 9.99950949e-01 1.01976332e-03 9.85188497e-03 2.36231015e+00] [-9.66106954e-04 9.99984685e-01 -5.44952892e-03 -1.93949506e-01] [-9.85729131e-03 5.43974364e-03 9.99936619e-01 7.84559625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30255784400003 meters 0.2894893545529749 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:0.79 [[ 9.99947970e-01 9.94112897e-04 1.01522957e-02 2.36141835e+00] [-9.38028253e-04 9.99984283e-01 -5.52759959e-03 -1.93622621e-01] [-1.01576311e-02 5.51778885e-03 9.99933186e-01 7.85055662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36255784400004 meters 0.2903252650706286 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:0.79 [[ 9.99947028e-01 1.06450418e-03 1.02375319e-02 2.36093462e+00] [-1.01002660e-03 9.99985312e-01 -5.32505730e-03 -1.94431056e-01] [-1.02430501e-02 5.31443505e-03 9.99933416e-01 7.85717443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42255784400004 meters 0.2896196875994213 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.20, Z:0.79 [[ 0.99995316 -0.00617536 0.00745275 2.34034937] [ 0.00619371 0.99997784 -0.00244181 -0.19594015] [-0.00743751 0.00248786 0.99996925 0.7872912 ] [ 0. 0. 0. 1. ]] SLAMing on 279.482557844 meters 0.28876668480508566 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.20, Z:0.79 [[ 9.99953539e-01 -5.94627819e-03 7.58688300e-03 2.33962717e+00] [ 5.96023674e-03 9.99980584e-01 -1.81854454e-03 -1.98521853e-01] [-7.57592213e-03 1.86367966e-03 9.99969566e-01 7.88232048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.542557844 meters 0.29040970608686656 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 0.99996015 0.00307422 0.00838111 2.35843759] [-0.0030487 0.99999068 -0.00305566 -0.20294958] [-0.00839043 0.00302999 0.99996021 0.7898847 ] [ 0. 0. 0. 1. ]] SLAMing on 279.602557844 meters 0.28935411721355064 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 0.99995983 0.00314299 0.00839412 2.35831567] [-0.00311904 0.99999103 -0.00286458 -0.2037181 ] [-0.00840305 0.00283828 0.99996067 0.79007422] [ 0. 0. 0. 1. ]] SLAMing on 279.662557844 meters 0.28914457210840017 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 0.99995732 0.00319419 0.00866885 2.35748842] [-0.0031707 0.99999127 -0.00272256 -0.20431758] [-0.00867747 0.00269496 0.99995872 0.79042373] [ 0. 0. 0. 1. ]] SLAMing on 279.722557844 meters 0.2891560238720647 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 0.99995835 0.00312523 0.00857499 2.35801213] [-0.00310058 0.99999103 -0.00288648 -0.20365975] [-0.00858394 0.00285977 0.99995907 0.78980346] [ 0. 0. 0. 1. ]] SLAMing on 279.782557844 meters 0.2888359057489404 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:0.79 [[ 0.99996079 0.00306495 0.00830857 2.35879487] [-0.00303947 0.99999064 -0.003078 -0.20294996] [-0.00831792 0.00305263 0.99996075 0.7894043 ] [ 0. 0. 0. 1. ]] SLAMing on 279.842557844 meters 0.29039300577251553 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.20, Z:0.79 [[ 0.99993885 -0.00466826 0.01002516 2.37904819] [ 0.00469264 0.99998608 -0.0024103 -0.19936461] [-0.01001377 0.0024572 0.99994684 0.79012573] [ 0. 0. 0. 1. ]] SLAMing on 279.902557844 meters 0.29137207380772034 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.20, Z:0.79 [[ 9.99948735e-01 -6.61384184e-04 1.01039529e-02 2.37905172e+00] [ 6.51269962e-04 9.99999284e-01 1.00427380e-03 -1.95870366e-01] [-1.01046099e-02 -9.97641915e-04 9.99948449e-01 7.89767771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962557844 meters 0.2888208387833773 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.18, Z:0.79 [[ 9.99987650e-01 2.11915524e-03 4.49540171e-03 2.36053798e+00] [-2.09971218e-03 9.99988441e-01 -4.32541881e-03 -1.83202716e-01] [-4.50451598e-03 4.31592634e-03 9.99980541e-01 7.90623724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022557844 meters 0.2895229133522475 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.18, Z:0.79 [[ 9.99972607e-01 6.09047835e-03 4.20622162e-03 2.36166644e+00] [-6.08658674e-03 9.99981037e-01 -9.37384088e-04 -1.79426667e-01] [-4.21185098e-03 9.11756877e-04 9.99990714e-01 7.89763479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082557844 meters 0.2899116589165591 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.18, Z:0.79 [[ 9.99975266e-01 5.74569270e-03 4.05634313e-03 2.36212550e+00] [-5.73805969e-03 9.99981749e-01 -1.89088274e-03 -1.75550360e-01] [-4.06713353e-03 1.86756043e-03 9.99989985e-01 7.89710508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.142557844 meters 0.28846714831865095 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.79 [[ 9.99989324e-01 -3.13696879e-03 3.39281422e-03 2.34430359e+00] [ 3.14193989e-03 9.99993997e-01 -1.46084866e-03 -1.63300473e-01] [-3.38821122e-03 1.47149308e-03 9.99993177e-01 7.88104708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202557844 meters 0.289686916590815 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.17, Z:0.79 [[ 9.99969044e-01 6.36921884e-03 4.61985871e-03 2.36471802e+00] [-6.35873479e-03 9.99977183e-01 -2.28049306e-03 -1.65322844e-01] [-4.63427826e-03 2.25104601e-03 9.99986728e-01 7.87283687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262557844 meters 0.28940820724548294 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.16, Z:0.79 [[ 0.99997032 0.00615728 0.00463118 2.36434969] [-0.00614396 0.99997697 -0.00288324 -0.16278233] [-0.00464883 0.0028547 0.99998512 0.78821702] [ 0. 0. 0. 1. ]] SLAMing on 280.322557844 meters 0.2894157319867968 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.16, Z:0.79 [[ 0.99997106 0.00591833 0.00477942 2.36381663] [-0.00590097 0.99997597 -0.00363918 -0.15971055] [-0.00480085 0.00361087 0.99998196 0.78872954] [ 0. 0. 0. 1. ]] SLAMing on 280.382557844 meters 0.2912090315699227 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.16, Z:0.79 [[ 0.99997231 0.00570931 0.00477357 2.36401712] [-0.005689 0.99997476 -0.00425664 -0.15722891] [-0.00479776 0.00422937 0.99997955 0.7883578 ] [ 0. 0. 0. 1. ]] SLAMing on 280.442557844 meters 0.2885285706459282 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:0.79 [[ 9.99979512e-01 -5.67610841e-04 6.37600426e-03 2.34137187e+00] [ 5.75319499e-04 9.99999106e-01 -1.20724169e-03 -1.49151023e-01] [-6.37531331e-03 1.21088519e-03 9.99978944e-01 7.88995151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502557844 meters 0.28853326269393037 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:0.79 [[ 9.99979644e-01 -7.30552357e-04 6.33857832e-03 2.34144032e+00] [ 7.40974255e-04 9.99998377e-01 -1.64200865e-03 -1.47355295e-01] [-6.33736846e-03 1.64667195e-03 9.99978563e-01 7.89100142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562557844 meters 0.2881853479386278 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:0.79 [[ 9.99979172e-01 -8.29175343e-04 6.40057477e-03 2.34156224e+00] [ 8.41287752e-04 9.99997860e-01 -1.88993351e-03 -1.46343488e-01] [-6.39899398e-03 1.89527887e-03 9.99977730e-01 7.88508922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622557844 meters 0.28823581781944774 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:0.79 [[ 9.99978715e-01 -9.95548373e-04 6.44812017e-03 2.34140031e+00] [ 1.01056218e-03 9.99996785e-01 -2.32556185e-03 -1.44538654e-01] [-6.44578423e-03 2.33202857e-03 9.99976506e-01 7.88640924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters 0.2878072958179307 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:0.79 [[ 9.99980044e-01 -1.37421991e-03 6.16621437e-03 2.34227452e+00] [ 1.39467600e-03 9.99993535e-01 -3.31437406e-03 -1.40469153e-01] [-6.16161983e-03 3.32290779e-03 9.99975496e-01 7.88426230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74255784400003 meters 0.2892488358288113 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.78 [[ 9.99985251e-01 9.51125743e-04 5.34731881e-03 2.34744265e+00] [-9.43524068e-04 9.99998541e-01 -1.42392935e-03 -1.36596028e-01] [-5.34866535e-03 1.41886303e-03 9.99984689e-01 7.84268494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80255784400003 meters 0.2898448068413696 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.78 [[ 9.99985204e-01 8.17808105e-04 5.37808858e-03 2.34745384e+00] [-8.08260544e-04 9.99998094e-01 -1.77720427e-03 -1.35146541e-01] [-5.37953174e-03 1.77283108e-03 9.99983959e-01 7.84098737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86255784400004 meters 0.29105376309153963 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.78 [[ 9.99986561e-01 4.29598396e-04 5.16648854e-03 2.34835675e+00] [-4.15413015e-04 9.99996142e-01 -2.74641200e-03 -1.31034606e-01] [-5.16764846e-03 2.74422886e-03 9.99982882e-01 7.83434746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92255784400004 meters 0.2901039285363236 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.78 [[ 9.99977318e-01 4.45154144e-03 5.05438628e-03 2.34902284e+00] [-4.45561354e-03 9.99989758e-01 7.94683211e-04 -1.27726146e-01] [-5.05079695e-03 -8.17185578e-04 9.99986911e-01 7.82517993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.982557844 meters 0.290375069356944 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.12, Z:0.78 [[ 9.99969905e-01 -3.64324681e-03 6.84957807e-03 2.36845228e+00] [ 3.63763320e-03 9.99993038e-01 8.31835428e-04 -1.19183106e-01] [-6.85256096e-03 -8.06894141e-04 9.99976195e-01 7.83271725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.042557844 meters 0.29021645568163734 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.78 [[ 9.99969417e-01 5.42703803e-03 5.63143298e-03 2.34537408e+00] [-5.42762712e-03 9.99985266e-01 8.93303746e-05 -1.12633297e-01] [-5.63086521e-03 -1.19892961e-04 9.99984139e-01 7.84664802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.102557844 meters 0.28852541774281776 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.79 [[ 9.99970260e-01 4.91552382e-03 5.94282011e-03 2.34404387e+00] [-4.90575508e-03 9.99986593e-01 -1.65724945e-03 -1.04942148e-01] [-5.95088668e-03 1.62804614e-03 9.99980968e-01 7.86197535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.162557844 meters 0.28902313963942755 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.79 [[ 0.99997275 0.00452259 0.00583449 2.34459673] [-0.0045077 0.99998655 -0.00256376 -0.10118388] [-0.005846 0.00253739 0.99997969 0.78580376] [ 0. 0. 0. 1. ]] SLAMing on 281.222557844 meters 0.2883496510302239 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.79 [[ 0.99997556 0.00393291 0.00578106 2.34470729] [-0.00390959 0.9999842 -0.00403886 -0.09510158] [-0.00579686 0.00401616 0.99997513 0.78597877] [ 0. 0. 0. 1. ]] SLAMing on 281.282557844 meters 0.28936008442614647 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.79 [[ 0.99996719 -0.00372162 0.00719515 2.36258214] [ 0.00374517 0.99998767 -0.00326228 -0.08571659] [-0.00718292 0.00328912 0.99996879 0.78880241] [ 0. 0. 0. 1. ]] SLAMing on 281.342557844 meters 0.2875252033230507 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:0.79 [[ 9.99972915e-01 2.13768867e-04 7.35691177e-03 2.36237458e+00] [-2.13427265e-04 9.99999976e-01 -4.72179420e-05 -8.13188210e-02] [-7.35692169e-03 4.56464975e-05 9.99972936e-01 7.88547556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.402557844 meters 0.2896581906569737 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:0.79 [[ 9.99972739e-01 -3.05592271e-04 7.37756906e-03 2.36263530e+00] [ 3.14533363e-04 9.99999218e-01 -1.21079937e-03 -7.65561578e-02] [-7.37719328e-03 1.21308685e-03 9.99972052e-01 7.88045000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.462557844 meters 0.2880732883453876 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:0.79 [[ 9.99973053e-01 -5.86379678e-04 7.31771129e-03 2.36273503e+00] [ 6.00292677e-04 9.99998016e-01 -1.89922588e-03 -7.37441194e-02] [-7.31658311e-03 1.90356747e-03 9.99971422e-01 7.88255373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.522557844 meters 0.28796515028442143 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:0.79 [[ 9.99974504e-01 -1.01193300e-03 7.06876672e-03 2.36383481e+00] [ 1.03273742e-03 9.99995145e-01 -2.94011769e-03 -6.93886425e-02] [-7.06575720e-03 2.94734291e-03 9.99970694e-01 7.87318154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.582557844 meters 0.28934716147333683 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:0.79 [[ 9.99975064e-01 -1.31022091e-03 6.93939368e-03 2.36409203e+00] [ 1.33621368e-03 9.99992105e-01 -3.74237301e-03 -6.61319868e-02] [-6.93443555e-03 3.75155220e-03 9.99968919e-01 7.87524718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.642557844 meters 0.2884116518545015 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.79 [[ 9.99975778e-01 -1.71664049e-03 6.74514468e-03 2.36478243e+00] [ 1.75123253e-03 9.99985329e-01 -5.12588077e-03 -6.06775462e-02] [-6.73624643e-03 5.13756892e-03 9.99964114e-01 7.87096458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.702557844 meters 0.29025961594386307 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.79 [[ 9.99974047e-01 2.42232966e-03 6.78517792e-03 2.36479559e+00] [-2.41379002e-03 9.99996285e-01 -1.26647855e-03 -5.87320960e-02] [-6.78822054e-03 1.25006769e-03 9.99976178e-01 7.86859124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.762557844 meters 0.2900342301500462 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.79 [[ 9.99958778e-01 -5.52650477e-03 7.20413419e-03 2.38442772e+00] [ 5.52774064e-03 9.99984710e-01 -1.51649932e-04 -5.22846151e-02] [-7.20318595e-03 1.91466266e-04 9.99974038e-01 7.88301710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.822557844 meters 0.2913240600852383 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.79 [[ 9.99957426e-01 -5.69694986e-03 7.25891084e-03 2.38429798e+00] [ 5.70157745e-03 9.99983556e-01 -6.16970353e-04 -5.03811221e-02] [-7.25527662e-03 6.58331329e-04 9.99973463e-01 7.88329035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882557844 meters 0.2900365777215283 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.79 [[ 9.99957834e-01 -3.73141321e-03 8.39089375e-03 2.37876477e+00] [ 3.72282523e-03 9.99992531e-01 1.03887501e-03 -4.80702355e-02] [-8.39470755e-03 -1.00759337e-03 9.99964256e-01 7.91769033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942557844 meters 0.2893254314612508 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.79 [[ 9.99957055e-01 -3.83583350e-03 8.43652067e-03 2.37846861e+00] [ 3.82977754e-03 9.99992397e-01 7.33865050e-04 -4.68368624e-02] [-8.43927151e-03 -7.01523537e-04 9.99964143e-01 7.92257321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002557844 meters 0.2900006948368301 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.04, Z:0.79 [[ 9.99956074e-01 -4.02046360e-03 8.46676816e-03 2.37815216e+00] [ 4.01920152e-03 9.99991909e-01 1.66073572e-04 -4.45187464e-02] [-8.46736735e-03 -1.32036630e-04 9.99964142e-01 7.92922446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062557844 meters 0.2897436143825056 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.04, Z:0.79 [[ 9.99956725e-01 -4.14140054e-03 8.33049154e-03 2.37858026e+00] [ 4.14302088e-03 9.99991402e-01 -1.77259621e-04 -4.31041037e-02] [-8.32968581e-03 2.11765351e-04 9.99965285e-01 7.92755793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122557844 meters 0.28808493989782213 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 9.99959531e-01 4.65716181e-03 7.69723052e-03 2.35699017e+00] [-4.64807635e-03 9.99988480e-01 -1.19782226e-03 -4.25255973e-02] [-7.70272030e-03 1.16199647e-03 9.99969658e-01 7.92632859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18255784400003 meters 0.28932560908867083 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 9.99959520e-01 4.57248897e-03 7.74920929e-03 2.35685366e+00] [-4.56163856e-03 9.99988591e-01 -1.41729296e-03 -4.16235325e-02] [-7.75560143e-03 1.38188650e-03 9.99968970e-01 7.92668669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24255784400003 meters 0.2885281981747742 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 9.99959825e-01 4.52343246e-03 7.73862481e-03 2.35702616e+00] [-4.51147629e-03 9.99988604e-01 -1.56175833e-03 -4.10340819e-02] [-7.74560113e-03 1.52678296e-03 9.99968837e-01 7.92318101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters 0.28892176002616426 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 9.99960920e-01 4.35209328e-03 7.69529575e-03 2.35738035e+00] [-4.33716061e-03 9.99988681e-01 -1.95611874e-03 -3.93623528e-02] [-7.70372186e-03 1.92266656e-03 9.99968478e-01 7.91880496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters 0.28880346704048926 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 9.99962564e-01 4.26979933e-03 7.52596742e-03 2.35802067e+00] [-4.25344098e-03 9.99988560e-01 -2.18825437e-03 -3.83824682e-02] [-7.53522473e-03 2.15616120e-03 9.99969285e-01 7.91358698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters 0.28938634429044224 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996367 0.00418972 0.00742388 2.35850088] [-0.00417193 0.99998839 -0.00240944 -0.03746319] [-0.00743388 0.00237838 0.99996954 0.79084056] [ 0. 0. 0. 1. ]] SLAMing on 282.482557844 meters 0.2887771111612962 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996355 0.00412416 0.0074754 2.35838944] [-0.00410491 0.99998822 -0.00258845 -0.03672815] [-0.00748599 0.00255767 0.99996871 0.79082578] [ 0. 0. 0. 1. ]] SLAMing on 282.542557844 meters 0.2901929774203116 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996433 0.0041274 0.0073696 2.35875672] [-0.00410845 0.99998822 -0.00258458 -0.03673543] [-0.00738018 0.00255421 0.9999695 0.79059002] [ 0. 0. 0. 1. ]] SLAMing on 282.602557844 meters 0.2899545009669687 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996478 0.00416966 0.00728336 2.35898185] [-0.00415174 0.99998832 -0.00247431 -0.03718409] [-0.00729359 0.00244399 0.99997041 0.79055934] [ 0. 0. 0. 1. ]] SLAMing on 282.662557844 meters 0.2879361373576457 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996235 0.00411052 0.00764214 2.35764281] [-0.00408996 0.99998798 -0.00270447 -0.03608179] [-0.00765317 0.00267311 0.99996714 0.79223501] [ 0. 0. 0. 1. ]] SLAMing on 282.722557844 meters 0.28887680764706575 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.79 [[ 0.99996309 0.00403217 0.00758699 2.35767912] [-0.00401009 0.99998769 -0.00292327 -0.03519358] [-0.00759868 0.00289274 0.99996695 0.79251701] [ 0. 0. 0. 1. ]] SLAMing on 282.782557844 meters 0.28865817597086063 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99996586 0.00392052 0.00727427 2.35854814] [-0.00389659 0.99998696 -0.00330045 -0.03365547] [-0.00728711 0.003272 0.9999681 0.79227516] [ 0. 0. 0. 1. ]] SLAMing on 282.842557844 meters 0.2895712795554748 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99996594 0.00383687 0.00730784 2.35848654] [-0.00381117 0.99998652 -0.00352766 -0.03271732] [-0.00732128 0.00349969 0.99996707 0.7922471 ] [ 0. 0. 0. 1. ]] SLAMing on 282.902557844 meters 0.2873367974228465 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99996474 0.00380583 0.00748496 2.35792723] [-0.00377892 0.99998636 -0.00360602 -0.03241473] [-0.00749858 0.0035776 0.99996549 0.79253685] [ 0. 0. 0. 1. ]] SLAMing on 282.962557844 meters 0.2872471648378389 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:0.79 [[ 0.9999714 -0.00454424 0.00604512 2.33910332] [ 0.00456156 0.99998552 -0.00285459 -0.02573273] [-0.00603206 0.00288209 0.99997765 0.79158896] [ 0. 0. 0. 1. ]] SLAMing on 283.022557844 meters 0.2889503561133793 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.79 [[ 0.99995848 0.00491397 0.00767367 2.36062678] [-0.004889 0.9999827 -0.00327018 -0.02356018] [-0.00768961 0.00323253 0.99996521 0.79088558] [ 0. 0. 0. 1. ]] SLAMing on 283.082557844 meters 0.28918574758482846 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.79 [[ 0.99995815 0.00480863 0.00778302 2.36037344] [-0.00478117 0.99998229 -0.00354404 -0.02243862] [-0.00779993 0.00350668 0.99996343 0.79086354] [ 0. 0. 0. 1. ]] SLAMing on 283.142557844 meters 0.2888119922452437 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.02, Z:0.79 [[ 9.99981913e-01 -3.78811615e-03 4.67164177e-03 2.34343656e+00] [ 3.79869102e-03 9.99990238e-01 -2.25683783e-03 -2.30894818e-02] [-4.66304700e-03 2.27454313e-03 9.99986541e-01 7.88189062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202557844 meters 0.29035048325347085 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99998046 0.00462524 0.0042049 2.3633212 ] [-0.00461278 0.99998496 -0.00296685 -0.03080469] [-0.00421856 0.0029474 0.99998676 0.78858666] [ 0. 0. 0. 1. ]] SLAMing on 283.262557844 meters 0.29024030605724954 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99998099 0.00462333 0.00407959 2.36358532] [-0.00461122 0.99998494 -0.00297435 -0.03077165] [-0.00409328 0.00295548 0.99998726 0.78871494] [ 0. 0. 0. 1. ]] SLAMing on 283.322557844 meters 0.28902601996342137 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.79 [[ 0.99998266 0.00455286 0.00373478 2.36450719] [-0.00454058 0.99998429 -0.0032882 -0.029512 ] [-0.00374969 0.00327119 0.99998762 0.78850816] [ 0. 0. 0. 1. ]] SLAMing on 283.382557844 meters 0.28830925094176807 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.78 [[ 9.99974811e-01 -2.36637514e-03 6.69165710e-03 2.34730141e+00] [ 2.37932842e-03 9.99995310e-01 -1.92843857e-03 -2.26305687e-02] [-6.68706230e-03 1.94431165e-03 9.99975751e-01 7.84581792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442557844 meters 0.2879597146159552 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.78 [[ 0.99997577 -0.00259393 0.00646061 2.34788881] [ 0.00261143 0.99999294 -0.00270129 -0.01953804] [-0.00645356 0.0027181 0.99997548 0.78461565] [ 0. 0. 0. 1. ]] SLAMing on 283.502557844 meters 0.28915076967864695 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.78 [[ 0.99997652 -0.00276186 0.00627099 2.34866996] [ 0.00278194 0.99999102 -0.00319582 -0.01738581] [-0.00626211 0.00321319 0.99997523 0.78380749] [ 0. 0. 0. 1. ]] SLAMing on 283.562557844 meters 0.2883811334602567 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.78 [[ 0.9999746 -0.00288849 0.00651646 2.34791218] [ 0.00291146 0.99998957 -0.00351822 -0.01604499] [-0.00650622 0.0035371 0.99997258 0.78421522] [ 0. 0. 0. 1. ]] SLAMing on 283.622557844 meters 0.29036289859553605 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.79 [[ 0.99997468 -0.00329772 0.00630551 2.38618221] [ 0.00331874 0.99998896 -0.00332746 -0.01950147] [-0.00629447 0.0033483 0.99997458 0.78721591] [ 0. 0. 0. 1. ]] SLAMing on 283.68255784400003 meters 0.28904457211734064 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:0.79 [[ 0.99997608 0.00541411 0.0043043 2.36693192] [-0.00539642 0.99997699 -0.0041105 -0.02233378] [-0.00432645 0.00408717 0.99998229 0.78646763] [ 0. 0. 0. 1. ]] SLAMing on 283.74255784400003 meters 0.2899358980494244 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.79 [[ 0.99998219 -0.0029273 0.00520181 2.38691252] [ 0.00294194 0.99999173 -0.00280937 -0.01997887] [-0.00519354 0.00282462 0.99998252 0.78773825] [ 0. 0. 0. 1. ]] SLAMing on 283.80255784400003 meters 0.2883168747619619 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99979833e-01 -8.36169610e-04 6.29560111e-03 2.38079320e+00] [ 8.41306649e-04 9.99999315e-01 -8.13368661e-04 -2.09984064e-02] [-6.29491668e-03 8.18648789e-04 9.99979852e-01 7.92337691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters 0.28942414942702516 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99980133e-01 -9.56282258e-04 6.23051565e-03 2.38085218e+00] [ 9.63508188e-04 9.99998867e-01 -1.15686590e-03 -1.95996608e-02] [-6.22940230e-03 1.16284607e-03 9.99979921e-01 7.92619358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters 0.2896993763215006 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99978336e-01 -9.43494694e-04 6.51446056e-03 2.37995900e+00] [ 9.50757491e-04 9.99998930e-01 -1.11186634e-03 -1.98757641e-02] [-6.51340455e-03 1.11803592e-03 9.99978163e-01 7.93144815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.982557844 meters 0.2882165486915225 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99977923e-01 -9.09803647e-04 6.58229080e-03 2.37961501e+00] [ 9.16562536e-04 9.99999056e-01 -1.02388561e-03 -2.02495187e-02] [-6.58135305e-03 1.02989608e-03 9.99977812e-01 7.93534998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.042557844 meters 0.28915872331608183 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99978809e-01 -8.77951338e-04 6.45061645e-03 2.38021087e+00] [ 8.83991457e-04 9.99999174e-01 -9.33571526e-04 -2.06120202e-02] [-6.44979148e-03 9.39254033e-04 9.99978759e-01 7.92753781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.102557844 meters 0.28974584969436645 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99982970e-01 -7.71397993e-04 5.78485812e-03 2.38217255e+00] [ 7.73825505e-04 9.99999613e-01 -4.17405698e-04 -2.27586576e-02] [-5.78453390e-03 4.21875060e-04 9.99983180e-01 7.91305926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.162557844 meters 0.2894949343790286 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99982968e-01 -6.84929527e-04 5.79603182e-03 2.38207032e+00] [ 6.86050774e-04 9.99999746e-01 -1.91464703e-04 -2.37097800e-02] [-5.79589921e-03 1.95437815e-04 9.99983185e-01 7.91443406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.222557844 meters 0.2893334476171174 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99983804e-01 -8.25399122e-04 5.63120997e-03 2.38250027e+00] [ 8.28885006e-04 9.99999466e-01 -6.16723532e-04 -2.20378440e-02] [-5.63069792e-03 6.21381169e-04 9.99983954e-01 7.91408640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.282557844 meters 0.2899926614473893 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99984655e-01 -8.55233195e-04 5.47350443e-03 2.38289787e+00] [ 8.59270254e-04 9.99999361e-01 -7.35254745e-04 -2.15632162e-02] [-5.47287211e-03 7.39946682e-04 9.99984750e-01 7.91380055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.342557844 meters 0.28846571338565247 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99978048e-01 -8.67074858e-04 6.56892461e-03 2.37987749e+00] [ 8.74534735e-04 9.99998976e-01 -1.13284399e-03 -2.00036934e-02] [-6.56793563e-03 1.13856387e-03 9.99977783e-01 7.93004412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.402557844 meters 0.28829406582115313 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99977046e-01 -9.33907876e-04 6.71088842e-03 2.37946280e+00] [ 9.42935015e-04 9.99998655e-01 -1.34211014e-03 -1.91778785e-02] [-6.70962599e-03 1.34840726e-03 9.99976581e-01 7.93217479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.462557844 meters 0.28838877721665007 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99977743e-01 -1.06738509e-03 6.58590550e-03 2.37984416e+00] [ 1.07904100e-03 9.99997858e-01 -1.76652804e-03 -1.74741777e-02] [-6.58400582e-03 1.77359518e-03 9.99976752e-01 7.93043497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.522557844 meters 0.28956643292600226 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99979700e-01 -1.16793399e-03 6.26382441e-03 2.38065267e+00] [ 1.18130106e-03 9.99997032e-01 -2.13073550e-03 -1.60016716e-02] [-6.26131727e-03 2.13809171e-03 9.99978112e-01 7.93002763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.582557844 meters 0.28847046084814754 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.79 [[ 9.99979551e-01 -1.24914783e-03 6.27199934e-03 2.38059395e+00] [ 1.26407065e-03 9.99996379e-01 -2.37587599e-03 -1.50231777e-02] [-6.26900881e-03 2.38375565e-03 9.99977508e-01 7.93107055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.642557844 meters 0.28857144600026624 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.79 [[ 9.99976966e-01 -1.41767258e-03 6.63762834e-03 2.37966382e+00] [ 1.43791019e-03 9.99994330e-01 -3.04514218e-03 -1.25134039e-02] [-6.63327369e-03 3.05461635e-03 9.99973334e-01 7.93372129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.702557844 meters 0.28933041912075597 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.79 [[ 9.99978419e-01 -1.50544991e-03 6.39499248e-03 2.38044087e+00] [ 1.52706114e-03 9.99993136e-01 -3.37586128e-03 -1.11796910e-02] [-6.38986640e-03 3.38555396e-03 9.99973853e-01 7.92869566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.762557844 meters 0.2894110293131456 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.79 [[ 9.99979592e-01 -1.58405767e-03 6.18915796e-03 2.38096384e+00] [ 1.60653680e-03 9.99992126e-01 -3.62873636e-03 -1.01609911e-02] [-6.18336109e-03 3.63860542e-03 9.99974263e-01 7.92826999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.822557844 meters 0.2884865428906479 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.79 [[ 9.99980332e-01 -1.74461910e-03 6.02421577e-03 2.38152466e+00] [ 1.76959083e-03 9.99989855e-01 -4.14238558e-03 -8.11429535e-03] [-6.01692776e-03 4.15296451e-03 9.99973274e-01 7.92395277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters 0.28773717212415045 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.79 [[ 9.99980032e-01 -1.88780397e-03 6.03083799e-03 2.38160694e+00] [ 1.91609038e-03 9.99987176e-01 -4.68796511e-03 -5.96503323e-03] [-6.02191068e-03 4.69942713e-03 9.99970826e-01 7.92136004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters 0.2877685629675533 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99978525e-01 -2.03872868e-03 6.22840172e-03 2.38093281e+00] [ 2.07130653e-03 9.99984186e-01 -5.22856690e-03 -3.85934113e-03] [-6.21764359e-03 5.24135555e-03 9.99966934e-01 7.92723984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters 0.2885959912291073 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99977830e-01 -2.19170210e-03 6.28781848e-03 2.38091582e+00] [ 2.22831950e-03 9.99980567e-01 -5.82246357e-03 -1.53709598e-03] [-6.27493518e-03 5.83634575e-03 9.99963280e-01 7.92389921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters 0.2886884102578602 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99977199e-01 -2.24721020e-03 6.36794666e-03 2.38069820e+00] [ 2.28522391e-03 9.99979577e-01 -5.96856472e-03 -9.33135587e-04] [-6.35440399e-03 5.98298081e-03 9.99961912e-01 7.92416833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters 0.28822889954015873 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99978039e-01 -2.10599395e-03 6.28375312e-03 2.38079976e+00] [ 2.14111370e-03 9.99982098e-01 -5.58749399e-03 -2.50590972e-03] [-6.27187340e-03 5.60082552e-03 9.99964647e-01 7.92676475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters 0.287601088184775 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99977755e-01 -2.02548886e-03 6.35513064e-03 2.38060368e+00] [ 2.05969121e-03 9.99983407e-01 -5.37992701e-03 -3.36545568e-03] [-6.34412821e-03 5.39289693e-03 9.99965334e-01 7.92704420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24255784400003 meters 0.28822378448434804 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.79 [[ 9.99975876e-01 -2.05779616e-03 6.63421408e-03 2.37979327e+00] [ 2.09419184e-03 9.99982771e-01 -5.48378696e-03 -2.91680065e-03] [-6.62281526e-03 5.49754799e-03 9.99962957e-01 7.93062035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30255784400003 meters 0.2864269629761687 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:0.79 [[ 9.99950218e-01 8.28669149e-03 5.55815324e-03 2.35711921e+00] [-8.25844573e-03 9.99952966e-01 -5.08570455e-03 -8.44707611e-04] [-5.60003548e-03 5.03954967e-03 9.99971621e-01 7.94055240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36255784400004 meters 0.2861896095593531 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:0.79 [[ 0.99996341 -0.00723375 0.0045657 2.35609001] [ 0.00724914 0.99996807 -0.00336214 0.00947309] [-0.00454123 0.00339512 0.99998393 0.79444166] [ 0. 0. 0. 1. ]] SLAMing on 285.42255784400004 meters 0.2884449120170582 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:0.79 [[ 0.99997489 0.00317911 0.00633407 2.37892344] [-0.00316016 0.99999051 -0.00299967 0.01571715] [-0.00634355 0.00297958 0.99997544 0.79251738] [ 0. 0. 0. 1. ]] SLAMing on 285.482557844 meters 0.28825024428662993 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:0.79 [[ 0.99997636 0.00294593 0.00621363 2.37936775] [-0.00292332 0.99998909 -0.00364449 0.0183749 ] [-0.0062243 0.00362624 0.99997405 0.79221135] [ 0. 0. 0. 1. ]] SLAMing on 285.542557844 meters 0.28829007588621747 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.79 [[ 0.999981 -0.00490927 0.00372811 2.36104597] [ 0.0049194 0.99998422 -0.00271347 0.02324421] [-0.00371473 0.00273176 0.99998937 0.79006578] [ 0. 0. 0. 1. ]] SLAMing on 285.602557844 meters 0.2889593943946493 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.79 [[ 0.99998075 -0.00498028 0.00370213 2.3612277 ] [ 0.00499101 0.99998336 -0.00289419 0.02399951] [-0.00368765 0.00291261 0.99998896 0.78980265] [ 0. 0. 0. 1. ]] SLAMing on 285.662557844 meters 0.2893700708118689 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.79 [[ 0.99998071 -0.0050144 0.00366521 2.36134296] [ 0.00502535 0.99998292 -0.00298262 0.02436379] [-0.00365019 0.00300098 0.99998884 0.78975333] [ 0. 0. 0. 1. ]] SLAMing on 285.722557844 meters 0.2874030075901406 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99983886e-01 -3.56716802e-03 4.41625938e-03 2.32172541e+00] [ 3.57709551e-03 9.99991089e-01 -2.24208787e-03 2.44020980e-02] [-4.40822212e-03 2.25784912e-03 9.99987735e-01 7.87212758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.782557844 meters 0.28855565068994715 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.79 [[ 0.99996992 0.005496 0.00547268 2.34410877] [-0.00548277 0.99998202 -0.00242844 0.02241514] [-0.00548593 0.00239836 0.99998208 0.78654886] [ 0. 0. 0. 1. ]] SLAMing on 285.842557844 meters 0.286685384297852 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99982493e-01 -3.32090341e-03 4.89744153e-03 2.32278589e+00] [ 3.32963617e-03 9.99992880e-01 -1.77605117e-03 2.43209591e-02] [-4.89150856e-03 1.79232678e-03 9.99986430e-01 7.86411879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.902557844 meters 0.2873414364186466 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99982665e-01 -3.24363467e-03 4.91410837e-03 2.32255873e+00] [ 3.25141284e-03 9.99993473e-01 -1.57566263e-03 2.34595888e-02] [-4.90896542e-03 1.59161311e-03 9.99986684e-01 7.86859359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.962557844 meters 0.2873687210731067 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99982414e-01 -3.21116037e-03 4.98593711e-03 2.32254185e+00] [ 3.21862197e-03 9.99993711e-01 -1.48922746e-03 2.31033733e-02] [-4.98112361e-03 1.50524912e-03 9.99986461e-01 7.86481486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.022557844 meters 0.28643907958791764 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99981978e-01 -3.14813295e-03 5.11207772e-03 2.32226183e+00] [ 3.15491611e-03 9.99994153e-01 -1.31936787e-03 2.24155314e-02] [-5.10789429e-03 1.33547227e-03 9.99986063e-01 7.86413431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.082557844 meters 0.2877167567984625 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99983531e-01 -2.98475316e-03 4.90186337e-03 2.32281777e+00] [ 2.98919592e-03 9.99995128e-01 -8.99264930e-04 2.06756656e-02] [-4.89915540e-03 9.13902750e-04 9.99987581e-01 7.86381357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.142557844 meters 0.2871024527115899 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99983961e-01 -2.76260637e-03 4.94424652e-03 2.32265836e+00] [ 2.76424879e-03 9.99996127e-01 -3.25384881e-04 1.82942189e-02] [-4.94332846e-03 3.39046790e-04 9.99987724e-01 7.86528862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.202557844 meters 0.28685936429765485 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99983840e-01 -2.53833896e-03 5.08687231e-03 2.32220228e+00] [ 2.53694225e-03 9.99996742e-01 2.81006664e-04 1.57760290e-02] [-5.08756903e-03 -2.68097021e-04 9.99987022e-01 7.86878890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.262557844 meters 0.2884155860060211 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99984436e-01 -2.49365924e-03 4.99085683e-03 2.32262894e+00] [ 2.49169770e-03 9.99996816e-01 3.99205372e-04 1.52796229e-02] [-4.99183642e-03 -3.86763452e-04 9.99987466e-01 7.86477700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.322557844 meters 0.28937259132014104 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99985264e-01 -2.52960405e-03 4.80340871e-03 2.32323349e+00] [ 2.52821912e-03 9.99996761e-01 2.94372821e-04 1.56960568e-02] [-4.80413780e-03 -2.82224413e-04 9.99988420e-01 7.86095302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters 0.2860190870141057 Centerline is valid? [False, False] Translation: X:2.28, Y:0.01, Z:0.78 [[ 9.99981281e-01 -3.06518554e-03 5.29548645e-03 2.28339496e+00] [ 3.06745493e-03 9.99995207e-01 -4.20484408e-04 1.33788402e-02] [-5.29417220e-03 4.36720203e-04 9.99985890e-01 7.84014424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters 0.2876318167684061 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:0.79 [[ 9.99989616e-01 -2.45738743e-03 3.83775598e-03 2.32355672e+00] [ 2.45631496e-03 9.99996943e-01 2.84140445e-04 1.49876375e-02] [-3.83844249e-03 -2.74710757e-04 9.99992595e-01 7.86754551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502557844 meters 0.2878355367538166 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99989613e-01 -2.47930364e-03 3.82441782e-03 2.32370555e+00] [ 2.47845643e-03 9.99996903e-01 2.26252051e-04 1.52203530e-02] [-3.82496692e-03 -2.16771048e-04 9.99992661e-01 7.86478009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters 0.2873004064260092 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99989455e-01 -2.54527103e-03 3.82237567e-03 2.32361598e+00] [ 2.54516498e-03 9.99996761e-01 3.26079228e-05 1.59959212e-02] [-3.82244629e-03 -2.28790023e-05 9.99992694e-01 7.86692467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters 0.28718712273176716 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:0.79 [[ 9.99989184e-01 -2.54720721e-03 3.89153737e-03 2.32338059e+00] [ 2.54712106e-03 9.99996756e-01 2.70939644e-05 1.60250726e-02] [-3.89159376e-03 -1.71814545e-05 9.99992428e-01 7.86855419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters 0.28914318580884524 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:0.78 [[ 0.99997953 0.00391683 0.00506005 2.34690439] [-0.00390233 0.99998826 -0.00287234 0.01557629] [-0.00507124 0.00285253 0.99998307 0.78491771] [ 0. 0. 0. 1. ]] SLAMing on 286.74255784400003 meters 0.28802551972576435 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99995467e-01 -2.28234109e-03 1.96396341e-03 2.32609668e+00] [ 2.28186884e-03 9.99997367e-01 2.42662697e-04 1.29813028e-02] [-1.96451208e-03 -2.38180090e-04 9.99998042e-01 7.86339623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters 0.2883543917017279 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99995564e-01 -2.22192389e-03 1.98367576e-03 2.32608175e+00] [ 2.22113954e-03 9.99997454e-01 3.97514027e-04 1.23418523e-02] [-1.98455395e-03 -3.93106243e-04 9.99997954e-01 7.86273301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters 0.28882019621801247 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99995671e-01 -2.25982860e-03 1.88424158e-03 2.32648634e+00] [ 2.25926982e-03 9.99997403e-01 2.98628061e-04 1.27370248e-02] [-1.88491154e-03 -2.94369759e-04 9.99998180e-01 7.85905073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters 0.28720216732414156 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99995584e-01 -2.24548095e-03 1.94680693e-03 2.32614328e+00] [ 2.24483285e-03 9.99997424e-01 3.35022176e-04 1.26008212e-02] [-1.94755420e-03 -3.30650440e-04 9.99998049e-01 7.86339900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.982557844 meters 0.2881729035271987 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99996162e-01 -2.22483890e-03 1.65119726e-03 2.32711980e+00] [ 2.22417255e-03 9.99997444e-01 4.05280465e-04 1.21897312e-02] [-1.65209472e-03 -4.01606362e-04 9.99998555e-01 7.85761032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.042557844 meters 0.2894177595111642 Centerline is valid? [False, False] Translation: X:2.33, Y:0.01, Z:0.79 [[ 9.99996271e-01 -2.22135267e-03 1.58878268e-03 2.32728590e+00] [ 2.22069605e-03 9.99997448e-01 4.14929763e-04 1.21481704e-02] [-1.58970034e-03 -4.11400012e-04 9.99998652e-01 7.85756711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.102557844 meters 0.28714155704415356 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:0.79 [[ 9.99984947e-01 4.30364641e-03 3.40352249e-03 2.30206020e+00] [-4.29627876e-03 9.99988419e-01 -2.16906762e-03 7.38837494e-03] [-3.41281797e-03 2.15441249e-03 9.99991856e-01 7.87756331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.162557844 meters 0.2865854106147272 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:0.79 [[ 9.99984558e-01 4.44496530e-03 3.33549170e-03 2.30228199e+00] [-4.43920156e-03 9.99988644e-01 -1.73342172e-03 5.65070790e-03] [-3.34315882e-03 1.71858803e-03 9.99992935e-01 7.87630852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.222557844 meters 0.2877479103965629 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:0.79 [[ 9.99980356e-01 -4.59920813e-03 4.25860234e-03 2.32378944e+00] [ 4.60299224e-03 9.99989020e-01 -8.79205836e-04 5.01901939e-03] [-4.25451193e-03 8.98790878e-04 9.99990546e-01 7.87294019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.282557844 meters 0.28703551716001563 Centerline is valid? [False, False] Translation: X:2.32, Y:0.00, Z:0.79 [[ 9.99980823e-01 -4.54519349e-03 4.20654059e-03 2.32384566e+00] [ 4.54829640e-03 9.99989391e-01 -7.28367758e-04 4.40572450e-03] [-4.20318539e-03 7.47486384e-04 9.99990887e-01 7.87484668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.342557844 meters 0.28750483999560317 Centerline is valid? [False, False] Translation: X:2.32, Y:0.00, Z:0.79 [[ 9.99981534e-01 -4.48183232e-03 4.10432215e-03 2.32415082e+00] [ 4.48413685e-03 9.99989794e-01 -5.52457963e-04 3.68032477e-03] [-4.10180424e-03 5.70852103e-04 9.99991425e-01 7.87377308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.402557844 meters 0.28807340322244185 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.00, Z:0.79 [[ 9.99976137e-01 3.78878775e-03 5.77667375e-03 2.34418281e+00] [-3.78050743e-03 9.99991812e-01 -1.44365162e-03 -8.37153170e-04] [-5.78209614e-03 1.42177841e-03 9.99982273e-01 7.87950785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.462557844 meters 0.28813521295845324 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.00, Z:0.79 [[ 9.99975266e-01 3.98552189e-03 5.79511900e-03 2.34407438e+00] [-3.98032816e-03 9.99991667e-01 -9.07482616e-04 -3.02734188e-03] [-5.79868750e-03 8.84393695e-04 9.99982796e-01 7.88113143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.522557844 meters 0.2873459237973906 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.79 [[ 9.99983802e-01 -3.36214518e-05 5.69167239e-03 2.34430094e+00] [ 5.92140349e-05 9.99989889e-01 -4.49638737e-03 -6.16637179e-03] [-5.69146367e-03 4.49665157e-03 9.99973693e-01 7.88141362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.582557844 meters 0.2867774766564176 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.79 [[ 9.99984335e-01 2.18231178e-04 5.59296897e-03 2.34484220e+00] [-1.96840044e-04 9.99992666e-01 -3.82491244e-03 -8.99136640e-03] [-5.59376266e-03 3.82375160e-03 9.99977044e-01 7.87524333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.642557844 meters 0.2881268141539928 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.79 [[ 9.99983465e-01 3.67568323e-04 5.73881039e-03 2.34461685e+00] [-3.47760060e-04 9.99993981e-01 -3.45224866e-03 -1.05075403e-02] [-5.74004478e-03 3.45019585e-03 9.99977574e-01 7.87256604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.702557844 meters 0.2887572062365085 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.79 [[ 9.99982942e-01 3.91154101e-04 5.82769890e-03 2.34449589e+00] [-3.71462351e-04 9.99994220e-01 -3.37969177e-03 -1.07983359e-02] [-5.82898719e-03 3.37746934e-03 9.99977308e-01 7.87016262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.762557844 meters 0.2873923744480768 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99985769e-01 -4.71847941e-03 2.48966633e-03 2.32208284e+00] [ 4.71912746e-03 9.99988832e-01 -2.54486880e-04 -1.07622325e-02] [-2.48843773e-03 2.66232311e-04 9.99996868e-01 7.88777260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822557844 meters 0.28814268928058173 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99985449e-01 -4.77760015e-03 2.50511035e-03 2.32215052e+00] [ 4.77867444e-03 9.99988493e-01 -4.23031760e-04 -1.00855306e-02] [-2.50306045e-03 4.34996711e-04 9.99996773e-01 7.88495706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters 0.28680972293322854 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.79 [[ 9.99988654e-01 4.09106285e-03 2.44038235e-03 2.30095659e+00] [-4.08861089e-03 9.99991133e-01 -1.00889009e-03 -1.37941526e-02] [-2.44448815e-03 9.98900866e-04 9.99996513e-01 7.88261764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters 0.28838971116835493 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.79 [[ 0.99999235 0.00299522 0.00251507 2.33751747] [-0.00298925 0.99999272 -0.0023728 -0.00938391] [-0.00252216 0.00236526 0.99999402 0.79252244] [ 0. 0. 0. 1. ]] SLAMing on 288.002557844 meters 0.2872192992803859 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99995518e-01 -2.70455181e-03 -1.28421064e-03 2.31982942e+00] [ 2.70614395e-03 9.99995570e-01 1.23966175e-03 -9.64303737e-03] [ 1.28085222e-03 -1.24313145e-03 9.99998407e-01 7.91301326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters 0.2863019462708673 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.01, Z:0.79 [[ 9.99983628e-01 4.83285143e-03 -3.06392258e-03 2.30186918e+00] [-4.83537803e-03 9.99987975e-01 -8.17759103e-04 -1.23407229e-02] [ 3.05993363e-03 8.32560938e-04 9.99994972e-01 7.89470617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters 0.2871518623430047 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99999181e-01 -1.26104308e-03 2.19103309e-04 2.32174978e+00] [ 1.26061044e-03 9.99997278e-01 1.96363244e-03 -1.01282467e-02] [-2.21578937e-04 -1.96335463e-03 9.99998048e-01 7.89128336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters 0.2873820230010155 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99999146e-01 -1.26906427e-03 3.12521608e-04 2.32117099e+00] [ 1.26845503e-03 9.99997310e-01 1.94196296e-03 -9.98377202e-03] [-3.14985243e-04 -1.94156489e-03 9.99998066e-01 7.89960997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters 0.2868068759551649 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99999190e-01 -1.24521669e-03 2.64061532e-04 2.32143762e+00] [ 1.24468434e-03 9.99997212e-01 2.00666607e-03 -1.02690955e-02] [-2.66559530e-04 -2.00633577e-03 9.99997952e-01 7.89639416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters 0.2896447997219242 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99999216e-01 -1.23870914e-03 1.85222038e-04 2.32189381e+00] [ 1.23833108e-03 9.99997178e-01 2.02752060e-03 -1.03765844e-02] [-1.87733024e-04 -2.02728964e-03 9.99997927e-01 7.89031931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters 0.2885209744968483 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:0.79 [[ 9.99999389e-01 -1.10534773e-03 1.66013892e-05 2.32244106e+00] [ 1.10530493e-03 9.99996537e-01 2.38850243e-03 -1.18898305e-02] [-1.92414575e-05 -2.38848262e-03 9.99997147e-01 7.88836158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters 0.28726492370257556 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:0.79 [[ 9.99989690e-01 4.53264866e-03 -2.73287309e-04 2.29939309e+00] [-4.53291028e-03 9.99989261e-01 -9.64443473e-04 -1.66167597e-02] [ 2.68912891e-04 9.65672316e-04 9.99999498e-01 7.90040587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.482557844 meters 0.28639875869755127 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:0.79 [[ 9.99988741e-01 4.74270290e-03 -1.58000459e-04 2.29904515e+00] [-4.74276251e-03 9.99988681e-01 -3.79059320e-04 -1.90025078e-02] [ 1.56200905e-04 3.79804411e-04 9.99999916e-01 7.90194743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.542557844 meters 0.2877132448335787 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.79 [[ 9.99991102e-01 -4.12780536e-03 8.70543085e-04 2.32088973e+00] [ 4.12733805e-03 9.99991338e-01 5.37915048e-04 -1.95975854e-02] [-8.72755953e-04 -5.34317236e-04 9.99999476e-01 7.89637821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.602557844 meters 0.28867938390086395 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.03, Z:0.79 [[ 9.99998716e-01 8.16554892e-04 -1.37879979e-03 2.29997118e+00] [-8.20117602e-04 9.99996322e-01 -2.58533628e-03 -2.78826131e-02] [ 1.37668365e-03 2.58646374e-03 9.99995707e-01 7.89420870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.662557844 meters 0.2895603297572671 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:0.79 [[ 9.99996578e-01 -5.19596996e-04 -2.56416015e-03 2.33934693e+00] [ 5.11146930e-04 9.99994441e-01 -3.29500751e-03 -3.25574616e-02] [ 2.56585797e-03 3.29368557e-03 9.99991284e-01 7.92978161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.722557844 meters 0.28765446121884086 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.04, Z:0.79 [[ 9.99999234e-01 -1.22347798e-03 -1.86000068e-04 2.29674560e+00] [ 1.22307566e-03 9.99996945e-01 -2.14795861e-03 -4.27030253e-02] [ 1.88627479e-04 2.14772947e-03 9.99997676e-01 7.91786904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.782557844 meters 0.28804035735882605 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.79 [[ 9.99999728e-01 -6.52657932e-04 -3.44712827e-04 2.29750444e+00] [ 6.52432136e-04 9.99999573e-01 -6.54734024e-04 -4.88850724e-02] [ 3.45139997e-04 6.54508944e-04 9.99999726e-01 7.91241003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.842557844 meters 0.28873352760611976 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.79 [[ 9.99999769e-01 -4.42328451e-04 -5.16013176e-04 2.29823616e+00] [ 4.42292224e-04 9.99999900e-01 -7.03184490e-05 -5.14081914e-02] [ 5.16044228e-04 7.00902042e-05 9.99999864e-01 7.90485044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.902557844 meters 0.2897755474094006 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.05, Z:0.79 [[ 9.99999912e-01 -1.26666049e-04 -4.00974713e-04 2.29771485e+00] [ 1.26948212e-04 9.99999744e-01 7.03745887e-04 -5.46811846e-02] [ 4.00885470e-04 -7.03796727e-04 9.99999672e-01 7.91076812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.962557844 meters 0.28920815219657575 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.79 [[ 9.99999957e-01 5.51580129e-07 -2.93232001e-04 2.29729325e+00] [-2.47704461e-07 9.99999463e-01 1.03629680e-03 -5.60433080e-02] [ 2.93232415e-04 -1.03629668e-03 9.99999420e-01 7.91471447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.022557844 meters 0.28899000551491427 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.79 [[ 9.99999891e-01 1.87369149e-04 -4.26841026e-04 2.29769848e+00] [-1.86688315e-04 9.99998711e-01 1.59453593e-03 -5.83081430e-02] [ 4.27139242e-04 -1.59445608e-03 9.99998638e-01 7.91370995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.082557844 meters 0.28802324783402444 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.79 [[ 9.99999904e-01 3.43721893e-04 -2.73135565e-04 2.29718004e+00] [-3.43158895e-04 9.99997822e-01 2.05862025e-03 -6.01763063e-02] [ 2.73842563e-04 -2.05852633e-03 9.99997844e-01 7.91760447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.142557844 meters 0.28719996619490723 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:0.79 [[ 9.99999775e-01 5.51012871e-04 -3.82651577e-04 2.29751605e+00] [-5.49982386e-04 9.99996236e-01 2.68791456e-03 -6.27122032e-02] [ 3.84131213e-04 -2.68770350e-03 9.99996314e-01 7.91663991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.202557844 meters 0.28977323161088553 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.79 [[ 9.99980628e-01 6.11307649e-03 -1.17208828e-03 2.32134776e+00] [-6.11395518e-03 9.99981030e-01 -7.47567356e-04 -6.95651535e-02] [ 1.16749610e-03 7.54718969e-04 9.99999034e-01 7.91451874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262557844 meters 0.2873749559221435 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.07, Z:0.79 [[ 9.99993538e-01 -3.07401678e-03 -1.86405751e-03 2.29988956e+00] [ 3.07479378e-03 9.99995187e-01 4.14109953e-04 -6.99698348e-02] [ 1.86277556e-03 -4.19838870e-04 9.99998177e-01 7.91631659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322557844 meters 0.2891194212250971 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.79 [[ 9.99991127e-01 4.10455012e-03 9.48427629e-04 2.32058829e+00] [-4.10290099e-03 9.99990079e-01 -1.73425195e-03 -7.18560804e-02] [-9.55536544e-04 1.73034525e-03 9.99998046e-01 7.91175564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters 0.28893692621158396 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.07, Z:0.79 [[ 9.99990850e-01 4.18792130e-03 8.72049072e-04 2.32090436e+00] [-4.18660806e-03 9.99990108e-01 -1.50234312e-03 -7.28022231e-02] [-8.78332140e-04 1.49867844e-03 9.99998491e-01 7.90893795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters 0.2876414926647597 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.79 [[ 9.99989241e-01 4.54833546e-03 9.11777958e-04 2.32050105e+00] [-4.54799301e-03 9.99989587e-01 -3.77307557e-04 -7.72410252e-02] [-9.13484585e-04 3.73156737e-04 9.99999513e-01 7.91610585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters 0.28718630950940927 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.79 [[ 9.99987819e-01 4.82053122e-03 1.06019847e-03 2.31974146e+00] [-4.82112020e-03 9.99988225e-01 5.53681051e-04 -8.09156607e-02] [-1.05751695e-03 -5.58785651e-04 9.99999285e-01 7.92711739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562557844 meters 0.28752980156433683 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.08, Z:0.79 [[ 9.99986327e-01 5.14790141e-03 9.19014472e-04 2.32023892e+00] [-5.14926095e-03 9.99985643e-01 1.48315542e-03 -8.46626244e-02] [-9.11366139e-04 -1.48786739e-03 9.99998478e-01 7.92418735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters 0.2873606208275713 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.79 [[ 9.99985361e-01 5.34718639e-03 8.27869804e-04 2.32058496e+00] [-5.34885617e-03 9.99983638e-01 2.02805074e-03 -8.69215792e-02] [-8.17011893e-04 -2.03244921e-03 9.99997601e-01 7.92190676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters 0.2884443944223822 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.79 [[ 0.99998419 -0.00369026 0.00424261 2.33937829] [ 0.00367846 0.99998936 0.00278452 -0.09502284] [-0.00425284 -0.00276887 0.99998712 0.79322577] [ 0. 0. 0. 1. ]] SLAMing on 289.74255784400003 meters 0.28710037534563415 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.10, Z:0.79 [[ 9.99994143e-01 1.64557980e-03 3.00092735e-03 2.31701332e+00] [-1.64695146e-03 9.99998540e-01 4.54664577e-04 -1.04835124e-01] [-3.00017478e-03 -4.59604296e-04 9.99995394e-01 7.94349041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters 0.28770539721607974 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.11, Z:0.79 [[ 9.99993801e-01 2.04009357e-03 2.86975263e-03 2.31726056e+00] [-2.04526089e-03 9.99996291e-01 1.79883705e-03 -1.10086449e-01] [-2.86607219e-03 -1.80469529e-03 9.99994264e-01 7.94516699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters 0.2865328792964766 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.79 [[ 9.99994532e-01 -1.76791900e-03 2.79465869e-03 2.31749918e+00] [ 1.77135724e-03 9.99997677e-01 -1.22829405e-03 -1.15466109e-01] [-2.79248067e-03 1.23323768e-03 9.99995341e-01 7.94530087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters 0.28815323366579076 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:0.79 [[ 9.99996288e-01 -1.58852723e-03 2.21353127e-03 2.31962665e+00] [ 1.58999561e-03 9.99998517e-01 -6.61762847e-04 -1.18055131e-01] [-2.21247676e-03 6.65279896e-04 9.99997331e-01 7.92517381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.982557844 meters 0.2893516291639034 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.12, Z:0.79 [[ 0.99997271 0.00570894 0.0046898 2.34070992] [-0.00569385 0.99997859 -0.00322614 -0.11780127] [-0.00470811 0.00319935 0.9999838 0.7914997 ] [ 0. 0. 0. 1. ]] SLAMing on 290.042557844 meters 0.2896841485585954 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.11, Z:0.79 [[ 9.99976444e-01 -1.66112467e-03 6.65975278e-03 2.35827045e+00] [ 1.67061710e-03 9.99997596e-01 -1.42003363e-03 -1.14105812e-01] [-6.65737792e-03 1.43112608e-03 9.99976815e-01 7.93078537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.102557844 meters 0.2889853400355185 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.12, Z:0.79 [[ 9.99977569e-01 -1.27010880e-03 6.57634706e-03 2.35849922e+00] [ 1.26995417e-03 9.99999193e-01 2.76881576e-05 -1.19709066e-01] [-6.57637692e-03 -1.93358771e-05 9.99978375e-01 7.93061888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.162557844 meters 0.2891950511708268 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.12, Z:0.79 [[ 9.99977347e-01 -9.14268593e-04 6.66852464e-03 2.35822120e+00] [ 9.05883712e-04 9.99998796e-01 1.26029387e-03 -1.24516830e-01] [-6.66966885e-03 -1.25422442e-03 9.99976971e-01 7.93137318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.222557844 meters 0.28831287288472474 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.79 [[ 9.99981690e-01 3.84546010e-03 4.67253390e-03 2.33646343e+00] [-3.83768206e-03 9.99991238e-01 -1.67245642e-03 -1.33024824e-01] [-4.67892432e-03 1.65449409e-03 9.99987685e-01 7.93769322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.282557844 meters 0.28892366285283533 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.79 [[ 9.99981832e-01 3.97172398e-03 4.53448106e-03 2.33689974e+00] [-3.96576212e-03 9.99991261e-01 -1.32301728e-03 -1.34442437e-01] [-4.53969610e-03 1.30501057e-03 9.99988844e-01 7.93584316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.342557844 meters 0.2897953749902742 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.13, Z:0.79 [[ 9.99978218e-01 -3.86127830e-03 5.35303043e-03 2.35602820e+00] [ 3.86235505e-03 9.99992523e-01 -1.90823222e-04 -1.29848572e-01] [-5.35225359e-03 2.11494370e-04 9.99985654e-01 7.94389289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.402557844 meters 0.290708830456655 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.13, Z:0.79 [[ 9.99978808e-01 -3.84864367e-03 5.25079068e-03 2.35618650e+00] [ 3.84945065e-03 9.99992581e-01 -1.43588626e-04 -1.30024440e-01] [-5.25019910e-03 1.63798243e-04 9.99986204e-01 7.94631950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.462557844 meters 0.2880305493549013 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.80 [[ 9.99991612e-01 1.99933601e-03 3.57480434e-03 2.33246521e+00] [-1.98855924e-03 9.99993476e-01 -3.01566177e-03 -1.29754845e-01] [-3.58081033e-03 3.00852776e-03 9.99989063e-01 7.97066899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.522557844 meters 0.28870114429305654 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.80 [[ 9.99968684e-01 -3.04963243e-03 7.30277844e-03 2.35189080e+00] [ 3.04676263e-03 9.99995277e-01 4.04066522e-04 -1.28857968e-01] [-7.30397621e-03 -3.81804036e-04 9.99973253e-01 7.96886372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.582557844 meters 0.2885506753304566 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.80 [[ 9.99971824e-01 -3.00999298e-03 6.87691522e-03 2.35305291e+00] [ 3.00633523e-03 9.99995334e-01 5.42163771e-04 -1.29439565e-01] [-6.87851504e-03 -5.21474183e-04 9.99976207e-01 7.96541401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.642557844 meters 0.2903245129495722 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.80 [[ 9.99974699e-01 -2.97766296e-03 6.46030848e-03 2.35425256e+00] [ 2.97338048e-03 9.99995353e-01 6.72393733e-04 -1.30036438e-01] [-6.46228062e-03 -6.53167766e-04 9.99978906e-01 7.95970021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.702557844 meters 0.28864677785097453 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.80 [[ 9.99972967e-01 -2.80928347e-03 6.79503849e-03 2.35308848e+00] [ 2.80060190e-03 9.99995250e-01 1.28681168e-03 -1.32384777e-01] [-6.79862123e-03 -1.26774669e-03 9.99976085e-01 7.97032389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.762557844 meters 0.2875871186544493 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.80 [[ 9.99973890e-01 2.43331431e-03 6.80422326e-03 2.32887439e+00] [-2.42238305e-03 9.99995763e-01 -1.61432073e-03 -1.38323034e-01] [-6.80812258e-03 1.59779615e-03 9.99975548e-01 7.98639539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.822557844 meters 0.2870827561702603 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.80 [[ 9.99971284e-01 2.76903865e-03 7.05431774e-03 2.32792404e+00] [-2.76551758e-03 9.99996046e-01 -5.08842176e-04 -1.42775023e-01] [-7.05569885e-03 4.89318725e-04 9.99974989e-01 7.99485717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters 0.2879216560001278 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.80 [[ 9.99972412e-01 2.94667264e-03 6.81851040e-03 2.32874093e+00] [-2.94648938e-03 9.99995658e-01 -3.69221672e-05 -1.44773623e-01] [-6.81858960e-03 1.68304802e-05 9.99976753e-01 7.98967294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942557844 meters 0.2889494491903619 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.80 [[ 9.99976927e-01 3.01698466e-03 6.08638264e-03 2.33074507e+00] [-3.01813711e-03 9.99995429e-01 1.80172408e-04 -1.45791966e-01] [-6.08581124e-03 -1.98537788e-04 9.99981462e-01 7.98073919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002557844 meters 0.2887017262222582 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.80 [[ 9.99977848e-01 3.01475458e-03 5.93414341e-03 2.33128664e+00] [-3.01587508e-03 9.99995436e-01 1.79882332e-04 -1.45810202e-01] [-5.93357402e-03 -1.97774982e-04 9.99982377e-01 7.97612471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062557844 meters 0.2899643379803208 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.80 [[ 9.99958157e-01 -4.81946772e-03 7.77546398e-03 2.34987800e+00] [ 4.81037378e-03 9.99987725e-01 1.18784728e-03 -1.41155011e-01] [-7.78109333e-03 -1.15039469e-03 9.99969065e-01 7.98160636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters 0.288916464873723 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.80 [[ 9.99959747e-01 -4.53830407e-03 7.74005956e-03 2.34978991e+00] [ 4.52343017e-03 9.99987891e-01 1.93810144e-03 -1.44191553e-01] [-7.74876153e-03 -1.90301181e-03 9.99968167e-01 7.98629713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters 0.2894622556612679 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.80 [[ 0.99996083 -0.00435184 0.0077069 2.34969907] [ 0.00433269 0.99998749 0.00249923 -0.1464193 ] [-0.00771768 -0.00246574 0.99996718 0.79908661] [ 0. 0. 0. 1. ]] SLAMing on 291.24255784400003 meters 0.28820061263168933 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.80 [[ 0.99996326 -0.00411731 0.00751865 2.35021791] [ 0.00409313 0.99998641 0.00322843 -0.14935712] [-0.00753184 -0.00319753 0.99996652 0.79901784] [ 0. 0. 0. 1. ]] SLAMing on 291.30255784400003 meters 0.2888290311752971 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.80 [[ 0.9999644 -0.00392953 0.00746743 2.35026326] [ 0.00390176 0.99998543 0.00372934 -0.15139569] [-0.00748197 -0.00370007 0.99996516 0.79925582] [ 0. 0. 0. 1. ]] SLAMing on 291.36255784400004 meters 0.2889361672411016 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.80 [[ 0.99996422 -0.00379042 0.0075627 2.34984497] [ 0.00375949 0.99998453 0.00410054 -0.15288715] [-0.00757812 -0.00407196 0.99996299 0.79973444] [ 0. 0. 0. 1. ]] SLAMing on 291.42255784400004 meters 0.28962035367646705 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.16, Z:0.80 [[ 0.99996663 -0.00357907 0.00734428 2.35081095] [ 0.00354463 0.99998269 0.00469731 -0.15556691] [-0.00736096 -0.00467112 0.999962 0.79893925] [ 0. 0. 0. 1. ]] SLAMing on 291.482557844 meters 0.29001443656327364 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.16, Z:0.80 [[ 0.9999686 -0.00332461 0.00719308 2.35113528] [ 0.00328553 0.99997982 0.00543735 -0.15856482] [-0.00721101 -0.00541354 0.99995935 0.79915014] [ 0. 0. 0. 1. ]] SLAMing on 291.542557844 meters 0.288330707998059 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:0.80 [[ 9.99966075e-01 1.29967863e-03 8.13387258e-03 2.32673177e+00] [-1.31673674e-03 9.99996945e-01 2.09216585e-03 -1.65141270e-01] [-8.13112858e-03 -2.10280505e-03 9.99964731e-01 8.00697620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.602557844 meters 0.28836930477463013 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:0.80 [[ 9.99965546e-01 1.49006230e-03 8.16612930e-03 2.32666420e+00] [-1.51126102e-03 9.99995503e-01 2.59037635e-03 -1.67191977e-01] [-8.16223276e-03 -2.60262826e-03 9.99963301e-01 8.00691705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.662557844 meters 0.2873306512192993 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.17, Z:0.80 [[ 9.99963922e-01 6.41669175e-03 5.56606682e-03 2.30583422e+00] [-6.41373078e-03 9.99979281e-01 -5.49655492e-04 -1.72291030e-01] [-5.56947847e-03 5.13936408e-04 9.99984358e-01 8.01062987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.722557844 meters 0.28908447382522096 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:0.80 [[ 9.99953205e-01 8.01379538e-03 5.41907466e-03 2.34310391e+00] [-8.01067603e-03 9.99967736e-01 -5.97085182e-04 -1.71494381e-01] [-5.42368473e-03 5.53646790e-04 9.99985138e-01 8.04630862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.782557844 meters 0.28894522814483403 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:0.80 [[ 9.99998647e-01 -8.81815914e-04 1.38871913e-03 2.32566427e+00] [ 8.81135753e-04 9.99999492e-01 4.90311557e-04 -1.73551831e-01] [-1.38915079e-03 -4.89087243e-04 9.99998916e-01 8.04015881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.842557844 meters 0.2884483788530797 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.17, Z:0.81 [[ 9.99992435e-01 3.52485047e-03 -1.64454339e-03 2.30235315e+00] [-3.52931915e-03 9.99990066e-01 -2.72233520e-03 -1.73457784e-01] [ 1.63493123e-03 2.72811873e-03 9.99994942e-01 8.06402162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.902557844 meters 0.29012119503609984 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:0.80 [[ 0.99998421 0.004871 0.00280263 2.34421732] [-0.00486317 0.99998427 -0.00279293 -0.17152706] [-0.00281619 0.00277926 0.99999217 0.80487531] [ 0. 0. 0. 1. ]] SLAMing on 291.962557844 meters 0.28896293459647593 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:0.81 [[ 9.99983492e-01 5.05364612e-03 2.73436166e-03 2.34408308e+00] [-5.04743822e-03 9.99984679e-01 -2.27248601e-03 -1.73601192e-01] [-2.74580411e-03 2.25864698e-03 9.99993680e-01 8.05574069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.022557844 meters 0.28942674664777124 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.17, Z:0.80 [[ 9.99984274e-01 5.03863348e-03 2.46253166e-03 2.34502523e+00] [-5.03299743e-03 9.99984713e-01 -2.28958851e-03 -1.73597088e-01] [-2.47403041e-03 2.27715859e-03 9.99994347e-01 8.04907336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.082557844 meters 0.2878829114206634 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99996516e-01 -2.43607126e-03 -1.01620494e-03 2.32348181e+00] [ 2.43646966e-03 9.99996955e-01 3.90994018e-04 -1.79381926e-01] [ 1.01524935e-03 -3.93468608e-04 9.99999407e-01 8.07448509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.142557844 meters 0.28868120513664286 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99996821e-01 -2.38948027e-03 -8.05821960e-04 2.32288540e+00] [ 2.38989378e-03 9.99997013e-01 5.12579712e-04 -1.79845236e-01] [ 8.04594754e-04 -5.14503912e-04 9.99999544e-01 8.07661057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.202557844 meters 0.2898073623500598 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.18, Z:0.81 [[ 9.99999281e-01 -8.58429227e-04 -8.36736505e-04 2.35989040e+00] [ 8.58908820e-04 9.99999467e-01 5.72979556e-04 -1.78222514e-01] [ 8.36244197e-04 -5.73697824e-04 9.99999486e-01 8.10910698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.262557844 meters 0.2892173324298582 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99990722e-01 3.85223353e-03 -1.92770986e-03 2.33621895e+00] [-3.85822998e-03 9.99987700e-01 -3.11667272e-03 -1.78628640e-01] [ 1.91568000e-03 3.12408135e-03 9.99993285e-01 8.12194968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.322557844 meters 0.2889038179846237 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99991128e-01 3.77878956e-03 -1.86156351e-03 2.33609100e+00] [-3.78493909e-03 9.99987356e-01 -3.31104793e-03 -1.77831625e-01] [ 1.84902822e-03 3.31806446e-03 9.99992786e-01 8.12115097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters 0.28859893334637327 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99991753e-01 3.68212809e-03 -1.71333630e-03 2.33564113e+00] [-3.68821074e-03 9.99986859e-01 -3.56066379e-03 -1.76802260e-01] [ 1.70020297e-03 3.56695357e-03 9.99992193e-01 8.12279553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442557844 meters 0.28856768908024893 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.18, Z:0.81 [[ 9.99992079e-01 3.67648737e-03 -1.52513077e-03 2.33496308e+00] [-3.68193682e-03 9.99986793e-01 -3.58581541e-03 -1.76669603e-01] [ 1.51192742e-03 3.59140244e-03 9.99992408e-01 8.12791743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters 0.28839696554604555 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99992128e-01 3.63567986e-03 -1.58956855e-03 2.33527123e+00] [-3.64154821e-03 9.99986507e-01 -3.70461281e-03 -1.76222479e-01] [ 1.57607831e-03 3.71037213e-03 9.99991875e-01 8.12433594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters 0.2886277569856785 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.18, Z:0.81 [[ 9.99992489e-01 3.61009419e-03 -1.41064219e-03 2.33462690e+00] [-3.61547034e-03 9.99986140e-01 -3.82735895e-03 -1.75790290e-01] [ 1.39680552e-03 3.83243033e-03 9.99991681e-01 8.12954660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters 0.2885857307325408 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99992031e-01 3.67730100e-03 -1.55428538e-03 2.33509688e+00] [-3.68291312e-03 9.99986653e-01 -3.62343870e-03 -1.76617114e-01] [ 1.54094016e-03 3.62913412e-03 9.99992227e-01 8.12631211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters 0.28832942600833333 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99991384e-01 3.78551740e-03 -1.70354384e-03 2.33557394e+00] [-3.79104887e-03 9.99987514e-01 -3.25560249e-03 -1.78104365e-01] [ 1.69119843e-03 3.26203265e-03 9.99993249e-01 8.12300364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74255784400003 meters 0.28967649173053117 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.18, Z:0.81 [[ 9.99983485e-01 -5.49419899e-03 1.68634646e-03 2.35540220e+00] [ 5.50024846e-03 9.99978379e-01 -3.60389615e-03 -1.82151939e-01] [-1.66650947e-03 3.61311196e-03 9.99992084e-01 8.12384888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80255784400003 meters 0.2887200345697421 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.19, Z:0.81 [[ 9.99993663e-01 3.54793224e-03 -2.92319832e-04 2.33465903e+00] [-3.54877254e-03 9.99989422e-01 -2.92605186e-03 -1.85029437e-01] [ 2.81935306e-04 2.92707069e-03 9.99995676e-01 8.12337679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86255784400004 meters 0.28880989693360765 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.19, Z:0.81 [[ 9.99985072e-01 -4.23933513e-03 -3.44721664e-03 2.31462268e+00] [ 4.23884175e-03 9.99991005e-01 -1.50417834e-04 -1.89949680e-01] [ 3.44782330e-03 1.35803383e-04 9.99994047e-01 8.13727740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters 0.28810746778262125 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.19, Z:0.81 [[ 9.99984942e-01 -4.15424031e-03 -3.58567810e-03 2.31496856e+00] [ 4.15453554e-03 9.99991367e-01 7.48900649e-05 -1.90884433e-01] [ 3.58533603e-03 -8.97857644e-05 9.99993569e-01 8.13722882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.982557844 meters 0.28838009800493086 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.19, Z:0.81 [[ 9.99985084e-01 -4.15376461e-03 -3.54663049e-03 2.31469813e+00] [ 4.15405798e-03 9.99991369e-01 7.53540372e-05 -1.90867585e-01] [ 3.54628688e-03 -9.00858219e-05 9.99993708e-01 8.14126480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.042557844 meters 0.289701708896953 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.19, Z:0.81 [[ 9.99994904e-01 3.19093111e-03 -1.01534696e-04 2.33570988e+00] [-3.19119127e-03 9.99991331e-01 -2.67456215e-03 -1.85940022e-01] [ 9.29994719e-05 2.67487254e-03 9.99996418e-01 8.11975614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.102557844 meters 0.28897407948360154 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99988919e-01 -3.88837663e-03 -2.65366470e-03 2.31576730e+00] [ 3.88878575e-03 9.99992428e-01 1.49031670e-04 -1.84342484e-01] [ 2.65306511e-03 -1.59349552e-04 9.99996468e-01 8.12176935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.162557844 meters 0.29018114969413583 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99987930e-01 -3.98314502e-03 -2.87658751e-03 2.31644187e+00] [ 3.98280787e-03 9.99992061e-01 -1.22924547e-04 -1.83482571e-01] [ 2.87705430e-03 1.11466168e-04 9.99995855e-01 8.11860958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.222557844 meters 0.2894662100426548 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99994908e-01 8.93375285e-05 -3.18991496e-03 2.31720741e+00] [-7.82902254e-05 9.99994000e-01 3.46315367e-03 -1.81146481e-01] [ 3.19020522e-03 -3.46288630e-03 9.99988915e-01 8.11719655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.282557844 meters 0.2911167378398389 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99996325e-01 -6.10247720e-05 -2.71055526e-03 2.31603089e+00] [ 6.93298997e-05 9.99995304e-01 3.06400670e-03 -1.79540928e-01] [ 2.71035555e-03 -3.06418336e-03 9.99991632e-01 8.11833237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.342557844 meters 0.2893185544127025 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99996598e-01 -1.10256542e-04 -2.60592923e-03 2.31576332e+00] [ 1.17898126e-04 9.99995694e-01 2.93241169e-03 -1.79000520e-01] [ 2.60559469e-03 -2.93270895e-03 9.99992305e-01 8.11851041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.402557844 meters 0.2918059036183988 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:0.81 [[ 9.99969447e-01 7.30086501e-03 -2.79327972e-03 2.33905540e+00] [-7.30020960e-03 9.99973323e-01 2.44760383e-04 -1.82037253e-01] [ 2.79499217e-03 -2.24361378e-04 9.99996069e-01 8.10422147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.462557844 meters 0.2896440287985648 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.18, Z:0.81 [[ 9.99989651e-01 -2.34645566e-03 -3.89778127e-03 2.31940123e+00] [ 2.34906065e-03 9.99997021e-01 6.63882760e-04 -1.76372741e-01] [ 3.89621188e-03 -6.73032014e-04 9.99992183e-01 8.10541945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.522557844 meters 0.2898107151401033 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.81 [[ 9.99993804e-01 -2.19930592e-03 -2.74879094e-03 2.31594380e+00] [ 2.19905024e-03 9.99997577e-01 -9.60348186e-05 -1.71654597e-01] [ 2.74899549e-03 8.99894941e-05 9.99996217e-01 8.11919122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.582557844 meters 0.28959758643819145 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.81 [[ 9.99993411e-01 -2.55068342e-03 -2.58311126e-03 2.31559017e+00] [ 2.54755159e-03 9.99996017e-01 -1.21498923e-03 -1.67206295e-01] [ 2.58620002e-03 1.20840062e-03 9.99995926e-01 8.11905365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.642557844 meters 0.29154728329548923 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.81 [[ 9.99992453e-01 -2.86515551e-03 -2.62384897e-03 2.31579553e+00] [ 2.86005744e-03 9.99994019e-01 -1.94466870e-03 -1.64196397e-01] [ 2.62940505e-03 1.93714966e-03 9.99994667e-01 8.11786841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.702557844 meters 0.29105476691318377 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.81 [[ 9.99991558e-01 3.97828710e-04 -4.08973073e-03 2.32016174e+00] [-3.96660352e-04 9.99999880e-01 2.86488172e-04 -1.58734956e-01] [ 4.08984421e-03 -2.84863520e-04 9.99991596e-01 8.10168924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.762557844 meters 0.2916454544732496 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.81 [[ 9.99990971e-01 3.47047703e-04 -4.23532326e-03 2.32055012e+00] [-3.46457656e-04 9.99999930e-01 1.40048626e-04 -1.58255826e-01] [ 4.23537157e-03 -1.38580001e-04 9.99991021e-01 8.10095481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.822557844 meters 0.29154454732124946 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.81 [[ 9.99990516e-01 3.37314778e-04 -4.34213946e-03 2.32108081e+00] [-3.36817687e-04 9.99999937e-01 1.15211409e-04 -1.58145435e-01] [ 4.34217805e-03 -1.13747807e-04 9.99990566e-01 8.09489556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters 0.29048646054537136 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99992973e-01 -5.58751917e-04 -3.70708773e-03 2.28376888e+00] [ 5.58998890e-04 9.99999842e-01 6.55861342e-05 -1.54837969e-01] [ 3.70705049e-03 -6.76579313e-05 9.99993127e-01 8.05564724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters 0.2909717409341249 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99994102e-01 -6.61296959e-04 -3.37019739e-03 2.28270188e+00] [ 6.60265697e-04 9.99999735e-01 -3.07098069e-04 -1.53232622e-01] [ 3.37039958e-03 3.04871032e-04 9.99994274e-01 8.06351728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters 0.2895777281008523 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99994903e-01 -8.16079853e-04 -3.08659667e-03 2.28182606e+00] [ 8.13410661e-04 9.99999294e-01 -8.65925330e-04 -1.50996356e-01] [ 3.08730116e-03 8.63410246e-04 9.99994862e-01 8.06992136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters 0.29056148548654614 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99993583e-01 -1.00461501e-03 -3.43880488e-03 2.28297443e+00] [ 9.99526649e-04 9.99998404e-01 -1.48108870e-03 -1.48499540e-01] [ 3.44028731e-03 1.47764202e-03 9.99992990e-01 8.06232137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters 0.2908844209554453 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99993891e-01 -9.96874025e-04 -3.35025921e-03 2.28265126e+00] [ 9.91970275e-04 9.99998435e-01 -1.46503598e-03 -1.48562013e-01] [ 3.35171442e-03 1.46170368e-03 9.99993315e-01 8.06454208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters 0.29120350528774497 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99994294e-01 -9.84946017e-04 -3.23145223e-03 2.28222402e+00] [ 9.80315788e-04 9.99998491e-01 -1.43413433e-03 -1.48688841e-01] [ 3.23285990e-03 1.43095830e-03 9.99993750e-01 8.06749386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters 0.29030472925048334 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.81 [[ 9.99994136e-01 -1.08362131e-03 -3.24873168e-03 2.28245281e+00] [ 1.07812458e-03 9.99997985e-01 -1.69323444e-03 -1.47643772e-01] [ 3.25055996e-03 1.68972197e-03 9.99993289e-01 8.06364891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters 0.29263596533658964 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.80 [[ 9.99977555e-01 -6.61320806e-03 -1.07500734e-03 2.30616478e+00] [ 6.61451558e-03 9.99977383e-01 1.21731740e-03 -1.47531834e-01] [ 1.06693265e-03 -1.22440073e-03 9.99998681e-01 8.03952724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36255784400004 meters 0.29121132152614587 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.81 [[ 9.99991972e-01 -4.00594764e-03 -8.78268840e-05 2.30193095e+00] [ 4.00617917e-03 9.99988007e-01 2.81702772e-03 -1.40551602e-01] [ 7.65409652e-05 -2.81735695e-03 9.99996028e-01 8.06408840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters 0.29233959160053935 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.81 [[ 9.99986975e-01 4.85509732e-03 1.57433454e-03 2.32083293e+00] [-4.85756148e-03 9.99986977e-01 1.56517442e-03 -1.43524402e-01] [-1.56671497e-03 -1.57280146e-03 9.99997536e-01 8.06961071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.482557844 meters 0.29209024566092995 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.81 [[ 9.99988216e-01 4.62267365e-03 1.48283100e-03 2.32128311e+00] [-4.62409779e-03 9.99988850e-01 9.58433386e-04 -1.41049449e-01] [-1.47838394e-03 -9.65278847e-04 9.99998441e-01 8.06535081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.542557844 meters 0.29090507738081145 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.81 [[ 9.99989624e-01 4.34929937e-03 1.35490254e-03 2.32187100e+00] [-4.34963198e-03 9.99990511e-01 2.42634603e-04 -1.38088113e-01] [-1.35383439e-03 -2.48525413e-04 9.99999053e-01 8.06051166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.602557844 meters 0.291540604340472 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:0.81 [[ 9.99991494e-01 3.93505567e-03 1.23564114e-03 2.32198212e+00] [-3.93380600e-03 9.99991750e-01 -1.01215947e-03 -1.32985132e-01] [-1.23961385e-03 1.00729009e-03 9.99998724e-01 8.06616224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.662557844 meters 0.2923286095899597 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.81 [[ 9.99998177e-01 -1.43117750e-03 1.26385567e-03 2.34647556e+00] [ 1.42847158e-03 9.99996691e-01 2.13931988e-03 -1.29069212e-01] [-1.26691324e-03 -2.13751060e-03 9.99996913e-01 8.05296135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.722557844 meters 0.2915620370934811 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.81 [[ 9.99997605e-01 -1.72317336e-03 1.34950766e-03 2.34624663e+00] [ 1.72134272e-03 9.99997598e-01 1.35651880e-03 -1.25870577e-01] [-1.35184193e-03 -1.35419259e-03 9.99998169e-01 8.05353266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.782557844 meters 0.2923876295249917 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.81 [[ 9.99996495e-01 -2.25981919e-03 1.37966204e-03 2.34614247e+00] [ 2.25993874e-03 9.99997443e-01 -8.50919396e-05 -1.20022738e-01] [-1.37946622e-03 8.82095930e-05 9.99999045e-01 8.05447634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.842557844 meters 0.29206861770742615 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.80 [[ 9.99995997e-01 -2.58178644e-03 1.15792213e-03 2.34705522e+00] [ 2.58298522e-03 9.99996128e-01 -1.03499460e-03 -1.16145056e-01] [-1.15524551e-03 1.03798136e-03 9.99998794e-01 8.04675546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.902557844 meters 0.29306560620387856 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.80 [[ 9.99995106e-01 -2.89888963e-03 1.17630095e-03 2.34702807e+00] [ 2.90116275e-03 9.99993919e-01 -1.93534295e-03 -1.12534722e-01] [-1.17068345e-03 1.93874612e-03 9.99997435e-01 8.04695381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.962557844 meters 0.2921254654624236 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.81 [[ 9.99998766e-01 9.96042127e-04 1.21446562e-03 2.34684423e+00] [-9.97592205e-04 9.99998688e-01 1.27640910e-03 -1.07929102e-01] [-1.21319267e-03 -1.27761907e-03 9.99998448e-01 8.05016695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.022557844 meters 0.29198342529912874 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.80 [[ 9.99999033e-01 7.52363492e-04 1.16949836e-03 2.34721086e+00] [-7.53113388e-04 9.99999511e-01 6.40903856e-04 -1.05308008e-01] [-1.16901560e-03 -6.41784001e-04 9.99999111e-01 8.04501813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.082557844 meters 0.2912366454947791 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.80 [[ 9.99999168e-01 4.67800632e-04 1.20179963e-03 2.34708117e+00] [-4.67763681e-04 9.99999890e-01 -3.10269182e-05 -1.02505225e-01] [-1.20181401e-03 3.04647341e-05 9.99999277e-01 8.04643876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.142557844 meters 0.2919377635741558 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.80 [[ 9.99999399e-01 7.74261190e-05 1.09397353e-03 2.34725180e+00] [-7.63142365e-05 9.99999481e-01 -1.01637581e-03 -9.84621599e-02] [-1.09405166e-03 1.01629172e-03 9.99998885e-01 8.04978305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.202557844 meters 0.29126350947805074 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.81 [[ 9.99996295e-01 1.58370451e-03 2.21413703e-03 2.34198086e+00] [-1.58413059e-03 9.99998727e-01 1.90695980e-04 -9.64148534e-02] [-2.21383221e-03 -1.94202756e-04 9.99997531e-01 8.08536362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.262557844 meters 0.2908718503656598 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.10, Z:0.81 [[ 0.99997756 -0.00417329 0.0052409 2.36318936] [ 0.00415671 0.99998633 0.00317116 -0.0953071 ] [-0.00525406 -0.0031493 0.99998124 0.80749216] [ 0. 0. 0. 1. ]] SLAMing on 295.322557844 meters 0.2923026363101185 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 0.99997756 -0.00423616 0.00518992 2.36336774] [ 0.00422078 0.99998668 0.00296991 -0.09450406] [-0.00520243 -0.00294794 0.99998212 0.80735711] [ 0. 0. 0. 1. ]] SLAMing on 295.382557844 meters 0.2924835874431806 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 0.99997876 -0.00427975 0.0049163 2.36429338] [ 0.0042658 0.99998685 0.00284488 -0.09397734] [-0.00492841 -0.00282385 0.99998387 0.80672151] [ 0. 0. 0. 1. ]] SLAMing on 295.442557844 meters 0.29246689872944903 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 0.9999791 -0.00431531 0.00481499 2.36461355] [ 0.00430212 0.99998697 0.00274646 -0.09356865] [-0.00482678 -0.00272569 0.99998464 0.80658221] [ 0. 0. 0. 1. ]] SLAMing on 295.502557844 meters 0.2919778291291425 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.09, Z:0.81 [[ 0.99997975 -0.00438589 0.00461209 2.36516217] [ 0.00437424 0.99998722 0.00253343 -0.09268908] [-0.00462314 -0.00251321 0.99998616 0.80650598] [ 0. 0. 0. 1. ]] SLAMing on 295.562557844 meters 0.2931975666116329 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99973520e-01 3.87480458e-03 6.16004684e-03 2.38380588e+00] [-3.88223369e-03 9.99991751e-01 1.19451603e-03 -9.77323477e-02] [-6.15536751e-03 -1.21839914e-03 9.99980313e-01 8.07639959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters 0.29015718109458655 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 9.99970519e-01 -4.87660227e-03 5.93129831e-03 2.36327666e+00] [ 4.86416585e-03 9.99985945e-01 2.10936733e-03 -9.27532679e-02] [-5.94150150e-03 -2.08045432e-03 9.99980185e-01 8.07340536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters 0.29155882207562617 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 9.99970797e-01 -4.94671190e-03 5.82532940e-03 2.36377085e+00] [ 4.93562140e-03 9.99985983e-01 1.91668019e-03 -9.19189282e-02] [-5.83472901e-03 -1.88787259e-03 9.99981196e-01 8.06837825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters 0.2911409531245073 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 9.99970417e-01 -4.95060645e-03 5.88707105e-03 2.36356016e+00] [ 4.93945732e-03 9.99985983e-01 1.90686662e-03 -9.18881753e-02] [-5.89642868e-03 -1.87773128e-03 9.99980853e-01 8.06962432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters 0.2921706423528418 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99968555e-01 4.37377322e-03 6.61507649e-03 2.38357286e+00] [-4.38458671e-03 9.99989074e-01 1.62105468e-03 -9.78034917e-02] [-6.60791409e-03 -1.65000808e-03 9.99976806e-01 8.06915644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters 0.29463466185829584 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99968928e-01 4.45441829e-03 6.50388612e-03 2.38396515e+00] [-4.46673198e-03 9.99988257e-01 1.87998593e-03 -9.88363869e-02] [-6.49543550e-03 -1.90897863e-03 9.99977082e-01 8.06561858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters 0.2925121807196969 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99966893e-01 4.45964155e-03 6.80626379e-03 2.38331703e+00] [-4.47279348e-03 9.99988157e-01 1.91833152e-03 -9.90062613e-02] [-6.79762811e-03 -1.94871102e-03 9.99974997e-01 8.06313496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.982557844 meters 0.29154207160386186 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 0.99997455 -0.00409035 0.00584483 2.36322097] [ 0.00407381 0.99998767 0.00283866 -0.0936291 ] [-0.00585637 -0.00281478 0.99997889 0.8058357 ] [ 0. 0. 0. 1. ]] SLAMing on 296.042557844 meters 0.29211990850259467 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:0.81 [[ 0.99997443 -0.00412073 0.00584441 2.36319597] [ 0.00410468 0.99998778 0.00275521 -0.0932921 ] [-0.00585569 -0.00273115 0.99997913 0.80590636] [ 0. 0. 0. 1. ]] SLAMing on 296.102557844 meters 0.293424232244454 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.80 [[ 0.99997195 0.00521134 0.00538035 2.38521798] [-0.00522425 0.9999835 0.0023893 -0.09779551] [-0.00536781 -0.00241734 0.99998267 0.80488226] [ 0. 0. 0. 1. ]] SLAMing on 296.162557844 meters 0.2927601572262761 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.80 [[ 9.99972172e-01 5.18773026e-03 5.36113106e-03 2.38529316e+00] [-5.20026711e-03 9.99983771e-01 2.32718233e-03 -9.75400669e-02] [-5.34897126e-03 -2.35499689e-03 9.99982921e-01 8.04833292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.222557844 meters 0.2929228326269486 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.81 [[ 9.99972846e-01 5.12119701e-03 5.29908069e-03 2.38535787e+00] [-5.13266958e-03 9.99984509e-01 2.15368135e-03 -9.68251368e-02] [-5.28796917e-03 -2.18082130e-03 9.99983641e-01 8.05071263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.282557844 meters 0.2928631714022522 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.81 [[ 9.99973281e-01 4.98088510e-03 5.35051749e-03 2.38505963e+00] [-4.99031685e-03 9.99986015e-01 1.75087265e-03 -9.51703397e-02] [-5.34172177e-03 -1.77752664e-03 9.99984153e-01 8.05527582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.342557844 meters 0.29137609241779816 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.81 [[ 9.99973750e-01 4.87933314e-03 5.35641625e-03 2.38491584e+00] [-4.88725041e-03 9.99986983e-01 1.46599702e-03 -9.40039721e-02] [-5.34919344e-03 -1.49213668e-03 9.99984580e-01 8.05883565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.402557844 meters 0.2902517520169666 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.09, Z:0.81 [[ 9.99982839e-01 -3.73725582e-03 4.51164412e-03 2.36567534e+00] [ 3.72690133e-03 9.99990407e-01 2.30129047e-03 -8.71482310e-02] [-4.52020135e-03 -2.28443653e-03 9.99987174e-01 8.05454726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.462557844 meters 0.29257585817618686 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:0.81 [[ 0.9999884 -0.0030415 0.00373378 2.4046914 ] [ 0.00303195 0.99999212 0.00256276 -0.08967915] [-0.00374154 -0.00255141 0.99998975 0.80870393] [ 0. 0. 0. 1. ]] SLAMing on 296.522557844 meters 0.2949790116051111 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:0.81 [[ 9.99988349e-01 -3.10600552e-03 3.69529525e-03 2.40470753e+00] [ 3.09721909e-03 9.99992369e-01 2.38108629e-03 -8.89441492e-02] [-3.70266271e-03 -2.36961341e-03 9.99990338e-01 8.08911579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.582557844 meters 0.2923445949289167 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.81 [[ 9.99989372e-01 -3.12721013e-03 3.38777376e-03 2.40560452e+00] [ 3.11940878e-03 9.99992477e-01 2.30563677e-03 -8.85863718e-02] [-3.39495848e-03 -2.29504441e-03 9.99991603e-01 8.08605677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.642557844 meters 0.2903358693718142 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.81 [[ 9.99996704e-01 2.53319919e-03 4.19121550e-04 2.38348856e+00] [-2.53277105e-03 9.99996273e-01 -1.01891364e-03 -8.57295840e-02] [-4.21701099e-04 1.01784874e-03 9.99999393e-01 8.10421108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.702557844 meters 0.29195514581804466 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:0.81 [[ 9.99986152e-01 -3.12113309e-03 4.23729399e-03 2.40514517e+00] [ 3.11261827e-03 9.99993126e-01 2.01460424e-03 -8.95849607e-02] [-4.24355271e-03 -2.00138726e-03 9.99988993e-01 8.08392992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.762557844 meters 0.29093118988590655 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.81 [[ 9.99994314e-01 3.18539455e-03 1.10715864e-03 2.38494452e+00] [-3.18474609e-03 9.99994756e-01 -5.86967548e-04 -8.96565155e-02] [-1.10902256e-03 5.83438191e-04 9.99999215e-01 8.09147727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.822557844 meters 0.29155198686835987 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.09, Z:0.81 [[ 9.99999085e-01 -9.37245704e-04 9.75037059e-04 2.38524919e+00] [ 9.41510199e-04 9.99989954e-01 -4.38244823e-03 -9.18837056e-02] [-9.70919833e-04 4.38336223e-03 9.99989922e-01 8.09069966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters 0.29106791269897403 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:0.81 [[ 9.99999063e-01 -7.33964054e-04 1.15567408e-03 2.38458713e+00] [ 7.38397070e-04 9.99992354e-01 -3.84012727e-03 -9.41522542e-02] [-1.15284673e-03 3.84097702e-03 9.99991959e-01 8.09439012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942557844 meters 0.29310002723674944 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.81 [[ 9.99999401e-01 -5.46087544e-04 9.48476871e-04 2.38507750e+00] [ 5.49259335e-04 9.99994248e-01 -3.34705409e-03 -9.61551302e-02] [-9.46643631e-04 3.34757304e-03 9.99993949e-01 8.09425401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters 0.2922591053649355 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.10, Z:0.81 [[ 9.99999494e-01 -4.60655999e-04 8.94567043e-04 2.38519607e+00] [ 4.63443186e-04 9.99995032e-01 -3.11797908e-03 -9.70804547e-02] [-8.93126283e-04 3.11839208e-03 9.99994739e-01 8.09429678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters 0.2916614558555419 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99999363e-01 -2.47054451e-04 1.10105874e-03 2.38440372e+00] [ 2.49881377e-04 9.99996671e-01 -2.56806401e-03 -9.93672552e-02] [-1.10042063e-03 2.56833751e-03 9.99996096e-01 8.09976230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters 0.29239348717737906 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99999467e-01 -7.32226612e-05 1.02975449e-03 2.38466641e+00] [ 7.53854030e-05 9.99997791e-01 -2.10036799e-03 -1.01277158e-01] [-1.02959842e-03 2.10044449e-03 9.99997264e-01 8.09736220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters 0.29124418707585986 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:0.81 [[ 9.99999474e-01 8.54691848e-05 1.02194980e-03 2.38462715e+00] [-8.37640989e-05 9.99998605e-01 -1.66838985e-03 -1.03033622e-01] [-1.02209097e-03 1.66830337e-03 9.99998086e-01 8.09821428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters 0.29124632009738505 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:0.81 [[ 9.99974421e-01 -4.98791192e-03 5.12630170e-03 2.40397892e+00] [ 4.97605446e-03 9.99984921e-01 2.32322036e-03 -1.07828186e-01] [-5.13781242e-03 -2.29765218e-03 9.99984162e-01 8.09326665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters 0.2916680074818174 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:0.81 [[ 0.9999755 -0.00482595 0.00507009 2.40432147] [ 0.004812 0.99998461 0.00276102 -0.10964017] [-0.00508333 -0.00273656 0.99998334 0.80884688] [ 0. 0. 0. 1. ]] SLAMing on 297.36255784400004 meters 0.2905510188963977 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:0.81 [[ 9.99992574e-01 7.89865709e-04 3.77188064e-03 2.38139805e+00] [-7.87945447e-04 9.99999559e-01 -5.10558079e-04 -1.11270464e-01] [-3.77228225e-03 5.07582251e-04 9.99992756e-01 8.09748982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters 0.29157293535163437 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:0.81 [[ 9.99991533e-01 1.17604964e-03 3.94350546e-03 2.38080912e+00] [-1.17848156e-03 9.99999117e-01 6.14422235e-04 -1.15774761e-01] [-3.94277939e-03 -6.19064381e-04 9.99992036e-01 8.09964445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.482557844 meters 0.29081117129929696 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:0.81 [[ 9.99991877e-01 1.43010936e-03 3.76849384e-03 2.38141198e+00] [-1.43496485e-03 9.99998143e-01 1.28605486e-03 -1.18584058e-01] [-3.76664765e-03 -1.29145207e-03 9.99992072e-01 8.09508971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.542557844 meters 0.29193213114847605 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.12, Z:0.81 [[ 9.99998521e-01 1.43072099e-03 9.54572659e-04 2.42433573e+00] [-1.43189506e-03 9.99998218e-01 1.23039917e-03 -1.24276678e-01] [-9.52810600e-04 -1.23176420e-03 9.99998787e-01 8.11128151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.602557844 meters 0.29088146063968695 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.13, Z:0.81 [[ 9.99998126e-01 1.51872710e-03 1.20065308e-03 2.42336307e+00] [-1.52046995e-03 9.99997790e-01 1.45200619e-03 -1.25212200e-01] [-1.19844523e-03 -1.45382903e-03 9.99998225e-01 8.11942150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.662557844 meters 0.2887489710954884 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99988247e-01 -4.84638360e-03 -1.36458884e-04 2.40013608e+00] [ 4.84695242e-03 9.99977979e-01 4.53310504e-03 -1.23096970e-01] [ 1.14486713e-04 -4.53371317e-03 9.99989716e-01 8.14009766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.722557844 meters 0.2897621169994984 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99988058e-01 -4.87870033e-03 -2.85357221e-04 2.40069620e+00] [ 4.87991891e-03 9.99978245e-01 4.43809680e-03 -1.22690097e-01] [ 2.63698869e-04 -4.43943632e-03 9.99990111e-01 8.13559435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.782557844 meters 0.28956321625108306 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99987762e-01 -4.93784273e-03 -3.06631110e-04 2.40102845e+00] [ 4.93911012e-03 9.99978643e-01 4.28004909e-03 -1.22036690e-01] [ 2.85490352e-04 -4.28151120e-03 9.99990794e-01 8.12911701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.842557844 meters 0.29145305443535885 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99987141e-01 -5.05731427e-03 -3.76493554e-04 2.40117894e+00] [ 5.05876215e-03 9.99979405e-01 3.94956619e-03 -1.20685620e-01] [ 3.56511602e-04 -3.95141999e-03 9.99992130e-01 8.12991026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.902557844 meters 0.28970842622426274 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99986186e-01 -5.22655427e-03 -5.56725881e-04 2.40177218e+00] [ 5.22843503e-03 9.99980442e-01 3.43214660e-03 -1.18604770e-01] [ 5.38776692e-04 -3.43500999e-03 9.99993955e-01 8.12679539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.962557844 meters 0.2901233417156449 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.12, Z:0.81 [[ 9.99985609e-01 -5.33139116e-03 -5.97741090e-04 2.40196716e+00] [ 5.33324893e-03 9.99980815e-01 3.15072086e-03 -1.17445665e-01] [ 5.80931897e-04 -3.15386342e-03 9.99994858e-01 8.12493136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.022557844 meters 0.28950112251504684 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:0.81 [[ 9.99984349e-01 -5.56763083e-03 -5.51440624e-04 2.40182278e+00] [ 5.56901351e-03 9.99981271e-01 2.53842786e-03 -1.14927018e-01] [ 5.37297267e-04 -2.54145911e-03 9.99996626e-01 8.12570319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.082557844 meters 0.29222305014389766 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99994047e-01 2.84540861e-03 1.95170462e-03 2.42065320e+00] [-2.84694740e-03 9.99995638e-01 7.86105213e-04 -1.14587998e-01] [-1.94945932e-03 -7.91656934e-04 9.99997786e-01 8.12730081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.142557844 meters 0.28958733126707714 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99994260e-01 2.72467643e-03 2.01421532e-03 2.42053301e+00] [-2.72562890e-03 9.99996175e-01 4.70277251e-04 -1.13294944e-01] [-2.01292626e-03 -4.75764555e-04 9.99997861e-01 8.12687714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.202557844 meters 0.2897746074186724 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99994661e-01 2.60886879e-03 1.96780016e-03 2.42083643e+00] [-2.60925038e-03 9.99996578e-01 1.91374447e-04 -1.12127752e-01] [-1.96729415e-03 -1.96507908e-04 9.99998046e-01 8.12333353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.262557844 meters 0.2893078923437058 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99994898e-01 2.45780798e-03 2.04041624e-03 2.42061799e+00] [-2.45739183e-03 9.99996959e-01 -2.06436284e-04 -1.10489069e-01] [-2.04091742e-03 2.01421129e-04 9.99997897e-01 8.12464031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.322557844 meters 0.28980603801050203 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99995087e-01 2.34663545e-03 2.07835725e-03 2.42060775e+00] [-2.34559258e-03 9.99997122e-01 -5.04073708e-04 -1.09267052e-01] [-2.07953415e-03 4.99196252e-04 9.99997713e-01 8.12307374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters 0.28929569235814256 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.81 [[ 9.99980316e-01 -4.40343687e-03 4.46963146e-03 2.44241095e+00] [ 4.39555197e-03 9.99988769e-01 1.77239841e-03 -1.09850280e-01] [-4.47738591e-03 -1.75271702e-03 9.99988440e-01 8.10956787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters 0.2890798514374023 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.81 [[ 9.99980684e-01 -4.28541543e-03 4.50188966e-03 2.44233864e+00] [ 4.27595283e-03 9.99988633e-01 2.10944273e-03 -1.11220041e-01] [-4.51087832e-03 -2.09015212e-03 9.99987642e-01 8.10901467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters 0.2868831339941697 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.11, Z:0.81 [[ 9.99985693e-01 3.78324719e-03 3.78161433e-03 2.42231100e+00] [-3.78700950e-03 9.99992341e-01 9.88229594e-04 -1.14861453e-01] [-3.77784665e-03 -1.00253646e-03 9.99992361e-01 8.09649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters 0.28842392801749994 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.81 [[ 9.99976759e-01 -4.74521658e-03 4.89535381e-03 2.44264970e+00] [ 4.73632783e-03 9.99987117e-01 1.82575076e-03 -1.12855262e-01] [-4.90395432e-03 -1.80252233e-03 9.99986351e-01 8.10118985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters 0.28813656105350005 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.81 [[ 9.99977196e-01 -4.82135005e-03 4.72885052e-03 2.44315657e+00] [ 4.81391997e-03 9.99987163e-01 1.58134957e-03 -1.11878873e-01] [-4.73641405e-03 -1.55854920e-03 9.99987569e-01 8.09877772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68255784400003 meters 0.2880245715456483 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.11, Z:0.81 [[ 9.99979268e-01 -4.97534630e-03 4.08775170e-03 2.44490965e+00] [ 4.97167165e-03 9.99987228e-01 9.08611103e-04 -1.09274456e-01] [-4.09222014e-03 -8.88269306e-04 9.99991232e-01 8.09245458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters 0.28894212764633165 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.11, Z:0.81 [[ 9.99978292e-01 -5.20632087e-03 4.03865555e-03 2.44509422e+00] [ 5.20552007e-03 9.99986429e-01 2.08769390e-04 -1.06474321e-01] [-4.03968767e-03 -1.87741555e-04 9.99991823e-01 8.09153399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80255784400003 meters 0.2881275342521123 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.10, Z:0.81 [[ 9.99993784e-01 3.16806567e-03 1.54798028e-03 2.42459375e+00] [-3.16667150e-03 9.99994579e-01 -9.02258638e-04 -1.02322549e-01] [-1.55083030e-03 8.97351084e-04 9.99998395e-01 8.08838965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters 0.28704076516600213 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.10, Z:0.81 [[ 9.99995318e-01 2.71704696e-03 1.40768236e-03 2.42502479e+00] [-2.71428379e-03 9.99994393e-01 -1.96113040e-03 -9.79370213e-02] [-1.41300295e-03 1.95730037e-03 9.99997086e-01 8.08830822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters 0.2878729319988467 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.10, Z:0.81 [[ 9.99995913e-01 2.51253729e-03 1.36441370e-03 2.42498699e+00] [-2.50919138e-03 9.99993854e-01 -2.44846976e-03 -9.59285595e-02] [-1.37055718e-03 2.44503617e-03 9.99996072e-01 8.09210988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.982557844 meters 0.2898021038552208 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.81 [[ 9.99982649e-01 -5.01994325e-03 3.08252480e-03 2.44356888e+00] [ 5.02328505e-03 9.99986803e-01 -1.07732808e-03 -8.95793316e-02] [-3.07707600e-03 1.09279378e-03 9.99994669e-01 8.11245427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.042557844 meters 0.2893527808856149 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.09, Z:0.81 [[ 9.99981268e-01 -5.24839819e-03 3.14928805e-03 2.44342275e+00] [ 5.25366769e-03 9.99984809e-01 -1.66730453e-03 -8.71914256e-02] [-3.14048953e-03 1.68381861e-03 9.99993651e-01 8.11278364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.102557844 meters 0.28762130158085114 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:0.81 [[ 9.99989250e-01 4.14594240e-03 2.07652497e-03 2.42103685e+00] [-4.14192378e-03 9.99989548e-01 -1.93584270e-03 -8.58024744e-02] [-2.08452916e-03 1.92722108e-03 9.99995970e-01 8.12036572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.162557844 meters 0.288680527616787 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.08, Z:0.81 [[ 9.99988280e-01 -4.48435293e-03 1.82476858e-03 2.44277952e+00] [ 4.48697396e-03 9.99988904e-01 -1.43480810e-03 -8.15424306e-02] [-1.81831414e-03 1.44297897e-03 9.99997306e-01 8.12915807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.222557844 meters 0.2883210217531989 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.08, Z:0.82 [[ 9.99992202e-01 -2.56861850e-03 2.99983409e-03 2.43735042e+00] [ 2.56804910e-03 9.99996684e-01 1.93645279e-04 -8.00544128e-02] [-3.00032154e-03 -1.85940047e-04 9.99995482e-01 8.16197391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.282557844 meters 0.29009809912950274 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.08, Z:0.82 [[ 9.99960201e-01 6.57506857e-03 6.03038785e-03 2.45567541e+00] [-6.56937717e-03 9.99977958e-01 -9.63110008e-04 -7.61593664e-02] [-6.03658744e-03 9.23455785e-04 9.99981353e-01 8.17061497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.342557844 meters 0.2883888551624901 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.07, Z:0.82 [[ 9.99961981e-01 6.31567468e-03 6.01240055e-03 2.45569867e+00] [-6.30416998e-03 9.99978265e-01 -1.93052780e-03 -7.24484688e-02] [-6.02446245e-03 1.89255121e-03 9.99980062e-01 8.17212022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.402557844 meters 0.28649564454209964 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:0.82 [[ 9.99990206e-01 -9.88774262e-04 4.31386743e-03 2.43749058e+00] [ 9.91564056e-04 9.99999301e-01 -6.44612811e-04 -6.17364776e-02] [-4.31322704e-03 6.48883973e-04 9.99990487e-01 8.16138130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.462557844 meters 0.2884650091562574 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:0.82 [[ 9.99990157e-01 -1.57293746e-03 4.14868876e-03 2.43792963e+00] [ 1.58372252e-03 9.99995372e-01 -2.59762804e-03 -5.41838266e-02] [-4.14458365e-03 2.60417284e-03 9.99988020e-01 8.16247696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.522557844 meters 0.28821910456725014 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:0.82 [[ 9.99988079e-01 2.45815427e-03 4.21882167e-03 2.43783501e+00] [-2.46173358e-03 9.99996614e-01 8.43432205e-04 -5.07163475e-02] [-4.21673410e-03 -8.53807766e-04 9.99990745e-01 8.16164556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.582557844 meters 0.28812657117697954 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:0.82 [[ 9.99990763e-01 -3.87087140e-03 1.86802404e-03 2.41552528e+00] [ 3.86481551e-03 9.99987300e-01 3.23466333e-03 -4.63298043e-02] [-1.88052129e-03 -3.22741388e-03 9.99993024e-01 8.17823786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.642557844 meters 0.2864252078896917 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:0.82 [[ 9.99987897e-01 4.66874406e-03 -1.55170304e-03 2.39622872e+00] [-4.66558623e-03 9.99987051e-01 2.03250154e-03 -4.13254194e-02] [ 1.56117218e-03 -2.02523734e-03 9.99996731e-01 8.17967792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.702557844 meters 0.2876009099796085 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.04, Z:0.82 [[ 9.99999225e-01 -1.19345389e-03 3.53773713e-04 2.41862552e+00] [ 1.19168130e-03 9.99986944e-01 4.96906892e-03 -3.73008143e-02] [-3.59699449e-04 -4.96864349e-03 9.99987592e-01 8.17047638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.762557844 meters 0.2895436464747059 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:0.82 [[ 9.99981591e-01 4.85990902e-03 3.63312404e-03 2.44031600e+00] [-4.86590564e-03 9.99986811e-01 1.64352551e-03 -3.14265070e-02] [-3.62508873e-03 -1.66117369e-03 9.99992050e-01 8.15421865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.822557844 meters 0.2875689794850911 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.02, Z:0.82 [[ 9.99996625e-01 -7.89137842e-04 2.47535987e-03 2.41666802e+00] [ 7.79554501e-04 9.99992207e-01 3.87007235e-03 -2.14959847e-02] [-2.47839460e-03 -3.86812961e-03 9.99989448e-01 8.17220468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.882557844 meters 0.2882430111823867 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.02, Z:0.82 [[ 9.99996619e-01 -9.63553860e-04 2.41519757e-03 2.41678418e+00] [ 9.55323659e-04 9.99993741e-01 3.40651204e-03 -1.95980884e-02] [-2.41846481e-03 -3.40419323e-03 9.99991281e-01 8.17336286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters 0.2877300759991215 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.02, Z:0.82 [[ 9.99996621e-01 -1.20011315e-03 2.30586039e-03 2.41700178e+00] [ 1.19365158e-03 9.99995363e-01 2.80157340e-03 -1.71163224e-02] [-2.30921191e-03 -2.79881154e-03 9.99993417e-01 8.17532284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters 0.2884938300976001 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.02, Z:0.82 [[ 9.99996698e-01 -1.35772034e-03 2.18196592e-03 2.41745147e+00] [ 1.35257330e-03 9.99996304e-01 2.35864643e-03 -1.53235413e-02] [-2.18516023e-03 -2.35568738e-03 9.99994838e-01 8.17202030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters 0.2892113985444409 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.82 [[ 9.99996307e-01 -1.42909097e-03 2.31154233e-03 2.41702008e+00] [ 1.42408649e-03 9.99996642e-01 2.16519134e-03 -1.45603726e-02] [-2.31462882e-03 -2.16189151e-03 9.99994984e-01 8.17485151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters 0.28872723898709324 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.82 [[ 9.99996154e-01 -1.51539807e-03 2.32269531e-03 2.41689681e+00] [ 1.51091261e-03 9.99996993e-01 1.93168461e-03 -1.36186805e-02] [-2.32561560e-03 -1.92816779e-03 9.99995437e-01 8.17736011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters 0.2907653573811472 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:0.82 [[ 9.99995598e-01 -1.76647890e-03 2.38382744e-03 2.41649191e+00] [ 1.76353620e-03 9.99997681e-01 1.23598109e-03 -1.07702860e-02] [-2.38600525e-03 -1.23177168e-03 9.99996395e-01 8.18342843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters 0.28802556106623534 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:0.82 [[ 9.99973331e-01 7.27248851e-03 6.68817493e-04 2.39533928e+00] [-7.27268522e-03 9.99973511e-01 2.92149373e-04 -8.33247347e-03] [-6.66675123e-04 -2.97005681e-04 9.99999734e-01 8.18510517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters 0.2885211815923384 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:0.82 [[ 9.99974677e-01 7.09417504e-03 5.63936058e-04 2.39563586e+00] [-7.09406466e-03 9.99974817e-01 -1.97481862e-04 -6.33184995e-03] [-5.65322827e-04 1.93476263e-04 9.99999821e-01 8.18500700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36255784400004 meters 0.2890388934946331 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.00, Z:0.82 [[ 9.99996028e-01 -7.94182091e-04 2.70429638e-03 2.41354909e+00] [ 7.90879501e-04 9.99998941e-01 1.22208853e-03 -1.44215668e-03] [-2.70526407e-03 -1.21994490e-03 9.99995597e-01 8.20871469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42255784400004 meters 0.29033852299110285 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.00, Z:0.82 [[ 9.99996346e-01 -7.58972212e-04 2.59460238e-03 2.41391664e+00] [ 7.55534501e-04 9.99998836e-01 1.32567076e-03 -1.84515493e-03] [-2.59560551e-03 -1.32370560e-03 9.99995755e-01 8.20598219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.482557844 meters 0.2880918457095307 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.00, Z:0.82 [[ 9.99998445e-01 -7.69846735e-04 1.58657727e-03 2.41664878e+00] [ 7.67181504e-04 9.99998295e-01 1.67978641e-03 -3.60646709e-03] [-1.58786774e-03 -1.67856660e-03 9.99997331e-01 8.19140499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.542557844 meters 0.2876870898452817 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998738e-01 -5.54384932e-04 1.48904045e-03 2.37940878e+00] [ 5.51105049e-04 9.99997423e-01 2.20219021e-03 -5.95829966e-03] [-1.49025747e-03 -2.20136682e-03 9.99996467e-01 8.15891086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.602557844 meters 0.28948769814552106 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998913e-01 -3.47359657e-04 1.43315387e-03 2.37969015e+00] [ 3.43353417e-04 9.99996036e-01 2.79470030e-03 -8.34546084e-03] [-1.43411896e-03 -2.79420518e-03 9.99995068e-01 8.15481006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.662557844 meters 0.2904880232762819 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:0.81 [[ 9.99983690e-01 4.86414223e-03 2.99344950e-03 2.40167383e+00] [-4.86209748e-03 9.99987942e-01 -6.89974423e-04 -1.35451752e-02] [-2.99676954e-03 6.75408726e-04 9.99995282e-01 8.14901771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.722557844 meters 0.28741224294844653 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99988906e-01 -4.07583389e-03 2.36131670e-03 2.38079146e+00] [ 4.07527247e-03 9.99991667e-01 2.42521621e-04 -1.13804875e-02] [-2.36228550e-03 -2.32895921e-04 9.99997183e-01 8.15616744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.782557844 meters 0.2886424045692824 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99989694e-01 -4.05704027e-03 2.03785642e-03 2.38161634e+00] [ 4.05646459e-03 9.99991731e-01 2.86547330e-04 -1.15588459e-02] [-2.03900211e-03 -2.78277884e-04 9.99997883e-01 8.15494427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.842557844 meters 0.2881452874182795 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99989531e-01 -4.05828189e-03 2.11378395e-03 2.38132549e+00] [ 4.05767033e-03 9.99991725e-01 2.93529508e-04 -1.15782958e-02] [-2.11495768e-03 -2.84949397e-04 9.99997723e-01 8.15794509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.902557844 meters 0.2884219067230801 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99988028e-01 -4.13734963e-03 2.61271083e-03 2.37988456e+00] [ 4.13737704e-03 9.99991441e-01 -5.08799113e-06 -1.04717201e-02] [-2.61266742e-03 1.58977000e-05 9.99996587e-01 8.16588270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.962557844 meters 0.2885122207710018 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99987598e-01 -4.19019609e-03 2.69170201e-03 2.37963991e+00] [ 4.19059727e-03 9.99991209e-01 -1.43419532e-04 -9.91222074e-03] [-2.69107739e-03 1.54697592e-04 9.99996367e-01 8.16708019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.022557844 meters 0.28835250974972326 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99987106e-01 -4.19233349e-03 2.86576674e-03 2.37911758e+00] [ 4.19275761e-03 9.99991200e-01 -1.42002442e-04 -9.93076768e-03] [-2.86514620e-03 1.54016076e-04 9.99995884e-01 8.16897886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.082557844 meters 0.28849558035996004 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:0.82 [[ 9.99983611e-01 4.89136446e-03 2.97515645e-03 2.40071453e+00] [-4.89050826e-03 9.99987998e-01 -2.94991369e-04 -1.54682413e-02] [-2.97656366e-03 2.80436507e-04 9.99995531e-01 8.16579660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.142557844 meters 0.28724066647347557 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99990878e-01 -3.65330669e-03 2.21300369e-03 2.37954470e+00] [ 3.65203696e-03 9.99993165e-01 5.77528784e-04 -1.30267727e-02] [-2.21509845e-03 -5.69441545e-04 9.99997385e-01 8.16404579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.202557844 meters 0.2880627117378066 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.82 [[ 9.99975976e-01 3.87106143e-03 5.74993579e-03 2.39485958e+00] [-3.86702864e-03 9.99992269e-01 -7.12315615e-04 -2.02296324e-02] [-5.75264876e-03 6.90063336e-04 9.99983215e-01 8.18910982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.262557844 meters 0.2871457166238966 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:0.82 [[ 9.99990954e-01 -2.99867528e-03 3.01649915e-03 2.37480879e+00] [ 2.99321841e-03 9.99993879e-01 1.81189748e-03 -2.01852128e-02] [-3.02191397e-03 -1.80285205e-03 9.99993809e-01 8.19602924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.322557844 meters 0.288932497879053 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:0.82 [[ 9.99990921e-01 2.93611611e-03 3.08824059e-03 2.39982905e+00] [-2.93276098e-03 9.99995105e-01 -1.09038826e-03 -2.41355396e-02] [-3.09142698e-03 1.08132129e-03 9.99994637e-01 8.17386188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters 0.28842575471807685 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:0.82 [[ 9.99991488e-01 2.92356813e-03 2.91158322e-03 2.40039195e+00] [-2.92028778e-03 9.99995097e-01 -1.13026841e-03 -2.39475956e-02] [-2.91487336e-03 1.12175613e-03 9.99995123e-01 8.17125522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters 0.28992200971319787 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:0.82 [[ 9.99992111e-01 2.84744346e-03 2.76949120e-03 2.40097807e+00] [-2.84376672e-03 9.99995071e-01 -1.33062036e-03 -2.30694801e-02] [-2.77326641e-03 1.32273408e-03 9.99995280e-01 8.16657137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters 0.2881243152663808 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99996401e-01 -2.63887623e-03 4.84789990e-04 2.37924965e+00] [ 2.63776454e-03 9.99993923e-01 2.27962662e-03 -2.23222030e-02] [-4.90802696e-04 -2.27833965e-03 9.99997284e-01 8.17431423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters 0.2884254198566631 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99996275e-01 -2.63432755e-03 7.14279069e-04 2.37857553e+00] [ 2.63267553e-03 9.99993880e-01 2.30400988e-03 -2.24517791e-02] [-7.20344214e-04 -2.30212084e-03 9.99997091e-01 8.17686753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters 0.28819109200391335 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99996219e-01 -2.68497748e-03 5.94574334e-04 2.37895348e+00] [ 2.68368637e-03 9.99994062e-01 2.16174152e-03 -2.18583471e-02] [-6.00375031e-04 -2.16013770e-03 9.99997487e-01 8.17526513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters 0.28919409131146445 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99995930e-01 -2.83913549e-03 2.80280400e-04 2.37995741e+00] [ 2.83865163e-03 9.99994506e-01 1.71190711e-03 -1.99362478e-02] [-2.85139197e-04 -1.71110452e-03 9.99998495e-01 8.17051876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters 0.28854181527365486 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99994767e-01 -3.15131695e-03 7.31792352e-04 2.37852170e+00] [ 3.15091770e-03 9.99994887e-01 5.46092549e-04 -1.53813503e-02] [-7.33509521e-04 -5.43783873e-04 9.99999583e-01 8.18020191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters 0.28915677702485676 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99994350e-01 -3.28359099e-03 7.20381409e-04 2.37852774e+00] [ 3.28346004e-03 9.99994593e-01 1.82892912e-04 -1.38976018e-02] [-7.20978060e-04 -1.80526535e-04 9.99999724e-01 8.18091914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters 0.2880011014222031 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.82 [[ 9.99983663e-01 5.68799592e-03 -5.65872538e-04 2.35694223e+00] [-5.68855432e-03 9.99983330e-01 -9.90136029e-04 -1.10402242e-02] [ 5.60231215e-04 9.93338850e-04 9.99999350e-01 8.18493726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92255784400004 meters 0.2906033489336533 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.82 [[ 9.99984461e-01 5.51234208e-03 -8.32241224e-04 2.35779199e+00] [-5.51356465e-03 9.99983714e-01 -1.47393809e-03 -9.00722455e-03] [ 8.24102819e-04 1.47850380e-03 9.99998567e-01 8.18013868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.982557844 meters 0.28902757904193616 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.82 [[ 9.99985211e-01 5.37147641e-03 -8.51075053e-04 2.35779038e+00] [-5.37303090e-03 9.99983882e-01 -1.83486586e-03 -7.51429360e-03] [ 8.41205396e-04 1.83941158e-03 9.99997954e-01 8.18174702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.042557844 meters 0.28795544795991596 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.00, Z:0.82 [[ 9.99999117e-01 -6.00647944e-04 -1.18504426e-03 2.33333873e+00] [ 6.01798738e-04 9.99999348e-01 9.70980997e-04 -3.34490985e-03] [ 1.18446027e-03 -9.71693298e-04 9.99998826e-01 8.20241387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.102557844 meters 0.2889057052867943 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:0.82 [[ 9.99983875e-01 5.02414252e-03 2.64718261e-03 2.35395464e+00] [-5.01809206e-03 9.99984793e-01 -2.28732710e-03 2.05127970e-04] [-2.65863421e-03 2.27400641e-03 9.99993880e-01 8.19125133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.162557844 meters 0.2868686861975507 Centerline is valid? [False, False] Translation: X:2.33, Y:0.00, Z:0.82 [[ 9.99998930e-01 -8.60715397e-04 1.18292884e-03 2.33070999e+00] [ 8.59877883e-04 9.99999379e-01 7.08326974e-04 2.34623035e-03] [-1.18353777e-03 -7.07309042e-04 9.99999049e-01 8.20961281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.222557844 meters 0.2892422994700919 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:0.82 [[ 9.99982313e-01 4.61209364e-03 3.75534947e-03 2.35351683e+00] [-4.60295569e-03 9.99986434e-01 -2.43833561e-03 1.99958494e-03] [-3.76654436e-03 2.42100678e-03 9.99989976e-01 8.18960196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.282557844 meters 0.28814342779537283 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:0.82 [[ 9.99981916e-01 4.75744259e-03 3.67878872e-03 2.35377249e+00] [-4.75015881e-03 9.99986746e-01 -1.98614807e-03 1.88768041e-04] [-3.68818894e-03 1.96863733e-03 9.99991261e-01 8.18766050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.342557844 meters 0.28818737316728826 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.00, Z:0.82 [[ 9.99981607e-01 4.87988986e-03 3.60165625e-03 2.35400051e+00] [-4.87390838e-03 9.99986732e-01 -1.66767135e-03 -1.12574602e-03] [-3.60974652e-03 1.65008653e-03 9.99992123e-01 8.18652953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.402557844 meters 0.28918719721752806 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.82 [[ 9.99973423e-01 -3.87626806e-03 6.17471617e-03 2.37379156e+00] [ 3.88133560e-03 9.99992140e-01 -8.08920723e-04 -2.43310812e-03] [-6.17153204e-03 8.32865371e-04 9.99980609e-01 8.19464954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.462557844 meters 0.2888372885009737 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.00, Z:0.82 [[ 9.99993574e-01 1.80496140e-03 3.09738222e-03 2.35269936e+00] [-1.79194406e-03 9.99989573e-01 -4.20033255e-03 -2.58425717e-03] [-3.10493136e-03 4.19475523e-03 9.99986382e-01 8.20615648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.522557844 meters 0.2893734041799563 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99975230e-01 -5.34782887e-03 4.57600851e-03 2.37602727e+00] [ 5.35414207e-03 9.99984730e-01 -1.36849328e-03 -6.01489726e-03] [-4.56862017e-03 1.39295998e-03 9.99988594e-01 8.18681682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.582557844 meters 0.2881119585987218 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.82 [[ 9.99989288e-01 3.11893201e-03 3.41982266e-03 2.35653603e+00] [-3.11106331e-03 9.99992507e-01 -2.30381929e-03 -1.14289385e-02] [-3.42698249e-03 2.29315532e-03 9.99991499e-01 8.17330191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.642557844 meters 0.2898337860216619 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 0.99995119 -0.00720615 0.00675916 2.37574201] [ 0.00722282 0.99997092 -0.00244593 -0.01910643] [-0.00674134 0.00249463 0.99997417 0.81696449] [ 0. 0. 0. 1. ]] SLAMing on 302.702557844 meters 0.2903679269248385 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.82 [[ 9.99952736e-01 -6.85861860e-03 6.89090368e-03 2.37548931e+00] [ 6.86905967e-03 9.99975294e-01 -1.49267238e-03 -2.30298419e-02] [-6.88049576e-03 1.53993586e-03 9.99975143e-01 8.16661045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.762557844 meters 0.2891718771718399 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.81 [[ 9.99982516e-01 1.31134543e-03 5.76615189e-03 2.35657917e+00] [-1.29897849e-03 9.99996849e-01 -2.14796980e-03 -3.24143061e-02] [-5.76895045e-03 2.14044214e-03 9.99981069e-01 8.14441260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.822557844 meters 0.29090941178802293 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.81 [[ 9.99981051e-01 2.10648198e-03 5.78451483e-03 2.35634589e+00] [-2.10624091e-03 9.99997781e-01 -4.77674668e-05 -4.14878045e-02] [-5.78460261e-03 3.55829799e-05 9.99983268e-01 8.14673854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters 0.2912069056535104 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.81 [[ 9.99980045e-01 2.56126832e-03 5.77482379e-03 2.35635952e+00] [-2.56748504e-03 9.99996132e-01 1.06936422e-03 -4.60874070e-02] [-5.77206252e-03 -1.08416966e-03 9.99982754e-01 8.14587881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942557844 meters 0.2893782201236426 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:0.81 [[ 0.99997721 -0.00577952 0.00348857 2.33686132] [ 0.00576968 0.99997937 0.00282359 -0.04849003] [-0.00350482 -0.00280339 0.99998993 0.81419227] [ 0. 0. 0. 1. ]] SLAMing on 303.002557844 meters 0.28932518187978107 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:0.81 [[ 0.99997808 -0.00562584 0.0034905 2.3366247 ] [ 0.00561447 0.99997893 0.0032595 -0.05027263] [-0.00350877 -0.00323983 0.9999886 0.81472181] [ 0. 0. 0. 1. ]] SLAMing on 303.062557844 meters 0.2885590117468408 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:0.82 [[ 0.99997822 -0.00551917 0.00361798 2.33617885] [ 0.00550625 0.99997846 0.00357164 -0.05154939] [-0.00363762 -0.00355164 0.99998708 0.8150212 ] [ 0. 0. 0. 1. ]] SLAMing on 303.122557844 meters 0.2885166862634689 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:0.81 [[ 0.99999002 0.00288629 0.00340975 2.31567375] [-0.00289517 0.99999242 0.00260284 -0.05552515] [-0.00340222 -0.00261269 0.9999908 0.81343353] [ 0. 0. 0. 1. ]] SLAMing on 303.18255784400003 meters 0.2897688924562494 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.82 [[ 9.99998123e-01 1.59294560e-03 1.10340011e-03 2.35725578e+00] [-1.59517642e-03 9.99996680e-01 2.02385201e-03 -5.99960504e-02] [-1.10017256e-03 -2.02560833e-03 9.99997343e-01 8.15993560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters 0.2932672662567789 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.82 [[ 9.99998044e-01 1.60304654e-03 1.15854317e-03 2.35714324e+00] [-1.60542139e-03 9.99996606e-01 2.05184416e-03 -6.01141551e-02] [-1.15525003e-03 -2.05370010e-03 9.99997224e-01 8.15922891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters 0.28854274943633607 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.82 [[ 9.99998417e-01 1.46121362e-03 1.01520170e-03 2.35756073e+00] [-1.46285295e-03 9.99997624e-01 1.61592618e-03 -5.83504334e-02] [-1.01283807e-03 -1.61740871e-03 9.99998179e-01 8.15796985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36255784400004 meters 0.28820549075542684 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:0.82 [[ 9.99998799e-01 1.29999047e-03 8.43365291e-04 2.35796477e+00] [-1.30089299e-03 9.99998581e-01 1.07047549e-03 -5.61878311e-02] [-8.41972487e-04 -1.07157134e-03 9.99999071e-01 8.15891209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters 0.2882148222417038 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.82 [[ 9.99999016e-01 1.08033497e-03 8.95043583e-04 2.35771462e+00] [-1.08059991e-03 9.99999372e-01 2.95581400e-04 -5.31682993e-02] [-8.94723695e-04 -2.96548293e-04 9.99999556e-01 8.16330188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.482557844 meters 0.2899842410984082 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.82 [[ 9.99999338e-01 8.90614400e-04 7.28547266e-04 2.35830991e+00] [-8.90434618e-04 9.99999573e-01 -2.47054126e-04 -5.09252321e-02] [-7.28766985e-04 2.46405238e-04 9.99999704e-01 8.15989528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.542557844 meters 0.2896984874736477 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.82 [[ 9.99999557e-01 6.98407043e-04 6.31422444e-04 2.35869255e+00] [-6.97935620e-04 9.99999478e-01 -7.46517475e-04 -4.88353231e-02] [-6.31943488e-04 7.46076452e-04 9.99999522e-01 8.15756624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.602557844 meters 0.28894845899121363 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.82 [[ 9.99999593e-01 4.37052328e-04 7.89266965e-04 2.35833279e+00] [-4.35893501e-04 9.99998828e-01 -1.46780777e-03 -4.58921149e-02] [-7.89907548e-04 1.46746314e-03 9.99998611e-01 8.15668770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.662557844 meters 0.29030855858359145 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.82 [[ 9.99999566e-01 3.33281786e-04 8.70339077e-04 2.35807003e+00] [-3.31768041e-04 9.99998433e-01 -1.73882459e-03 -4.47759053e-02] [-8.70917232e-04 1.73853509e-03 9.99998109e-01 8.15818419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.722557844 meters 0.28799004947624113 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.82 [[ 9.99986501e-01 -5.18192653e-03 3.80733140e-04 2.33522058e+00] [ 5.18130380e-03 9.99985267e-01 1.61879653e-03 -3.95401296e-02] [-3.89116015e-04 -1.61680199e-03 9.99998617e-01 8.16579372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.782557844 meters 0.28829761975295803 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.82 [[ 9.99985092e-01 -5.44551731e-03 4.03533369e-04 2.33529160e+00] [ 5.44512726e-03 9.99984713e-01 9.61466416e-04 -3.68101447e-02] [-4.08762882e-04 -9.59254791e-04 9.99999456e-01 8.16339802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.842557844 meters 0.2882497582110086 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.82 [[ 9.99992607e-01 3.58409705e-03 1.39256359e-03 2.31278158e+00] [-3.58410845e-03 9.99993577e-01 5.69263938e-06 -3.79507859e-02] [-1.39253424e-03 -1.06836962e-05 9.99999030e-01 8.15984671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.902557844 meters 0.2887380860346627 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.81 [[ 0.99999095 -0.00267505 0.00330809 2.33539702] [ 0.00266603 0.99999272 0.00272871 -0.03513691] [-0.00331536 -0.00271987 0.99999081 0.81463768] [ 0. 0. 0. 1. ]] SLAMing on 303.962557844 meters 0.288835380485441 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:0.81 [[ 9.99990448e-01 -2.92670266e-03 3.24635239e-03 2.33573143e+00] [ 2.91987486e-03 9.99993520e-01 2.10597358e-03 -3.25381956e-02] [-3.25249491e-03 -2.09647452e-03 9.99992513e-01 8.14320386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.022557844 meters 0.28720411159134074 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:0.81 [[ 9.99981414e-01 5.86613681e-03 1.66150999e-03 2.31456513e+00] [-5.86745087e-03 9.99982477e-01 7.87120397e-04 -2.85359568e-02] [-1.65686352e-03 -7.96854596e-04 9.99998310e-01 8.14188414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.082557844 meters 0.28938103233650264 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.81 [[ 9.99984187e-01 5.43717508e-03 1.43651394e-03 2.31553841e+00] [-5.43667446e-03 9.99985159e-01 -3.52166888e-04 -2.36330984e-02] [-1.43840741e-03 3.44351460e-04 9.99998906e-01 8.13431658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.142557844 meters 0.288966337722592 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.02, Z:0.81 [[ 9.99997522e-01 -1.01878649e-03 1.97933532e-03 2.34029213e+00] [ 1.01451822e-03 9.99997161e-01 2.15622230e-03 -1.95062714e-02] [-1.98152643e-03 -2.15420888e-03 9.99995716e-01 8.11254110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.202557844 meters 0.29024129668875853 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.81 [[ 9.99996970e-01 -1.46763344e-03 1.97625634e-03 2.34044682e+00] [ 1.46564994e-03 9.99998421e-01 1.00474339e-03 -1.47671242e-02] [-1.97772782e-03 -1.00184385e-03 9.99997542e-01 8.11032930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.262557844 meters 0.28863789872328816 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.00, Z:0.81 [[ 9.99993275e-01 5.57002470e-04 3.62492438e-03 2.33442970e+00] [-5.63180388e-04 9.99998390e-01 1.70349128e-03 -4.35324449e-03] [-3.62396970e-03 -1.70552131e-03 9.99991979e-01 8.14327422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.322557844 meters 0.2870771494710795 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.00, Z:0.81 [[ 9.99992754e-01 2.10888485e-04 3.80085395e-03 2.33391754e+00] [-2.14084716e-04 9.99999624e-01 8.40537220e-04 -7.87204605e-04] [-3.80067526e-03 -8.41344835e-04 9.99992423e-01 8.14579126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.382557844 meters 0.2867032851438401 Centerline is valid? [False, False] Translation: X:2.33, Y:0.00, Z:0.81 [[ 9.99993324e-01 3.35768511e-05 3.65399680e-03 2.33450306e+00] [-3.49315739e-05 9.99999931e-01 3.70687768e-04 1.16002279e-03] [-3.65398410e-03 -3.70812933e-04 9.99993255e-01 8.14106011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442557844 meters 0.2865761857088985 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:0.81 [[ 9.99993989e-01 -1.11402935e-04 3.46557557e-03 2.33525305e+00] [ 1.11444101e-04 9.99999994e-01 -1.16853002e-05 2.79107198e-03] [-3.46557425e-03 1.20714479e-05 9.99993995e-01 8.13478645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502557844 meters 0.28906902733687473 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.82 [[ 9.99999117e-01 -4.36082338e-04 1.25564447e-03 2.37662518e+00] [ 4.35221372e-04 9.99999670e-01 6.85868056e-04 -1.08436956e-04] [-1.25594315e-03 -6.85320967e-04 9.99998976e-01 8.15942020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562557844 meters 0.28655791285694204 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.82 [[ 9.99998893e-01 -3.82592752e-04 1.43770540e-03 2.37604676e+00] [ 3.81406846e-04 9.99999587e-01 8.25043381e-04 -7.07936441e-04] [-1.43802046e-03 -8.24494117e-04 9.99998626e-01 8.16191783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters 0.2860962665762279 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.82 [[ 9.99998840e-01 -2.97046496e-04 1.49375959e-03 2.37571417e+00] [ 2.95473013e-04 9.99999401e-01 1.05348171e-03 -1.69116671e-03] [-1.49407163e-03 -1.05303912e-03 9.99998329e-01 8.16613524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters 0.28862020571130076 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.82 [[ 9.99998958e-01 -2.45479816e-04 1.42225188e-03 2.37594368e+00] [ 2.43785622e-04 9.99999261e-01 1.19125608e-03 -2.24386853e-03] [-1.42254326e-03 -1.19090811e-03 9.99998279e-01 8.16485835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters 0.28703327034841597 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.82 [[ 9.99999118e-01 2.01967629e-06 1.32782011e-03 2.37649253e+00] [-4.41895139e-06 9.99998367e-01 1.80692738e-03 -4.84922897e-03] [-1.32781429e-03 -1.80693165e-03 9.99997486e-01 8.15736086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters 0.28574475659752596 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998917e-01 1.10573222e-04 1.46740196e-03 2.37594828e+00] [-1.13663024e-04 9.99997777e-01 2.10571149e-03 -6.13292372e-03] [-1.46716586e-03 -2.10587600e-03 9.99996706e-01 8.16162665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters 0.2869903489193311 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998799e-01 1.19754236e-04 1.54504965e-03 2.37554601e+00] [-1.23052981e-04 9.99997713e-01 2.13512310e-03 -6.27269686e-03] [-1.54479043e-03 -2.13531066e-03 9.99996527e-01 8.16668147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters 0.2878468421240043 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998935e-01 2.05470163e-04 1.44524191e-03 2.37609245e+00] [-2.08893692e-04 9.99997172e-01 2.36907618e-03 -7.24698680e-03] [-1.44475105e-03 -2.36937555e-03 9.99996149e-01 8.15950655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.982557844 meters 0.288900922917715 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998911e-01 2.98488976e-04 1.44539104e-03 2.37607598e+00] [-3.02291517e-04 9.99996492e-01 2.63130092e-03 -8.30915704e-03] [-1.44460056e-03 -2.63173499e-03 9.99995494e-01 8.15966095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.042557844 meters 0.2870416064155004 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998870e-01 4.29177917e-04 1.44110984e-03 2.37613566e+00] [-4.33548816e-04 9.99995303e-01 3.03406732e-03 -9.91264052e-03] [-1.43980092e-03 -3.03468868e-03 9.99994359e-01 8.15817068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.102557844 meters 0.2869646200152695 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.82 [[ 9.99998836e-01 4.92542633e-04 1.44375665e-03 2.37619009e+00] [-4.97154066e-04 9.99994771e-01 3.19543463e-03 -1.05673363e-02] [-1.44217522e-03 -3.19614868e-03 9.99993852e-01 8.15664717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.162557844 meters 0.2857471890049643 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:0.82 [[ 9.99971799e-01 7.05398826e-03 -2.57725034e-03 2.35537925e+00] [-7.05279401e-03 9.99975017e-01 4.72178204e-04 -5.50529140e-03] [ 2.58051669e-03 -4.53988072e-04 9.99996567e-01 8.17686981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.222557844 meters 0.2864350724090525 Centerline is valid? [False, False] Translation: X:2.38, Y:0.00, Z:0.82 [[ 9.99985099e-01 -1.58782806e-03 -5.22313739e-03 2.37807227e+00] [ 1.59417135e-03 9.99997997e-01 1.21052248e-03 7.26653815e-04] [ 5.22120483e-03 -1.21883102e-03 9.99985627e-01 8.18512673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.282557844 meters 0.2862250243102999 Centerline is valid? [False, False] Translation: X:2.38, Y:0.00, Z:0.82 [[ 9.99985851e-01 -1.81048307e-03 -5.00193282e-03 2.37718513e+00] [ 1.81270682e-03 9.99998260e-01 4.40079671e-04 3.73924502e-03] [ 5.00112737e-03 -4.49140482e-04 9.99987393e-01 8.19527889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.342557844 meters 0.28602825189336184 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:0.82 [[ 9.99986711e-01 -2.20034138e-03 -4.66214299e-03 2.37569250e+00] [ 2.19507785e-03 9.99996948e-01 -1.13380969e-03 9.82683758e-03] [ 4.66462353e-03 1.12356085e-03 9.99988489e-01 8.21221237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.402557844 meters 0.2836968073899461 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.82 [[ 9.99993475e-01 -1.30337460e-04 -3.61025791e-03 2.33584156e+00] [ 1.25350190e-04 9.99999038e-01 -1.38160816e-03 2.00729912e-02] [ 3.61043452e-03 1.38114659e-03 9.99992529e-01 8.19417018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.462557844 meters 0.2851327667550774 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.82 [[ 9.99992636e-01 1.55006075e-04 -3.83469495e-03 2.37327973e+00] [-1.59996167e-04 9.99999141e-01 -1.30102841e-03 2.55517815e-02] [ 3.83448999e-03 1.30163236e-03 9.99991801e-01 8.23720249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.522557844 meters 0.2842910092867064 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99993797e-01 2.45359041e-03 -2.52708902e-03 2.36795855e+00] [-2.45407974e-03 9.99996971e-01 -1.90552797e-04 3.43752448e-02] [ 2.52661383e-03 1.96753292e-04 9.99996789e-01 8.27100307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.582557844 meters 0.2850720379462041 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.83 [[ 9.99993932e-01 2.27043622e-03 -2.64222511e-03 2.36827583e+00] [-2.27219170e-03 9.99997200e-01 -6.61583971e-04 3.63314323e-02] [ 2.64071563e-03 6.67583599e-04 9.99996290e-01 8.27081448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.642557844 meters 0.2861595983868645 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.83 [[ 9.99993860e-01 1.92149604e-03 -2.93056861e-03 2.36914280e+00] [-1.92618797e-03 9.99996866e-01 -1.59904887e-03 4.02859060e-02] [ 2.92748686e-03 1.60468388e-03 9.99994427e-01 8.26862363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.702557844 meters 0.28623741721483825 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.83 [[ 9.99994346e-01 1.64033565e-03 -2.93543055e-03 2.36902732e+00] [-1.64748602e-03 9.99995678e-01 -2.43512831e-03 4.36156554e-02] [ 2.93142344e-03 2.43995062e-03 9.99992727e-01 8.27184589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.762557844 meters 0.2855670917208658 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.83 [[ 9.99994934e-01 1.32694843e-03 -2.89336444e-03 2.36871572e+00] [-1.33737016e-03 9.99992615e-01 -3.60298657e-03 4.81085214e-02] [ 2.88856210e-03 3.60683782e-03 9.99989323e-01 8.27692268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.822557844 meters 0.28687405067476596 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.83 [[ 9.99994075e-01 1.10045274e-03 -3.26161683e-03 2.36946130e+00] [-1.11486898e-03 9.99989604e-01 -4.42145092e-03 5.12929802e-02] [ 3.25671733e-03 4.42506100e-03 9.99984906e-01 8.28108052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.882557844 meters 0.2860694543888683 Centerline is valid? [False, False] Translation: X:2.37, Y:0.06, Z:0.83 [[ 9.99992357e-01 8.50020952e-04 -3.81611842e-03 2.37074038e+00] [-8.71008028e-04 9.99984488e-01 -5.50129800e-03 5.54200255e-02] [ 3.81138301e-03 5.50457983e-03 9.99977586e-01 8.28241577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942557844 meters 0.2866439145510154 Centerline is valid? [False, False] Translation: X:2.37, Y:0.06, Z:0.83 [[ 9.99992173e-01 6.76552242e-04 -3.89821481e-03 2.37098018e+00] [-7.00000775e-04 9.99981653e-01 -6.01697651e-03 5.74765602e-02] [ 3.89407249e-03 6.01965817e-03 9.99974300e-01 8.28185218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002557844 meters 0.28537861160331623 Centerline is valid? [False, False] Translation: X:2.35, Y:0.06, Z:0.83 [[ 9.99972750e-01 -3.76724075e-03 -6.34883296e-03 2.34914999e+00] [ 3.75423906e-03 9.99990834e-01 -2.05856122e-03 5.99883100e-02] [ 6.35652986e-03 2.03467009e-03 9.99977727e-01 8.29488484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters 0.2859447017732863 Centerline is valid? [False, False] Translation: X:2.37, Y:0.06, Z:0.83 [[ 0.99997905 0.00425852 -0.00487532 2.36963175] [-0.0042722 0.99998696 -0.00279867 0.05565668] [ 0.00486334 0.00281944 0.9999842 0.83029895] [ 0. 0. 0. 1. ]] SLAMing on 306.122557844 meters 0.285301769467146 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.83 [[ 0.99997892 0.00439408 -0.0047796 2.36902989] [-0.00440583 0.99998729 -0.0024501 0.05413821] [ 0.00476878 0.00247111 0.99998558 0.83114126] [ 0. 0. 0. 1. ]] SLAMing on 306.18255784400003 meters 0.286432126265761 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.83 [[ 9.99976392e-01 4.74856659e-03 -4.96659083e-03 2.36975106e+00] [-4.75645784e-03 9.99987443e-01 -1.57826398e-03 5.05732065e-02] [ 4.95903397e-03 1.60185010e-03 9.99986421e-01 8.30515560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24255784400003 meters 0.28630139928656984 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.83 [[ 9.99974356e-01 5.08676599e-03 -5.04110531e-03 2.37001031e+00] [-5.09081050e-03 9.99986730e-01 -7.89798974e-04 4.73091879e-02] [ 5.03702090e-03 8.15442032e-04 9.99986982e-01 8.30402893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30255784400003 meters 0.2868056859298937 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.83 [[ 9.99986543e-01 1.28845705e-03 -5.02530504e-03 2.36941412e+00] [-1.30719983e-03 9.99992196e-01 -3.72818064e-03 4.18811739e-02] [ 5.02046222e-03 3.73469955e-03 9.99980423e-01 8.31345415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters 0.2853280713817414 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:0.83 [[ 9.99985618e-01 1.83157017e-03 -5.04083469e-03 2.36949992e+00] [-1.84421713e-03 9.99995161e-01 -2.50539867e-03 3.68305401e-02] [ 5.03622148e-03 2.51465903e-03 9.99984156e-01 8.31236608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42255784400004 meters 0.2862285900408875 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99984360e-01 2.19557481e-03 -5.14375616e-03 2.36971227e+00] [-2.20420499e-03 9.99996172e-01 -1.67272808e-03 3.33951166e-02] [ 5.14006387e-03 1.68403981e-03 9.99985372e-01 8.31367999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.482557844 meters 0.2861858804311869 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99984248e-01 2.48422930e-03 -5.03315123e-03 2.36922254e+00] [-2.48901909e-03 9.99996455e-01 -9.45608772e-04 3.05170533e-02] [ 5.03078428e-03 9.58121486e-04 9.99986887e-01 8.31839766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.542557844 meters 0.2857227610964682 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99983001e-01 2.67166433e-03 -5.18271317e-03 2.36969474e+00] [-2.67393934e-03 9.99996332e-01 -4.32081453e-04 2.84694825e-02] [ 5.18153979e-03 4.45932369e-04 9.99986476e-01 8.31612226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.602557844 meters 0.2859727539642822 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99982039e-01 2.94891905e-03 -5.21772548e-03 2.36978954e+00] [-2.94769642e-03 9.99995626e-01 2.41997717e-04 2.56991716e-02] [ 5.21841629e-03 -2.26613100e-04 9.99986358e-01 8.31592321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.662557844 meters 0.28635428756644754 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99985010e-01 -1.10346082e-03 -5.36296434e-03 2.37035533e+00] [ 1.08664065e-03 9.99994485e-01 -3.13825953e-03 2.20920092e-02] [ 5.36639771e-03 3.13238487e-03 9.99980695e-01 8.31082335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.722557844 meters 0.2871481655976129 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99984246e-01 -1.01215999e-03 -5.52113642e-03 2.37090572e+00] [ 9.96327390e-04 9.99995386e-01 -2.86963193e-03 2.10193854e-02] [ 5.52401547e-03 2.86408586e-03 9.99980641e-01 8.30674081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.782557844 meters 0.2872090943873027 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99982245e-01 -1.08725762e-03 -5.85899084e-03 2.37190291e+00] [ 1.06897326e-03 9.99994552e-01 -3.12296440e-03 2.19574419e-02] [ 5.86235438e-03 3.11664585e-03 9.99977959e-01 8.30101638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.842557844 meters 0.28773529327448777 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99982511e-01 -1.21204405e-03 -5.78873999e-03 2.37175794e+00] [ 1.19137400e-03 9.99992908e-01 -3.57284725e-03 2.37361790e-02] [ 5.79302939e-03 3.56588821e-03 9.99976862e-01 8.30007868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.902557844 meters 0.2873420504592314 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99982399e-01 -1.44924646e-03 -5.75339222e-03 2.37156309e+00] [ 1.42457564e-03 9.99989784e-01 -4.28983270e-03 2.66167458e-02] [ 5.75955047e-03 4.28156105e-03 9.99974248e-01 8.30218512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.962557844 meters 0.2874124553476448 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99982980e-01 -1.46114225e-03 -5.64839893e-03 2.37101361e+00] [ 1.43675499e-03 9.99989640e-01 -4.31920042e-03 2.67678389e-02] [ 5.65465138e-03 4.31101154e-03 9.99974720e-01 8.30826064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.022557844 meters 0.2875393545330917 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.83 [[ 9.99982359e-01 -1.34658486e-03 -5.78517068e-03 2.37122160e+00] [ 1.32344001e-03 9.99991113e-01 -4.00268642e-03 2.54540256e-02] [ 5.79050923e-03 3.99495949e-03 9.99975255e-01 8.31166367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.082557844 meters 0.28822449442681947 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99981782e-01 -1.08063685e-03 -5.93867768e-03 2.37156161e+00] [ 1.06146586e-03 9.99994219e-01 -3.23036174e-03 2.23217291e-02] [ 5.94213420e-03 3.22399919e-03 9.99977148e-01 8.31297653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.142557844 meters 0.28623182494975474 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99982728e-01 -8.52307009e-04 -5.81531523e-03 2.37090368e+00] [ 8.37091714e-04 9.99996222e-01 -2.61835045e-03 1.96970461e-02] [ 5.81752490e-03 2.61343727e-03 9.99979663e-01 8.32176800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.202557844 meters 0.28682822895386484 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99981318e-01 -6.03606619e-04 -6.08271913e-03 2.37173123e+00] [ 5.91264042e-04 9.99997763e-01 -2.03071579e-03 1.72019154e-02] [ 6.08393128e-03 2.02708136e-03 9.99979438e-01 8.31932054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.262557844 meters 0.2859416822180713 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:0.83 [[ 9.99981572e-01 -4.81370870e-04 -6.05176912e-03 2.37163948e+00] [ 4.70975494e-04 9.99998412e-01 -1.71904951e-03 1.59080745e-02] [ 6.05258700e-03 1.71616759e-03 9.99980210e-01 8.31980119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.322557844 meters 0.2869385924840081 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.83 [[ 9.99981967e-01 -2.73665578e-04 -5.99925384e-03 2.37142312e+00] [ 2.66540037e-04 9.99999258e-01 -1.18850537e-03 1.36931671e-02] [ 5.99957464e-03 1.18688490e-03 9.99981298e-01 8.32195957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.382557844 meters 0.28672076363063975 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.83 [[ 9.99981074e-01 -1.06273694e-04 -6.15143027e-03 2.37201159e+00] [ 1.01757696e-04 9.99999725e-01 -7.34446204e-04 1.17765647e-02] [ 6.15150663e-03 7.33806349e-04 9.99980810e-01 8.31723997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442557844 meters 0.2870376850247748 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.83 [[ 9.99980524e-01 1.89379228e-06 -6.24119357e-03 2.37243295e+00] [-4.76808142e-06 9.99999894e-01 -4.60520323e-04 1.06015434e-02] [ 6.24119204e-03 4.60541112e-04 9.99980418e-01 8.31319015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502557844 meters 0.28797982527483845 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.83 [[ 9.99983841e-01 3.08285208e-04 -5.67645131e-03 2.41352842e+00] [-3.08588494e-04 9.99999951e-01 -5.25529932e-05 1.18225172e-02] [ 5.67643483e-03 5.43038316e-05 9.99983887e-01 8.32664817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562557844 meters 0.2885519577709021 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.83 [[ 9.99983646e-01 5.01514740e-04 -5.69700918e-03 2.41362198e+00] [-4.98891586e-04 9.99999769e-01 4.61855862e-04 9.69660923e-03] [ 5.69723949e-03 -4.59006119e-04 9.99983665e-01 8.32612868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters 0.2871773213581782 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.84 [[ 9.99989174e-01 -1.14729149e-03 -4.50959190e-03 2.40831451e+00] [ 1.14290992e-03 9.99998872e-01 -9.74067180e-04 9.02833812e-03] [ 4.51070435e-03 9.68902577e-04 9.99989357e-01 8.35823791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters 0.288182898842057 Centerline is valid? [False, False] Translation: X:2.41, Y:0.01, Z:0.84 [[ 9.99989341e-01 -8.54881476e-04 -4.53736164e-03 2.40837333e+00] [ 8.53983031e-04 9.99999615e-01 -1.99944222e-04 5.81702540e-03] [ 4.53753082e-03 1.96067260e-04 9.99989686e-01 8.35900115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters 0.2865975796790902 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.84 [[ 9.99989581e-01 -6.25499314e-04 -4.52173824e-03 2.40808359e+00] [ 6.27223315e-04 9.99999731e-01 3.79861662e-04 3.39696435e-03] [ 4.52149942e-03 -3.82693844e-04 9.99989705e-01 8.36521626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80255784400003 meters 0.2876274034198209 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.84 [[ 9.99989184e-01 -3.71609484e-04 -4.63613921e-03 2.40836251e+00] [ 3.76103964e-04 9.99999460e-01 9.68610525e-04 9.16891891e-04] [ 4.63577677e-03 -9.70343719e-04 9.99988784e-01 8.36628939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters 0.2891060238109332 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.00, Z:0.84 [[ 9.99962922e-01 8.32143816e-03 -2.21529001e-03 2.42765303e+00] [-8.32006374e-03 9.99965190e-01 6.28921071e-04 -4.35540196e-03] [ 2.22044642e-03 -6.10466398e-04 9.99997348e-01 8.37663139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92255784400004 meters 0.288230487296749 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.84 [[ 9.99989310e-01 4.28282858e-03 -1.74292172e-03 2.42591403e+00] [-4.28838229e-03 9.99985700e-01 -3.19527308e-03 -5.07964300e-03] [ 1.72921199e-03 3.20271324e-03 9.99993376e-01 8.38507435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.982557844 meters 0.28847626267284715 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.01, Z:0.84 [[ 9.99988888e-01 4.39016770e-03 -1.71746328e-03 2.42574815e+00] [-4.39519054e-03 9.99986043e-01 -2.93180767e-03 -6.18455470e-03] [ 1.70456818e-03 2.93932367e-03 9.99994227e-01 8.38743518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.042557844 meters 0.2875314561517489 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.00, Z:0.84 [[ 9.99989111e-01 -4.17321713e-03 -2.08847698e-03 2.40487600e+00] [ 4.16903253e-03 9.99989301e-01 -2.00401579e-03 -1.87235766e-03] [ 2.09681783e-03 1.99528704e-03 9.99995811e-01 8.38258539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.102557844 meters 0.2874846372384082 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.00, Z:0.84 [[ 9.99988684e-01 -4.31690670e-03 -1.99883408e-03 2.40438253e+00] [ 4.31214664e-03 9.99987871e-01 -2.37963295e-03 -2.81930435e-04] [ 2.00908249e-03 2.37098676e-03 9.99995171e-01 8.38816280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.162557844 meters 0.2885787535864854 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.83 [[ 9.99992831e-01 -2.43226877e-03 -2.90193853e-03 2.40976479e+00] [ 2.43022184e-03 9.99996796e-01 -7.08685971e-04 8.47789182e-04] [ 2.90365294e-03 7.01628536e-04 9.99995538e-01 8.34571300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.222557844 meters 0.28833308492146764 Centerline is valid? [False, False] Translation: X:2.41, Y:0.00, Z:0.83 [[ 9.99992069e-01 -2.50690566e-03 -3.09476254e-03 2.41041441e+00] [ 2.50412729e-03 9.99996458e-01 -9.01313434e-04 1.64835972e-03] [ 3.09701108e-03 8.93556607e-04 9.99994805e-01 8.34168123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.282557844 meters 0.286625967304138 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:0.83 [[ 9.99990886e-01 -3.74373491e-03 -2.05234222e-03 2.36935455e+00] [ 3.74050939e-03 9.99991767e-01 -1.57322000e-03 -2.61841194e-03] [ 2.05821504e-03 1.56552885e-03 9.99996656e-01 8.32778522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.342557844 meters 0.28550198124138054 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:0.83 [[ 9.99986962e-01 4.78750395e-03 -1.77622028e-03 2.34929276e+00] [-4.79121323e-03 9.99986338e-01 -2.08995494e-03 -1.03654731e-02] [ 1.76619034e-03 2.09843794e-03 9.99996239e-01 8.32172253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.402557844 meters 0.2872323925092055 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:0.83 [[ 9.99998750e-01 -1.55795695e-03 2.71487555e-04 2.37309105e+00] [ 1.55772416e-03 9.99998421e-01 8.55573912e-04 -1.27610390e-02] [-2.72820074e-04 -8.55149939e-04 9.99999597e-01 8.29157397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.462557844 meters 0.2881269284603405 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:0.83 [[ 9.99999097e-01 -1.32901227e-03 1.99340073e-04 2.37301526e+00] [ 1.32873024e-03 9.99998126e-01 1.40834727e-03 -1.50653559e-02] [-2.01211410e-04 -1.40808113e-03 9.99998988e-01 8.29782350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.522557844 meters 0.28835109474703996 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:0.83 [[ 9.99999406e-01 -1.09014715e-03 -9.22575797e-06 2.37375084e+00] [ 1.09016325e-03 9.99997454e-01 1.97589909e-03 -1.74783159e-02] [ 7.07171371e-06 -1.97590797e-03 9.99998048e-01 8.29437391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.582557844 meters 0.28724342752477927 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.83 [[ 9.99990550e-01 4.20078031e-03 -1.11954231e-03 2.35101764e+00] [-4.20144188e-03 9.99991000e-01 -5.89235184e-04 -2.78893567e-02] [ 1.11705699e-03 5.93933307e-04 9.99999200e-01 8.30846976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.642557844 meters 0.2904645656154042 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:0.83 [[ 9.99989088e-01 4.56400734e-03 -9.97147302e-04 2.35033772e+00] [-4.56344648e-03 9.99989428e-01 5.64020430e-04 -3.25741194e-02] [ 9.99710954e-04 -5.59463847e-04 9.99999344e-01 8.31848810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.702557844 meters 0.2880556426022737 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:0.83 [[ 9.99996203e-01 -2.19534023e-03 1.66543688e-03 2.37262482e+00] [ 2.19002919e-03 9.99992533e-01 3.18412349e-03 -3.69695173e-02] [-1.67241468e-03 -3.18046405e-03 9.99993544e-01 8.30159139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.762557844 meters 0.2877526811492524 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:0.83 [[ 9.99994971e-01 3.13223837e-03 4.96615550e-04 2.34976641e+00] [-3.13229775e-03 9.99995087e-01 1.18830049e-04 -4.37516118e-02] [-4.96240906e-04 -1.20384999e-04 9.99999870e-01 8.31191049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.822557844 meters 0.28762698871740183 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:0.83 [[ 9.99986081e-01 -4.95316751e-03 1.81747568e-03 2.36928682e+00] [ 4.95007385e-03 9.99986299e-01 1.70274140e-03 -4.26118199e-02] [-1.82588474e-03 -1.69372106e-03 9.99996899e-01 8.32194846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.882557844 meters 0.28732889562416153 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.83 [[ 9.99987372e-01 -4.70857406e-03 1.75637307e-03 2.36940126e+00] [ 4.70441724e-03 9.99986141e-01 2.36337775e-03 -4.53462796e-02] [-1.76747686e-03 -2.35508519e-03 9.99995665e-01 8.32347105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters 0.2874575740807002 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.83 [[ 9.99989709e-01 -4.31029589e-03 1.41555739e-03 2.37034436e+00] [ 4.30510039e-03 9.99984061e-01 3.65305184e-03 -5.05994547e-02] [-1.43128056e-03 -3.64692013e-03 9.99992326e-01 8.32273923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters 0.28916303066622534 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:0.83 [[ 9.99990288e-01 1.56765135e-03 4.11892367e-03 2.39255133e+00] [-1.57126418e-03 9.99998384e-01 8.74039890e-04 -5.32603534e-02] [-4.11754682e-03 -8.80503319e-04 9.99991135e-01 8.30964829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters 0.28922559019115923 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.06, Z:0.83 [[ 9.99989404e-01 1.90277410e-03 4.19177746e-03 2.39210250e+00] [-1.90999705e-03 9.99996697e-01 1.71979573e-03 -5.68176739e-02] [-4.18849124e-03 -1.72778379e-03 9.99989736e-01 8.31658030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters 0.2878186818927467 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.06, Z:0.83 [[ 9.99988595e-01 2.13527372e-03 4.27196911e-03 2.39174128e+00] [-2.14509021e-03 9.99995067e-01 2.29462406e-03 -5.92004007e-02] [-4.26704838e-03 -2.30376165e-03 9.99988242e-01 8.32039354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters 0.2880851344212827 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99987529e-01 -7.11266524e-04 4.94331752e-03 2.38829131e+00] [ 7.08893451e-04 9.99999633e-01 4.81792284e-04 -6.60213901e-02] [-4.94365838e-03 -4.78281990e-04 9.99987666e-01 8.34721348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters 0.28848563836032715 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.84 [[ 0.99998638 0.00461905 0.00242908 2.36685114] [-0.00461251 0.99998574 -0.00269121 -0.0694927 ] [-0.00244148 0.00267997 0.99999343 0.83555365] [ 0. 0. 0. 1. ]] SLAMing on 309.30255784400003 meters 0.28937925093242073 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99991669e-01 -9.36070777e-04 3.97317824e-03 2.39150966e+00] [ 9.32769308e-04 9.99999218e-01 8.32710606e-04 -7.22911832e-02] [-3.97395461e-03 -8.28997610e-04 9.99991760e-01 8.32787835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters 0.29048111850777825 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99992246e-01 -6.94435561e-04 3.87637613e-03 2.39169584e+00] [ 6.88880032e-04 9.99998734e-01 1.43432701e-03 -7.48069960e-02] [-3.87736727e-03 -1.43164553e-03 9.99991458e-01 8.32993329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters 0.28864857823983603 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.08, Z:0.83 [[ 9.99992433e-01 -4.94127785e-04 3.85878507e-03 2.39148990e+00] [ 4.86677710e-04 9.99998016e-01 1.93137939e-03 -7.68974690e-02] [-3.85973176e-03 -1.92948679e-03 9.99990690e-01 8.33590886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.482557844 meters 0.2900712249541814 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.83 [[ 9.99952646e-01 6.47313201e-03 7.26664926e-03 2.41195959e+00] [-6.46966069e-03 9.99978946e-01 -5.01110857e-04 -7.56417182e-02] [-7.26974003e-03 4.54074372e-04 9.99973472e-01 8.32289728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.542557844 meters 0.2907004566653807 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99982266e-01 -2.53358888e-03 5.38974793e-03 2.39277522e+00] [ 2.53270484e-03 9.99996778e-01 1.70840341e-04 -7.18873782e-02] [-5.39016341e-03 -1.57186671e-04 9.99985461e-01 8.31467006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.602557844 meters 0.2904039633930408 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99982448e-01 -2.68773356e-03 5.28017866e-03 2.39319184e+00] [ 2.68941420e-03 9.99996335e-01 -3.11217809e-04 -6.99480043e-02] [-5.27932283e-03 3.25412934e-04 9.99986011e-01 8.31029436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.662557844 meters 0.29315113939317855 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99982465e-01 -2.79934500e-03 5.21856386e-03 2.39344455e+00] [ 2.80252769e-03 9.99995891e-01 -6.02664850e-04 -6.87355483e-02] [-5.21685536e-03 6.17279452e-04 9.99986202e-01 8.30798726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.722557844 meters 0.2913430844570444 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99984514e-01 -2.70216471e-03 4.86519750e-03 2.39418043e+00] [ 2.70344722e-03 9.99996313e-01 -2.57052552e-04 -7.01297731e-02] [-4.86448496e-03 2.70201376e-04 9.99988132e-01 8.31147015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.782557844 meters 0.2905942208300952 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99985075e-01 -2.57085398e-03 4.82080820e-03 2.39422114e+00] [ 2.57012319e-03 9.99996685e-01 1.57780165e-04 -7.17960291e-02] [-4.82119785e-03 -1.45387739e-04 9.99988367e-01 8.31352629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.842557844 meters 0.28939598543354533 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99985124e-01 -2.42683564e-03 4.88492557e-03 2.39376187e+00] [ 2.42415936e-03 9.99996908e-01 5.53710466e-04 -7.34604442e-02] [-4.88625423e-03 -5.41860391e-04 9.99987915e-01 8.32118690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.902557844 meters 0.28948816363653834 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99985299e-01 -2.32265975e-03 4.89968202e-03 2.39386711e+00] [ 2.31872077e-03 9.99996984e-01 8.09453625e-04 -7.45428445e-02] [-4.90154733e-03 -7.98080731e-04 9.99987669e-01 8.31837377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.962557844 meters 0.2908451282467145 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99985520e-01 -2.33118059e-03 4.85029727e-03 2.39427666e+00] [ 2.32737821e-03 9.99996980e-01 7.89444007e-04 -7.44698850e-02] [-4.85212296e-03 -7.78144099e-04 9.99987926e-01 8.31122125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.022557844 meters 0.29013495074179263 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.08, Z:0.83 [[ 9.99960291e-01 6.20992937e-03 6.39169333e-03 2.41365389e+00] [-6.20582306e-03 9.99980525e-01 -6.62079007e-04 -7.55542022e-02] [-6.39568031e-03 6.22386999e-04 9.99979354e-01 8.32552251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.082557844 meters 0.2919314084793202 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.07, Z:0.83 [[ 9.99960789e-01 6.08617020e-03 6.43257608e-03 2.41358997e+00] [-6.07989627e-03 9.99981023e-01 -9.94442656e-04 -7.41734409e-02] [-6.43850636e-03 9.55294268e-04 9.99978816e-01 8.32435489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.142557844 meters 0.28834217886054686 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99974919e-01 -2.54452253e-03 6.60954065e-03 2.39300001e+00] [ 2.54294868e-03 9.99996736e-01 2.46510110e-04 -7.06191763e-02] [-6.61014633e-03 -2.29696205e-04 9.99978126e-01 8.31074545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.202557844 meters 0.2904585871398596 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99976151e-01 -2.48604221e-03 6.44339136e-03 2.39327167e+00] [ 2.48342526e-03 9.99996831e-01 4.14113355e-04 -7.13090512e-02] [-6.44440044e-03 -3.98101798e-04 9.99979155e-01 8.31438884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.262557844 meters 0.28923845496833717 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99977149e-01 -2.35138863e-03 6.33812559e-03 2.39348010e+00] [ 2.34588357e-03 9.99996865e-01 8.75857294e-04 -7.31486176e-02] [-6.34016520e-03 -8.60968775e-04 9.99979530e-01 8.31596180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.322557844 meters 0.2909287772508022 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:0.83 [[ 9.99977186e-01 -2.26596812e-03 6.36347539e-03 2.39336463e+00] [ 2.25899734e-03 9.99996841e-01 1.10241001e-03 -7.40925064e-02] [-6.36595331e-03 -1.08800978e-03 9.99979145e-01 8.31719441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.382557844 meters 0.289526177978333 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.83 [[ 9.99985778e-01 4.02200591e-03 3.50244060e-03 2.37208369e+00] [-4.01702078e-03 9.99990910e-01 -1.42920276e-03 -7.39366459e-02] [-3.50815702e-03 1.41511306e-03 9.99992845e-01 8.33337816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442557844 meters 0.2914164094114964 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.83 [[ 9.99986538e-01 3.95538976e-03 3.35831462e-03 2.37247285e+00] [-3.94992704e-03 9.99990868e-01 -1.63170319e-03 -7.31200883e-02] [-3.36473798e-03 1.61841613e-03 9.99993030e-01 8.33221609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502557844 meters 0.2935757030557063 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.83 [[ 9.99986360e-01 3.91808762e-03 3.45363538e-03 2.37216771e+00] [-3.91211805e-03 9.99990845e-01 -1.73355361e-03 -7.26818534e-02] [-3.46039598e-03 1.72001893e-03 9.99992534e-01 8.33361327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562557844 meters 0.29132231188435864 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.83 [[ 9.99986098e-01 3.89930011e-03 3.54944181e-03 2.37194649e+00] [-3.89297111e-03 9.99990823e-01 -1.78826449e-03 -7.24524741e-02] [-3.55638222e-03 1.77442176e-03 9.99992102e-01 8.33301017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622557844 meters 0.29017779772506525 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:0.83 [[ 9.99995052e-01 -3.08801143e-03 5.99392674e-04 2.35125139e+00] [ 3.08745695e-03 9.99994807e-01 9.23801317e-04 -7.38339963e-02] [-6.02242270e-04 -9.21946148e-04 9.99999394e-01 8.34979222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters 0.2920997058355811 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:0.84 [[ 9.99982357e-01 5.71595821e-03 1.61643751e-03 2.37158388e+00] [-5.71519732e-03 9.99983555e-01 -4.74950111e-04 -7.30691653e-02] [-1.61912572e-03 4.65703473e-04 9.99998581e-01 8.35884847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters 0.2932509821764385 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:0.83 [[ 9.99993352e-01 -3.62529913e-03 3.91412869e-04 2.35213158e+00] [ 3.62546543e-03 9.99993338e-01 -4.24996768e-04 -6.62745176e-02] [-3.89869520e-04 4.26412996e-04 9.99999833e-01 8.34829356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80255784400003 meters 0.2934842207680848 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.83 [[ 9.99999861e-01 3.06916295e-04 4.28069019e-04 2.35210420e+00] [-3.08159286e-04 9.99995728e-01 2.90667938e-03 -6.20309170e-02] [-4.27175083e-04 -2.90681089e-03 9.99995684e-01 8.34519474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters 0.293552754910468 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.83 [[ 9.99999861e-01 1.58251373e-04 5.02536152e-04 2.35177587e+00] [-1.59519106e-04 9.99996803e-01 2.52363195e-03 -6.04244384e-02] [-5.02135177e-04 -2.52371177e-03 9.99996689e-01 8.34775216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters 0.29147822343298896 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.84 [[ 9.99999853e-01 8.72866170e-05 5.34502473e-04 2.35142891e+00] [-8.85216991e-05 9.99997325e-01 2.31112603e-03 -5.95377549e-02] [-5.34299314e-04 -2.31117300e-03 9.99997186e-01 8.35406229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.982557844 meters 0.2895635878308553 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:0.84 [[ 9.99987989e-01 4.60027271e-03 -1.69122970e-03 2.32763663e+00] [-4.60315438e-03 9.99987954e-01 -1.70396440e-03 -5.75132455e-02] [ 1.68337062e-03 1.71172893e-03 9.99997118e-01 8.37326343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.042557844 meters 0.2892910762607814 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.84 [[ 9.99999757e-01 -6.88243057e-04 -1.14387969e-04 2.34976250e+00] [ 6.88405808e-04 9.99998742e-01 1.42890266e-03 -5.24153697e-02] [ 1.13404393e-04 -1.42898106e-03 9.99998973e-01 8.36533917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.102557844 meters 0.2902779384275376 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.84 [[ 9.99999503e-01 -9.95821515e-04 3.92203043e-05 2.34920071e+00] [ 9.95799694e-04 9.99999352e-01 5.52493761e-04 -4.87546504e-02] [-3.97704640e-05 -5.52454431e-04 9.99999847e-01 8.36867625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.162557844 meters 0.2885640487434695 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.05, Z:0.83 [[ 9.99998254e-01 -1.75329054e-03 6.46631222e-04 2.31030980e+00] [ 1.75345582e-03 9.99998430e-01 -2.55120597e-04 -4.70901552e-02] [-6.46182906e-04 2.56253990e-04 9.99999758e-01 8.33728898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.222557844 meters 0.28826818632390167 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.83 [[ 9.99967531e-01 7.01536068e-03 3.96493957e-03 2.32948797e+00] [-7.01182454e-03 9.99975007e-01 -9.05050024e-04 -4.62387931e-02] [-3.97118973e-03 8.77219178e-04 9.99991730e-01 8.33717258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.282557844 meters 0.2880537943493995 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.83 [[ 9.99967859e-01 6.96871328e-03 3.96458475e-03 2.32937565e+00] [-6.96469485e-03 9.99975219e-01 -1.02648487e-03 -4.57186906e-02] [-3.97163978e-03 9.98839758e-04 9.99991614e-01 8.33968973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.342557844 meters 0.28909029762229604 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:0.83 [[ 9.99989875e-01 -1.55337030e-03 4.22335975e-03 2.35067010e+00] [ 1.55598163e-03 9.99998600e-01 -6.15091693e-04 -4.11851996e-02] [-4.22239837e-03 6.21656936e-04 9.99990892e-01 8.34706859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.402557844 meters 0.28683859696338937 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.04, Z:0.83 [[ 9.99986751e-01 -1.08825686e-03 5.03128500e-03 2.31134070e+00] [ 1.08618198e-03 9.99999324e-01 4.15110669e-04 -4.39815089e-02] [-5.03173334e-03 -4.09640278e-04 9.99987257e-01 8.31932751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.462557844 meters 0.29088102356103995 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:0.83 [[ 9.99988894e-01 -8.84601372e-04 4.62927130e-03 2.35324437e+00] [ 8.84589384e-04 9.99999609e-01 4.63722398e-06 -4.29275043e-02] [-4.62927359e-03 -5.42168232e-07 9.99989285e-01 8.33208303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.522557844 meters 0.2889882994520433 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:0.83 [[ 9.99990083e-01 4.09108273e-03 1.75988743e-03 2.33136419e+00] [-4.08540466e-03 9.99986477e-01 -3.21796646e-03 -4.55287170e-02] [-1.77302860e-03 3.21074469e-03 9.99993274e-01 8.34416230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.582557844 meters 0.2896010354450687 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.84 [[ 9.99984831e-01 -4.38331490e-03 3.33519756e-03 2.35208803e+00] [ 4.39063335e-03 9.99987963e-01 -2.19015716e-03 -4.64396070e-02] [-3.32555726e-03 2.20476756e-03 9.99992040e-01 8.35011288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.642557844 meters 0.29054653662185476 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.84 [[ 9.99985657e-01 -4.15283000e-03 3.38222648e-03 2.35187163e+00] [ 4.15811540e-03 9.99990143e-01 -1.55716839e-03 -4.90754318e-02] [-3.37572649e-03 1.57120974e-03 9.99993068e-01 8.35270065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.702557844 meters 0.29023420931439453 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.84 [[ 9.99987537e-01 -3.79362425e-03 3.24577398e-03 2.35220803e+00] [ 3.79516120e-03 9.99992689e-01 -4.67495869e-04 -5.35128076e-02] [-3.24397674e-03 4.79808278e-04 9.99994623e-01 8.35346679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.762557844 meters 0.28962855346501065 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.84 [[ 9.99989093e-01 -3.45582460e-03 3.14186595e-03 2.35253960e+00] [ 3.45457405e-03 9.99993952e-01 4.03367262e-04 -5.71760974e-02] [-3.14324091e-03 -3.92509054e-04 9.99994983e-01 8.35258489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.822557844 meters 0.2897109531675089 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.84 [[ 9.99989807e-01 -3.19490179e-03 3.19030210e-03 2.35234815e+00] [ 3.19157032e-03 9.99994357e-01 1.04879465e-03 -5.98864548e-02] [-3.19363490e-03 -1.03860189e-03 9.99994361e-01 8.35454299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.882557844 meters 0.289895766142475 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.84 [[ 9.99990625e-01 -2.94297047e-03 3.17627791e-03 2.35231536e+00] [ 2.93777927e-03 9.99994344e-01 1.63779575e-03 -6.23321779e-02] [-3.18107993e-03 -1.62844919e-03 9.99993614e-01 8.35651827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters 0.29220590146814696 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:0.84 [[ 9.99991406e-01 -2.65784808e-03 3.18174426e-03 2.35229780e+00] [ 2.65048283e-03 9.99993804e-01 2.31682867e-03 -6.51708896e-02] [-3.18788232e-03 -2.30837560e-03 9.99992254e-01 8.35727340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002557844 meters 0.2889576717787602 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.07, Z:0.83 [[ 9.99982129e-01 5.07476533e-03 3.16043225e-03 2.33362627e+00] [-5.07964019e-03 9.99985918e-01 1.53635237e-03 -7.39444584e-02] [-3.15259112e-03 -1.55237877e-03 9.99993826e-01 8.33573408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters 0.29123260138755425 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.08, Z:0.83 [[ 9.99994865e-01 1.08852258e-03 3.01416639e-03 2.33412453e+00] [-1.08284893e-03 9.99997640e-01 -1.88331899e-03 -7.76634102e-02] [-3.01620931e-03 1.88004543e-03 9.99993684e-01 8.33137263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122557844 meters 0.29027729007013525 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:0.83 [[ 9.99969454e-01 -6.75231504e-03 3.93663691e-03 2.35444906e+00] [ 6.75309379e-03 9.99977181e-01 -1.84564527e-04 -7.77739354e-02] [-3.93530084e-03 2.11143368e-04 9.99992234e-01 8.34178994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters 0.2901574745044441 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:0.83 [[ 9.99970835e-01 -6.50685088e-03 3.99869754e-03 2.35420174e+00] [ 6.50511682e-03 9.99978742e-01 4.46511576e-04 -8.03938318e-02] [-4.00151792e-03 -4.20486559e-04 9.99991905e-01 8.34430638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters 0.2903056716869646 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:0.83 [[ 9.99971975e-01 -6.33763267e-03 3.98540223e-03 2.35460277e+00] [ 6.33419391e-03 9.99979556e-01 8.74869693e-04 -8.22334288e-02] [-3.99086535e-03 -8.49600865e-04 9.99991676e-01 8.33683346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters 0.29207902755320025 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:0.83 [[ 9.99972626e-01 -6.32726906e-03 3.83586406e-03 2.35514927e+00] [ 6.32383725e-03 9.99979594e-01 9.06133921e-04 -8.23873231e-02] [-3.84151914e-03 -8.81851736e-04 9.99992233e-01 8.33274113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters 0.2906590858457782 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.09, Z:0.83 [[ 9.99992950e-01 1.38089624e-03 3.49184863e-03 2.33536902e+00] [-1.37960576e-03 9.99998979e-01 -3.71950476e-04 -8.66422026e-02] [-3.49235869e-03 3.67130479e-04 9.99993834e-01 8.32049426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters 0.29177453315334184 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.09, Z:0.83 [[ 9.99992659e-01 1.31257418e-03 3.59977329e-03 2.33490509e+00] [-1.31056950e-03 9.99998985e-01 -5.59192878e-04 -8.58020994e-02] [-3.60050362e-03 5.54471020e-04 9.99993364e-01 8.32516142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.482557844 meters 0.29194683840415797 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.09, Z:0.83 [[ 9.99992850e-01 1.27173586e-03 3.56126905e-03 2.33513069e+00] [-1.26936929e-03 9.99998972e-01 -6.66710900e-04 -8.53793876e-02] [-3.56211326e-03 6.62185567e-04 9.99993436e-01 8.32203121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.542557844 meters 0.29133479351809155 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.09, Z:0.83 [[ 9.99991931e-01 1.24807367e-03 3.81838818e-03 2.33443614e+00] [-1.24520418e-03 9.99998941e-01 -7.53778361e-04 -8.50015115e-02] [-3.81932491e-03 7.49017606e-04 9.99992426e-01 8.32442173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.602557844 meters 0.28987429827115446 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.08, Z:0.83 [[ 9.99991428e-01 1.23944089e-03 3.95067250e-03 2.33385531e+00] [-1.23637922e-03 9.99998934e-01 -7.77321289e-04 -8.48532865e-02] [-3.95163173e-03 7.72430097e-04 9.99991894e-01 8.33081407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.662557844 meters 0.29114677078334283 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.08, Z:0.83 [[ 9.99992731e-01 1.22386823e-03 3.61099020e-03 2.33488256e+00] [-1.22097523e-03 9.99998932e-01 -8.03258349e-04 -8.48347440e-02] [-3.61196943e-03 7.98843581e-04 9.99993158e-01 8.32530698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.722557844 meters 0.28976838712745673 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.09, Z:0.83 [[ 9.99971452e-01 -7.55284950e-03 -2.24541079e-04 2.31757095e+00] [ 7.55291201e-03 9.99971437e-01 2.78821791e-04 -8.69969656e-02] [ 2.22428766e-04 -2.80509770e-04 9.99999936e-01 8.31165971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.782557844 meters 0.2904733934115995 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.09, Z:0.83 [[ 9.99997739e-01 1.36257095e-03 1.63249835e-03 2.33595769e+00] [-1.36196531e-03 9.99999003e-01 -3.72044962e-04 -9.25872244e-02] [-1.63300366e-03 3.69820715e-04 9.99998598e-01 8.32390383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.842557844 meters 0.28987400798333385 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.83 [[ 9.99997213e-01 1.58105775e-03 1.75322911e-03 2.33535649e+00] [-1.58154299e-03 9.99998711e-01 2.75416270e-04 -9.52669356e-02] [-1.75279140e-03 -2.78188309e-04 9.99998425e-01 8.33142018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.902557844 meters 0.29006278201659347 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.83 [[ 9.99996583e-01 1.98947032e-03 1.69574173e-03 2.33571076e+00] [-1.99166574e-03 9.99997179e-01 1.29396071e-03 -9.95602329e-02] [-1.69316265e-03 -1.29733364e-03 9.99997725e-01 8.32712716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.962557844 meters 0.29079500771595407 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:0.83 [[ 9.99995997e-01 2.29228656e-03 1.65854003e-03 2.33583130e+00] [-2.29560350e-03 9.99995364e-01 2.00078166e-03 -1.02536220e-01] [-1.65394598e-03 -2.00458100e-03 9.99996623e-01 8.32707690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.022557844 meters 0.291371040289706 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.10, Z:0.84 [[ 9.99996135e-01 4.13596804e-04 2.74942246e-03 2.33050447e+00] [-4.14569541e-04 9.99999852e-01 3.53236453e-04 -1.03776529e-01] [-2.74927595e-03 -3.54374915e-04 9.99996158e-01 8.36266317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.082557844 meters 0.28967227970362464 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99995652e-01 7.86484139e-04 2.84203274e-03 2.33004913e+00] [-7.89980806e-04 9.99998932e-01 1.22942713e-03 -1.07388183e-01] [-2.84106278e-03 -1.23166693e-03 9.99995206e-01 8.36817554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.142557844 meters 0.29172136899255624 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99995777e-01 1.06071709e-03 2.70568638e-03 2.33057833e+00] [-1.06578454e-03 9.99997680e-01 1.87213499e-03 -1.10107987e-01] [-2.70369430e-03 -1.87501076e-03 9.99994587e-01 8.36472100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.202557844 meters 0.2916617280899842 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99995865e-01 1.19843780e-03 2.61420072e-03 2.33093742e+00] [-1.20423569e-03 9.99996816e-01 2.21739916e-03 -1.11573313e-01] [-2.61153498e-03 -2.22053811e-03 9.99994125e-01 8.36217405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.262557844 meters 0.291956013106475 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99995764e-01 1.47045096e-03 2.51196472e-03 2.33144438e+00] [-1.47761087e-03 9.99994845e-01 2.85084999e-03 -1.14297240e-01] [-2.50775973e-03 -2.85454962e-03 9.99992781e-01 8.35777282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.322557844 meters 0.2915964392919353 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.12, Z:0.84 [[ 9.99995696e-01 1.67014858e-03 2.41235151e-03 2.33196556e+00] [-1.67822943e-03 9.99992975e-01 3.35165285e-03 -1.16387488e-01] [-2.40673680e-03 -3.35568690e-03 9.99991473e-01 8.35237142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.382557844 meters 0.29305462263958976 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.12, Z:0.83 [[ 9.99995783e-01 1.62928364e-03 2.40398879e-03 2.33217244e+00] [-1.63706813e-03 9.99993412e-01 3.23974810e-03 -1.15931496e-01] [-2.39869449e-03 -3.24366994e-03 9.99991862e-01 8.34770706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442557844 meters 0.2922183473082185 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.83 [[ 9.99995889e-01 1.53142054e-03 2.42434812e-03 2.33220483e+00] [-1.53860298e-03 9.99994425e-01 2.96354114e-03 -1.14803597e-01] [-2.41979618e-03 -2.96725907e-03 9.99992670e-01 8.34549615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502557844 meters 0.29133728161975525 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.83 [[ 9.99995934e-01 1.37274247e-03 2.49961244e-03 2.33189728e+00] [-1.37913914e-03 9.99995774e-01 2.55914245e-03 -1.13076391e-01] [-2.49608883e-03 -2.56257936e-03 9.99993601e-01 8.34768601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562557844 meters 0.2921580864110688 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99995594e-01 1.32483431e-03 2.65658503e-03 2.33125845e+00] [-1.33121626e-03 9.99996229e-01 2.40198377e-03 -1.12405292e-01] [-2.65339278e-03 -2.40550967e-03 9.99993586e-01 8.35433029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters 0.29208999128416235 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.11, Z:0.84 [[ 9.99996331e-01 1.30178907e-03 2.37558938e-03 2.33199901e+00] [-1.30735488e-03 9.99996401e-01 2.34287077e-03 -1.12189978e-01] [-2.37253090e-03 -2.34596791e-03 9.99994434e-01 8.35290498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters 0.2918669816378507 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.84 [[ 9.99985422e-01 5.34441358e-03 -7.69693107e-04 2.30888710e+00] [-5.34560160e-03 9.99984511e-01 -1.54980214e-03 -1.10658960e-01] [ 7.61398402e-04 1.55389402e-03 9.99998503e-01 8.37544211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters 0.2917656563438362 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.84 [[ 9.99985196e-01 5.37588402e-03 -8.40997974e-04 2.30909450e+00] [-5.37711285e-03 9.99984469e-01 -1.46577881e-03 -1.11015778e-01] [ 8.33105056e-04 1.47027925e-03 9.99998572e-01 8.37496902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters 0.2917616892785781 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.84 [[ 9.99984685e-01 5.47656464e-03 -7.97865949e-04 2.30879110e+00] [-5.47751995e-03 9.99984278e-01 -1.20011185e-03 -1.12097748e-01] [ 7.91280915e-04 1.20446380e-03 9.99998962e-01 8.37978744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters 0.2912716619625039 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.11, Z:0.84 [[ 9.99983389e-01 5.72691232e-03 -6.51863068e-04 2.30819753e+00] [-5.72726268e-03 9.99983455e-01 -5.36886480e-04 -1.14851999e-01] [ 6.48777581e-04 5.40610953e-04 9.99999643e-01 8.38464659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters 0.2908197278388683 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.12, Z:0.84 [[ 9.99991271e-01 -3.04124724e-03 -2.86522283e-03 2.28926553e+00] [ 3.04421715e-03 9.99994833e-01 1.03274487e-03 -1.15823570e-01] [ 2.86206719e-03 -1.04145822e-03 9.99995362e-01 8.37722087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.982557844 meters 0.29294035999329643 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.84 [[ 9.99991040e-01 4.13434198e-03 -9.09679198e-04 2.31138041e+00] [-4.13568720e-03 9.99990350e-01 -1.48191129e-03 -1.17107747e-01] [ 9.03543692e-04 1.48566016e-03 9.99998488e-01 8.36338655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.042557844 meters 0.2917429519023889 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.12, Z:0.84 [[ 9.99979548e-01 -5.82183066e-03 -2.64749308e-03 2.29081884e+00] [ 5.81867471e-03 9.99982354e-01 -1.19819562e-03 -1.16613079e-01] [ 2.65442205e-03 1.18276622e-03 9.99995778e-01 8.37087120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.102557844 meters 0.2930360690453968 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.12, Z:0.84 [[ 9.99992125e-01 3.70776625e-03 -1.41478337e-03 2.31096931e+00] [-3.70983137e-03 9.99992053e-01 -1.45984993e-03 -1.21176518e-01] [ 1.40935934e-03 1.46508704e-03 9.99997934e-01 8.37887223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.162557844 meters 0.29094829878354866 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.84 [[ 9.99964949e-01 -7.13696252e-03 -4.37768563e-03 2.29118096e+00] [ 7.12986319e-03 9.99973245e-01 -1.63517640e-03 -1.28327251e-01] [ 4.38923870e-03 1.60390679e-03 9.99989081e-01 8.38592993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.222557844 meters 0.29297947299143307 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.13, Z:0.84 [[ 9.99966505e-01 -6.81049496e-03 -4.53948689e-03 2.29154160e+00] [ 6.80796919e-03 9.99976662e-01 -5.71620596e-04 -1.32572751e-01] [ 4.54327397e-03 5.40696762e-04 9.99989533e-01 8.38715174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.282557844 meters 0.2927185774004153 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.84 [[ 9.99992818e-01 1.73245868e-03 -3.37089557e-03 2.31008363e+00] [-1.73747110e-03 9.99997389e-01 -1.48461072e-03 -1.41579794e-01] [ 3.36831474e-03 1.49045689e-03 9.99993216e-01 8.40710310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.342557844 meters 0.2921873706906024 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.84 [[ 9.99990173e-01 2.35616469e-03 -3.75536332e-03 2.31133343e+00] [-2.35503626e-03 9.99997180e-01 3.04878837e-04 -1.49163805e-01] [ 3.75607108e-03 -2.96031824e-04 9.99992902e-01 8.40162164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.402557844 meters 0.29180630466796265 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.84 [[ 9.99988927e-01 2.77734720e-03 -3.79906056e-03 2.31194249e+00] [-2.77225472e-03 9.99995253e-01 1.34506725e-03 -1.53805633e-01] [ 3.80277825e-03 -1.33452040e-03 9.99991879e-01 8.39074208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.462557844 meters 0.2922565150687964 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99993768e-01 -1.08415629e-03 -3.35986118e-03 2.31061918e+00] [ 1.07847852e-03 9.99997988e-01 -1.69123206e-03 -1.58308038e-01] [ 3.36168798e-03 1.68759798e-03 9.99992926e-01 8.39707827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.522557844 meters 0.29320261604071707 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99992927e-01 -8.88324999e-04 -3.65478521e-03 2.31151425e+00] [ 8.84189526e-04 9.99998967e-01 -1.13298317e-03 -1.60526557e-01] [ 3.65578789e-03 1.12974363e-03 9.99992679e-01 8.39325838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.582557844 meters 0.29351117325471204 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99993227e-01 -8.64212041e-04 -3.57769461e-03 2.31175307e+00] [ 8.60438457e-04 9.99999072e-01 -1.05615796e-03 -1.60913453e-01] [ 3.57860403e-03 1.05307242e-03 9.99993042e-01 8.38328255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.642557844 meters 0.2920384484534712 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994497e-01 -8.61926828e-04 -3.20350624e-03 2.31067914e+00] [ 8.58477493e-04 9.99999051e-01 -1.07795638e-03 -1.60745658e-01] [ 3.20443232e-03 1.07520031e-03 9.99994288e-01 8.38793369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.702557844 meters 0.29407145526591366 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994353e-01 -1.01022070e-03 -3.20517114e-03 2.31065635e+00] [ 1.00556029e-03 9.99998435e-01 -1.45530862e-03 -1.59157080e-01] [ 3.20663631e-03 1.45207741e-03 9.99993804e-01 8.38835024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.762557844 meters 0.2943222042738322 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994386e-01 -1.03499833e-03 -3.18690518e-03 2.31064394e+00] [ 1.03012824e-03 9.99998300e-01 -1.52941893e-03 -1.58854869e-01] [ 3.18848271e-03 1.52612742e-03 9.99993752e-01 8.38745924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.822557844 meters 0.29338312177450615 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99995456e-01 -9.83219636e-04 -2.84972656e-03 2.30944037e+00] [ 9.79248264e-04 9.99998548e-01 -1.39465797e-03 -1.59253375e-01] [ 2.85109368e-03 1.39186104e-03 9.99994967e-01 8.39744681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.882557844 meters 0.2907510957963703 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99995546e-01 -8.82855977e-04 -2.85105170e-03 2.30932126e+00] [ 8.79676952e-04 9.99998990e-01 -1.11609731e-03 -1.60322707e-01] [ 2.85203418e-03 1.11358433e-03 9.99995313e-01 8.39995042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters 0.2912559543287052 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994914e-01 -8.15730020e-04 -3.08320884e-03 2.31003061e+00] [ 8.12911906e-04 9.99999251e-01 -9.15162323e-04 -1.61193278e-01] [ 3.08395306e-03 9.12651291e-04 9.99994828e-01 8.39654508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters 0.2913351597098084 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994320e-01 -6.88564591e-04 -3.29930767e-03 2.31058478e+00] [ 6.86884203e-04 9.99999634e-01 -5.10421441e-04 -1.62855939e-01] [ 3.29965792e-03 5.08152299e-04 9.99994427e-01 8.39580248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters 0.29269447572856033 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:0.84 [[ 9.99994680e-01 -7.65056915e-04 -3.17101907e-03 2.31024558e+00] [ 7.62778573e-04 9.99999450e-01 -7.19636159e-04 -1.61962951e-01] [ 3.17156789e-03 7.17213545e-04 9.99994713e-01 8.39587735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters 0.29182595319620064 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.16, Z:0.84 [[ 9.99996985e-01 -1.06874173e-03 -2.21101007e-03 2.27108253e+00] [ 1.06988093e-03 9.99999296e-01 5.14124511e-04 -1.63423168e-01] [ 2.21045905e-03 -5.16488478e-04 9.99997424e-01 8.36736049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18255784400003 meters 0.2936065421615375 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.84 [[ 9.99993970e-01 2.68876674e-03 -2.19804031e-03 2.31146666e+00] [-2.68663570e-03 9.99995919e-01 9.71892610e-04 -1.52438014e-01] [ 2.20064453e-03 -9.65981415e-04 9.99997112e-01 8.37577858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24255784400003 meters 0.29131324189626906 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.15, Z:0.84 [[ 9.99998341e-01 1.49146550e-03 -1.04619143e-03 2.27114018e+00] [-1.49052005e-03 9.99998481e-01 9.03901668e-04 -1.49638713e-01] [ 1.04753798e-03 -9.02340799e-04 9.99999044e-01 8.35449792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30255784400003 meters 0.29291811626350134 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.83 [[ 9.99994363e-01 -3.15258773e-03 1.15508006e-03 2.29411774e+00] [ 3.14777980e-03 9.99986472e-01 4.14086614e-03 -1.47070854e-01] [-1.16811888e-03 -4.13720686e-03 9.99990759e-01 8.34090831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters 0.2920996230102807 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.15, Z:0.83 [[ 9.99993953e-01 -3.28717286e-03 1.13468539e-03 2.29413423e+00] [ 3.28286519e-03 9.99987476e-01 3.77757747e-03 -1.45567131e-01] [-1.14708873e-03 -3.77382961e-03 9.99992221e-01 8.34140239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters 0.2928016042639819 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.83 [[ 9.99993159e-01 -3.50861028e-03 1.17098353e-03 2.29419955e+00] [ 3.50479412e-03 9.99988592e-01 3.24522992e-03 -1.43325350e-01] [-1.18235642e-03 -3.24110367e-03 9.99994049e-01 8.33754764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.482557844 meters 0.29250125966567253 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99982544e-01 3.56034257e-03 4.71549976e-03 2.31428527e+00] [-3.56113734e-03 9.99993646e-01 1.60159106e-04 -1.37368826e-01] [-4.71489958e-03 -1.76948853e-04 9.99988869e-01 8.32476327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.542557844 meters 0.29340969852992255 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.83 [[ 9.99982767e-01 3.33081683e-03 4.83432227e-03 2.31402314e+00] [-3.32868559e-03 9.99994359e-01 -4.48834849e-04 -1.34808896e-01] [-4.83578999e-03 4.32735175e-04 9.99988214e-01 8.32350361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.602557844 meters 0.2918443074766261 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.83 [[ 9.99983089e-01 3.08358675e-03 4.93075133e-03 2.31379645e+00] [-3.07805539e-03 9.99994625e-01 -1.12900444e-03 -1.31983869e-01] [-4.93420621e-03 1.11380822e-03 9.99987206e-01 8.32262306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.662557844 meters 0.2931320870386943 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.83 [[ 9.99982907e-01 2.81028517e-03 5.12715037e-03 2.31300614e+00] [-2.80050885e-03 9.99994249e-01 -1.91295938e-03 -1.28435880e-01] [-5.13249684e-03 1.89856805e-03 9.99985026e-01 8.33021207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.722557844 meters 0.29199839944429146 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.83 [[ 9.99984193e-01 2.67840726e-03 4.94358068e-03 2.31353832e+00] [-2.66731270e-03 9.99993913e-01 -2.24946565e-03 -1.27060475e-01] [-4.94957558e-03 2.23624402e-03 9.99985250e-01 8.32821312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.782557844 meters 0.29073016133106705 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.83 [[ 9.99981966e-01 -5.90142453e-03 1.11363023e-03 2.29643987e+00] [ 5.90247753e-03 9.99982134e-01 -9.44649023e-04 -1.27355860e-01] [-1.10803556e-03 9.51205165e-04 9.99998934e-01 8.31453568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.842557844 meters 0.2919348751007688 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.83 [[ 9.99982758e-01 -5.79055395e-03 9.76817678e-04 2.29687695e+00] [ 5.79115233e-03 9.99983045e-01 -6.10863259e-04 -1.28750673e-01] [-9.73263879e-04 6.16509627e-04 9.99999336e-01 8.31215233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.902557844 meters 0.2912932987423053 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.83 [[ 9.99984141e-01 -5.58206473e-03 7.47856620e-04 2.29728860e+00] [ 5.58196894e-03 9.99984412e-01 1.30123440e-04 -1.31629982e-01] [-7.48571320e-04 -1.25946864e-04 9.99999712e-01 8.31562274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.962557844 meters 0.29130383326209325 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99986191e-01 -5.24573604e-03 3.17165308e-04 2.29851229e+00] [ 5.24531347e-03 9.99985374e-01 1.31880871e-03 -1.36510099e-01] [-3.24078792e-04 -1.31712686e-03 9.99999080e-01 8.31192407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.022557844 meters 0.29006881307046833 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99987907e-01 -4.91116207e-03 2.58602005e-04 2.29853546e+00] [ 4.91058448e-03 9.99985548e-01 2.18868906e-03 -1.40104732e-01] [-2.69347274e-04 -2.18739270e-03 9.99997571e-01 8.31471598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.082557844 meters 0.29035016655494217 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99989697e-01 -4.53241059e-03 2.50953132e-04 2.29828526e+00] [ 4.53161899e-03 9.99985020e-01 3.06985306e-03 -1.43820821e-01] [-2.64863207e-04 -3.06868421e-03 9.99995257e-01 8.32042104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.142557844 meters 0.2897496690896994 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99991913e-01 -4.01311637e-03 2.63563327e-04 2.29824977e+00] [ 4.01196107e-03 9.99982935e-01 4.24666756e-03 -1.48709316e-01] [-2.80601200e-04 -4.24557581e-03 9.99990948e-01 8.32137037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.202557844 meters 0.29000247469743784 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99992649e-01 -3.83422139e-03 -2.06848723e-05 2.29918982e+00] [ 3.83427638e-03 9.99981387e-01 4.74594818e-03 -1.50797919e-01] [ 2.48747118e-06 -4.74599261e-03 9.99988738e-01 8.31493290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.262557844 meters 0.2912785551923438 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99992935e-01 -3.75511790e-03 -1.71705115e-04 2.29964532e+00] [ 3.75592182e-03 9.99980697e-01 4.94955713e-03 -1.51661778e-01] [ 1.53115630e-04 -4.95016707e-03 9.99987736e-01 8.31324481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.322557844 meters 0.29114857766913893 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993208e-01 -3.68236274e-03 1.52936963e-04 2.29874449e+00] [ 3.68152439e-03 9.99979904e-01 5.16123034e-03 -1.52432894e-01] [-1.71939412e-04 -5.16063224e-03 9.99986669e-01 8.31638651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.382557844 meters 0.28954801841367156 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993078e-01 -3.71539693e-03 1.98068910e-04 2.29859283e+00] [ 3.71434459e-03 9.99980239e-01 5.07208828e-03 -1.52051448e-01] [-2.16909817e-04 -5.07131747e-03 9.99987117e-01 8.31718095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442557844 meters 0.29106415940111185 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993060e-01 -3.71749120e-03 2.44395834e-04 2.29834174e+00] [ 3.71620569e-03 9.99980266e-01 5.06528153e-03 -1.51987894e-01] [-2.63221151e-04 -5.06433815e-03 9.99987142e-01 8.32033187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters 0.2896452932842867 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993292e-01 -3.64876228e-03 3.18888241e-04 2.29789577e+00] [ 3.64703659e-03 9.99979546e-01 5.25426702e-03 -1.52729458e-01] [-3.38053289e-04 -5.25306878e-03 9.99986145e-01 8.32696303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters 0.29022292166044616 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993554e-01 -3.58708122e-03 1.54548465e-04 2.29855310e+00] [ 3.58618823e-03 9.99978797e-01 5.43551894e-03 -1.53560510e-01] [-1.74042836e-04 -5.43492967e-03 9.99985216e-01 8.32094059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters 0.2901666573761859 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993485e-01 -3.60169676e-03 2.39406288e-04 2.29812394e+00] [ 3.60035286e-03 9.99978966e-01 5.39497974e-03 -1.53323145e-01] [-2.58832333e-04 -5.39408265e-03 9.99985418e-01 8.32601671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68255784400003 meters 0.2915209071301697 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.15, Z:0.83 [[ 9.99993018e-01 -3.73623446e-03 6.80859780e-05 2.29879042e+00] [ 3.73584859e-03 9.99980594e-01 4.98557208e-03 -1.51731532e-01] [-8.67119229e-05 -4.98528291e-03 9.99987570e-01 8.31914807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters 0.2917903022504848 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.15, Z:0.83 [[ 0.99998599 0.0046989 -0.00243704 2.27945628] [-0.0046883 0.9999796 0.00433744 -0.14999669] [ 0.00245737 -0.00432596 0.99998762 0.83035484] [ 0. 0. 0. 1. ]] SLAMing on 316.80255784400003 meters 0.29057278422090405 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99995231e-01 -3.01068206e-03 6.88189526e-04 2.29679185e+00] [ 3.00765856e-03 9.99986002e-01 4.35302157e-03 -1.40203491e-01] [-7.01285457e-04 -4.35093097e-03 9.99990289e-01 8.30552800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters 0.29015462104643636 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99994369e-01 -3.25720247e-03 8.08415843e-04 2.29654213e+00] [ 3.25423637e-03 9.99988067e-01 3.64361994e-03 -1.37302920e-01] [-8.20274204e-04 -3.64096865e-03 9.99993035e-01 8.30392619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters 0.2914750682421709 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.83 [[ 9.99993327e-01 -3.56983720e-03 7.75928627e-04 2.29702716e+00] [ 3.56761012e-03 9.99989567e-01 2.85289514e-03 -1.34013626e-01] [-7.86104902e-04 -2.85010789e-03 9.99995629e-01 8.29404249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.982557844 meters 0.2915159243256951 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.13, Z:0.83 [[ 9.99993275e-01 -3.59923422e-03 7.04338188e-04 2.29717331e+00] [ 3.59726615e-03 9.99989677e-01 2.77580575e-03 -1.33695034e-01] [-7.14321692e-04 -2.77325339e-03 9.99995899e-01 8.29480224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.042557844 meters 0.28996567899540177 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.83 [[ 9.99998570e-01 1.62528176e-03 4.67236182e-04 2.27316946e+00] [-1.62509174e-03 9.99998597e-01 -4.06782849e-04 -1.36916563e-01] [-4.67896663e-04 4.06022966e-04 9.99999808e-01 8.31591292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.102557844 meters 0.2886657598513176 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.14, Z:0.83 [[ 9.99998558e-01 1.69617634e-03 8.78447142e-05 2.27422297e+00] [-1.69616434e-03 9.99998552e-01 -1.36488695e-04 -1.37997772e-01] [-8.80760959e-05 1.36339499e-04 9.99999987e-01 8.31135396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.162557844 meters 0.289915696587279 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.14, Z:0.83 [[ 9.99976009e-01 -6.88570193e-03 7.53489869e-04 2.29725588e+00] [ 6.88562175e-03 9.99976288e-01 1.08956674e-04 -1.37785061e-01] [-7.54222245e-04 -1.03765813e-04 9.99999710e-01 8.30570315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.222557844 meters 0.28991399191532746 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994885e-01 1.93312896e-03 2.54797349e-03 2.31555963e+00] [-1.93054777e-03 9.99997621e-01 -1.01510764e-03 -1.42475430e-01] [-2.54992976e-03 1.01018347e-03 9.99996239e-01 8.32144803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.282557844 meters 0.29061780866191367 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994587e-01 1.95380342e-03 2.64754477e-03 2.31531867e+00] [-1.95127493e-03 9.99997638e-01 -9.57276924e-04 -1.42702382e-01] [-2.64940885e-03 9.52105655e-04 9.99996037e-01 8.32130384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.342557844 meters 0.29136683557168264 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994502e-01 1.93613405e-03 2.69216365e-03 2.31514236e+00] [-1.93343597e-03 9.99997626e-01 -1.00443884e-03 -1.42491926e-01] [-2.69410198e-03 9.99228196e-04 9.99995872e-01 8.32279794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.402557844 meters 0.29024854833311114 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99994124e-01 1.90576598e-03 2.84953761e-03 2.31468120e+00] [-1.90265984e-03 9.99997593e-01 -1.09236219e-03 -1.42099836e-01] [-2.85161254e-03 1.08693407e-03 9.99995343e-01 8.32432343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.462557844 meters 0.29003073457099826 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99994097e-01 1.93595159e-03 2.83854181e-03 2.31482942e+00] [-1.93308446e-03 9.99997619e-01 -1.01246957e-03 -1.42458683e-01] [-2.84049514e-03 1.00697645e-03 9.99995459e-01 8.32156582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.522557844 meters 0.29005308899201904 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994417e-01 1.89618594e-03 2.75147311e-03 2.31513786e+00] [-1.89313923e-03 9.99997593e-01 -1.10948244e-03 -1.42073698e-01] [-2.75357027e-03 1.10426732e-03 9.99995599e-01 8.31951300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.582557844 meters 0.29008408109219824 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994618e-01 1.87435132e-03 2.69270242e-03 2.31545892e+00] [-1.87121969e-03 9.99997571e-01 -1.16505521e-03 -1.41875047e-01] [-2.69487960e-03 1.16001030e-03 9.99995696e-01 8.31543435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.642557844 meters 0.29054344220924255 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994868e-01 1.81704440e-03 2.63850704e-03 2.31584555e+00] [-1.81358251e-03 9.99997492e-01 -1.31386328e-03 -1.41307893e-01] [-2.64088777e-03 1.30907139e-03 9.99995656e-01 8.30955381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.702557844 meters 0.29103459136502974 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.83 [[ 9.99994646e-01 1.85805563e-03 2.69357833e-03 2.31552869e+00] [-1.85480387e-03 9.99997549e-01 -1.20922298e-03 -1.41703637e-01] [-2.69581854e-03 1.20422045e-03 9.99995641e-01 8.31369170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.762557844 meters 0.2910734166746288 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.14, Z:0.83 [[ 9.99986019e-01 -5.28341364e-03 2.15697341e-04 2.29395410e+00] [ 5.28302577e-03 9.99984494e-01 1.76083272e-03 -1.44159114e-01] [-2.24997204e-04 -1.75966857e-03 9.99998426e-01 8.33020966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.822557844 meters 0.29082538069828234 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99987257e-01 4.25968866e-03 2.70953498e-03 2.31372068e+00] [-4.26284957e-03 9.99990239e-01 1.16188623e-03 -1.44180001e-01] [-2.70455926e-03 -1.17342176e-03 9.99995654e-01 8.32499483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.882557844 meters 0.2906187201765374 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99988617e-01 4.08556109e-03 2.46450226e-03 2.31441944e+00] [-4.08729831e-03 9.99991402e-01 7.00269728e-04 -1.42241961e-01] [-2.46162008e-03 -7.10334913e-04 9.99996718e-01 8.32212796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters 0.2898422442443191 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99989466e-01 3.91635901e-03 2.39392612e-03 2.31491847e+00] [-3.91696759e-03 9.99992298e-01 2.49583309e-04 -1.40390986e-01] [-2.39293023e-03 -2.58957611e-04 9.99997103e-01 8.31423431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters 0.2903784880273831 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99989768e-01 3.78559530e-03 2.47665643e-03 2.31458142e+00] [-3.78538078e-03 9.99992831e-01 -9.12998641e-05 -1.38931426e-01] [-2.47698430e-03 8.19238423e-05 9.99996929e-01 8.31689472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters 0.28966060694303714 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99989427e-01 3.69280252e-03 2.74038288e-03 2.31361785e+00] [-3.69178309e-03 9.99993114e-01 -3.76967413e-04 -1.37694909e-01] [-2.74175608e-03 3.66846528e-04 9.99996174e-01 8.32542569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters 0.2889671522222196 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99989469e-01 3.65067424e-03 2.78098313e-03 2.31351889e+00] [-3.64930003e-03 9.99993217e-01 -4.99062416e-04 -1.37199900e-01] [-2.78278618e-03 4.88908519e-04 9.99996009e-01 8.32536519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters 0.2892535862992867 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:0.83 [[ 9.99989811e-01 3.61345530e-03 2.70567838e-03 2.31372294e+00] [-3.61182366e-03 9.99993293e-01 -6.07683549e-04 -1.36768011e-01] [-2.70785607e-03 5.97904924e-04 9.99996155e-01 8.32484011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters 0.28941424044052216 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.13, Z:0.83 [[ 9.99987877e-01 -4.20069466e-03 2.56917408e-03 2.33523123e+00] [ 4.20001371e-03 9.99991143e-01 2.70384097e-04 -1.33367021e-01] [-2.57028712e-03 -2.59590252e-04 9.99996663e-01 8.33349376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters 0.2891971778192384 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.83 [[ 9.99988377e-01 -4.04293360e-03 2.62692658e-03 2.33479929e+00] [ 4.04111043e-03 9.99991590e-01 6.98969814e-04 -1.35132166e-01] [-2.62973037e-03 -6.88345990e-04 9.99996305e-01 8.34034381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters 0.28819287647358655 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.83 [[ 9.99988876e-01 -3.79044704e-03 2.80726770e-03 2.33407543e+00] [ 3.78667481e-03 9.99991922e-01 1.34783365e-03 -1.37814942e-01] [-2.81235391e-03 -1.33718844e-03 9.99995151e-01 8.34759421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42255784400004 meters 0.289161307398036 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.83 [[ 9.99989218e-01 -3.67005844e-03 2.84507218e-03 2.33421303e+00] [ 3.66531233e-03 9.99991886e-01 1.67160827e-03 -1.39173931e-01] [-2.85118399e-03 -1.66116216e-03 9.99994556e-01 8.34228485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.482557844 meters 0.2876113647041394 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.83 [[ 9.99989897e-01 -3.42749586e-03 2.90828015e-03 2.33418376e+00] [ 3.42097101e-03 9.99991627e-01 2.24555698e-03 -1.41611012e-01] [-2.91595244e-03 -2.23558515e-03 9.99993250e-01 8.33962776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.542557844 meters 0.28842316801710655 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:0.83 [[ 0.99999298 -0.00284543 0.00243976 2.33588098] [ 0.0028365 0.99998929 0.00365815 -0.14871727] [-0.00245014 -0.0036512 0.99999033 0.8333283 ] [ 0. 0. 0. 1. ]] SLAMing on 318.602557844 meters 0.2888645897869648 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.83 [[ 9.99989461e-01 4.51146189e-03 8.50826247e-04 2.31817570e+00] [-4.51413020e-03 9.99984816e-01 3.16073159e-03 -1.59288767e-01] [-8.36553808e-04 -3.16453902e-03 9.99994643e-01 8.31268342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.662557844 meters 0.2920145833474419 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.83 [[ 9.99990115e-01 -3.87679646e-03 2.17720680e-03 2.34061546e+00] [ 3.86825310e-03 9.99984856e-01 3.91459570e-03 -1.61510385e-01] [-2.19234992e-03 -3.90613502e-03 9.99989968e-01 8.30354995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.722557844 meters 0.2909140746847114 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:0.83 [[ 9.99991795e-01 -3.53325765e-03 1.98140123e-03 2.34121819e+00] [ 3.52389488e-03 9.99982703e-01 4.70907462e-03 -1.64795925e-01] [-1.99800534e-03 -4.70205374e-03 9.99986949e-01 8.30261977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.782557844 meters 0.29316307375270234 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:0.82 [[ 9.99985631e-01 1.66111378e-03 5.09696609e-03 2.32541561e+00] [-1.67428465e-03 9.99995268e-01 2.58088313e-03 -1.68223511e-01] [-5.09265483e-03 -2.58937981e-03 9.99983680e-01 8.24092836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.842557844 meters 0.2903399337098236 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99984177e-01 1.85677336e-03 5.31015910e-03 2.32463714e+00] [-1.87317345e-03 9.99993487e-01 3.08513332e-03 -1.70284562e-01] [-5.30439612e-03 -3.09503135e-03 9.99981142e-01 8.24781152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.902557844 meters 0.29089389904333596 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99984457e-01 1.86817158e-03 5.25316297e-03 2.32484121e+00] [-1.88457137e-03 9.99993361e-01 3.11867509e-03 -1.70439233e-01] [-5.24730187e-03 -3.12852658e-03 9.99981339e-01 8.24644034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.962557844 meters 0.2913374019521029 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:0.82 [[ 9.99984585e-01 1.78215502e-03 5.25869915e-03 2.32507147e+00] [-1.79743375e-03 9.99994173e-01 2.90212560e-03 -1.69558047e-01] [-5.25349647e-03 -2.91153303e-03 9.99981962e-01 8.24083401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.022557844 meters 0.2907198732882715 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99984209e-01 1.69785640e-03 5.35705500e-03 2.32467953e+00] [-1.71219402e-03 9.99994962e-01 2.67295048e-03 -1.68554228e-01] [-5.35248973e-03 -2.68208059e-03 9.99982078e-01 8.24416006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.082557844 meters 0.2906546248109053 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99983973e-01 1.64773989e-03 5.41655935e-03 2.32436596e+00] [-1.66148022e-03 9.99995411e-01 2.53320715e-03 -1.67923302e-01] [-5.41236043e-03 -2.54216606e-03 9.99982122e-01 8.24816893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.142557844 meters 0.290265364713659 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99984433e-01 1.53862912e-03 5.36347191e-03 2.32466994e+00] [-1.55070437e-03 9.99996271e-01 2.24795561e-03 -1.66769483e-01] [-5.35999314e-03 -2.25623777e-03 9.99983090e-01 8.24402105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.202557844 meters 0.2894859363006891 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.17, Z:0.82 [[ 9.99985081e-01 1.44560824e-03 5.26767150e-03 2.32493538e+00] [-1.45618917e-03 9.99996929e-01 2.00537239e-03 -1.65764819e-01] [-5.26475634e-03 -2.01301320e-03 9.99984115e-01 8.24336496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.262557844 meters 0.28972088306805965 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.83 [[ 9.99984399e-01 1.36738229e-03 5.41593425e-03 2.32418514e+00] [-1.37696028e-03 9.99997494e-01 1.76514961e-03 -1.64577507e-01] [-5.41350705e-03 -1.77257960e-03 9.99983776e-01 8.25293391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.322557844 meters 0.2915740681187289 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.82 [[ 9.99985392e-01 1.18584243e-03 5.27341167e-03 2.32481693e+00] [-1.19212824e-03 9.99998583e-01 1.18899832e-03 -1.62316015e-01] [-5.27199423e-03 -1.19526754e-03 9.99985389e-01 8.24498020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.382557844 meters 0.2933841277480227 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:0.82 [[ 9.99987854e-01 8.62688945e-04 4.85268053e-03 2.32658327e+00] [-8.62225574e-04 9.99999624e-01 -9.75789858e-05 -1.57395710e-01] [-4.85276289e-03 9.33936953e-05 9.99988221e-01 8.22441923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters 0.2911048895096595 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99986783e-01 5.93647266e-04 5.10698796e-03 2.32570594e+00] [-5.88736028e-04 9.99999363e-01 -9.63119924e-04 -1.53787576e-01] [-5.10755646e-03 9.60100527e-04 9.99986495e-01 8.23002722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters 0.2930122305070021 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99986526e-01 1.24803710e-04 5.18961492e-03 2.32573638e+00] [-1.13712351e-04 9.99997709e-01 -2.13746221e-03 -1.48984073e-01] [-5.18986980e-03 2.13684329e-03 9.99984249e-01 8.22426638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562557844 meters 0.2933547210390423 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99985772e-01 -1.34364752e-04 5.33268316e-03 2.32553948e+00] [ 1.49211378e-04 9.99996114e-01 -2.78378164e-03 -1.46304330e-01] [-5.33228840e-03 2.78453773e-03 9.99981906e-01 8.21987548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622557844 meters 0.2916065017454829 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99985297e-01 -5.48679954e-04 5.39479930e-03 2.32524078e+00] [ 5.68788571e-04 9.99992895e-01 -3.72658042e-03 -1.42359931e-01] [-5.39271627e-03 3.72959413e-03 9.99978504e-01 8.22152070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68255784400003 meters 0.29004791468518915 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99980200e-01 3.48626757e-03 5.23889484e-03 2.32568203e+00] [-3.48536826e-03 9.99993910e-01 -1.80780179e-04 -1.39174548e-01] [-5.23949319e-03 1.62517122e-04 9.99986261e-01 8.21973687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74255784400003 meters 0.29039615142964087 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 9.99981670e-01 2.98393321e-03 5.26838310e-03 2.32584860e+00] [-2.97691863e-03 9.99994673e-01 -1.33878732e-03 -1.34363014e-01] [-5.27234988e-03 1.32307923e-03 9.99985226e-01 8.21437945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80255784400003 meters 0.28988448581249016 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 9.99983072e-01 2.74595487e-03 5.12988495e-03 2.32624702e+00] [-2.73590462e-03 9.99994326e-01 -1.96514749e-03 -1.31815414e-01] [-5.13525205e-03 1.95107935e-03 9.99984911e-01 8.21245595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters 0.2900257223851841 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 9.99983544e-01 2.65101448e-03 5.08756617e-03 2.32615235e+00] [-2.63961222e-03 9.99993993e-01 -2.24660930e-03 -1.30660300e-01] [-5.09349140e-03 2.23314313e-03 9.99984535e-01 8.21707605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters 0.2915038914054918 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 0.99998257 0.0025684 0.00531665 2.32548677] [-0.00255523 0.99999365 -0.00248321 -0.12968161] [-0.00532299 0.00246958 0.99998278 0.82197558] [ 0. 0. 0. 1. ]] SLAMing on 319.982557844 meters 0.2895551061537263 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.82 [[ 9.99979232e-01 -5.65670456e-03 3.08810004e-03 2.30696830e+00] [ 5.65896979e-03 9.99983725e-01 -7.25291070e-04 -1.27151616e-01] [-3.08394702e-03 7.42751472e-04 9.99994969e-01 8.20652980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.042557844 meters 0.2888513363163588 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.82 [[ 9.99979784e-01 -5.65081026e-03 2.91554107e-03 2.30734933e+00] [ 5.65287715e-03 9.99983777e-01 -7.01168126e-04 -1.27251358e-01] [-2.91153160e-03 7.17635147e-04 9.99995504e-01 8.20780863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.102557844 meters 0.2905855970666969 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 9.99989508e-01 3.03054855e-03 3.43492889e-03 2.32702853e+00] [-3.02275971e-03 9.99992854e-01 -2.27046814e-03 -1.30727495e-01] [-3.44178511e-03 2.26006136e-03 9.99991523e-01 8.22145406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.162557844 meters 0.29049112040118147 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:0.82 [[ 9.99989595e-01 3.05489142e-03 3.38781173e-03 2.32727675e+00] [-3.04744187e-03 9.99992932e-01 -2.20191197e-03 -1.31025494e-01] [-3.39451438e-03 2.19156490e-03 9.99991837e-01 8.21847980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.222557844 meters 0.2892273780201245 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.13, Z:0.82 [[ 9.99970373e-01 -6.97934416e-03 3.24680984e-03 2.30533673e+00] [ 6.98403286e-03 9.99974582e-01 -1.43500323e-03 -1.32278455e-01] [-3.23671193e-03 1.45763654e-03 9.99993699e-01 8.22056600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.282557844 meters 0.29026072785643625 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:0.82 [[ 9.99986726e-01 2.41561399e-03 4.55108128e-03 2.32492217e+00] [-2.40728166e-03 9.99995418e-01 -1.83543511e-03 -1.37852048e-01] [-4.55549413e-03 1.82445501e-03 9.99987959e-01 8.23093600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.342557844 meters 0.29015778746103016 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99986962e-01 2.65197541e-03 4.36374210e-03 2.32549806e+00] [-2.64688271e-03 9.99995810e-01 -1.17241198e-03 -1.40628486e-01] [-4.36683303e-03 1.16084638e-03 9.99989792e-01 8.22897996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.402557844 meters 0.28976243315896577 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99985578e-01 2.99427721e-03 4.45855396e-03 2.32502809e+00] [-2.99340916e-03 9.99995499e-01 -2.01354216e-04 -1.44582868e-01] [-4.45913681e-03 1.88005035e-04 9.99990040e-01 8.23403193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.462557844 meters 0.29024052315972937 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99985425e-01 3.08599186e-03 4.43021128e-03 2.32515990e+00] [-3.08617288e-03 9.99995237e-01 3.40250264e-05 -1.45570881e-01] [-4.43008518e-03 -4.76969284e-05 9.99990186e-01 8.23277908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.522557844 meters 0.2906305293422119 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99985871e-01 3.00098499e-03 4.38772033e-03 2.32556512e+00] [-3.00011448e-03 9.99995479e-01 -2.04964889e-04 -1.44609120e-01] [-4.38831559e-03 1.91798329e-04 9.99990353e-01 8.22528971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.582557844 meters 0.28981716172358407 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99985447e-01 2.94096793e-03 4.52287449e-03 2.32504837e+00] [-2.93930539e-03 9.99995610e-01 -3.74189402e-04 -1.43848413e-01] [-4.52395511e-03 3.60889847e-04 9.99989702e-01 8.22955069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.642557844 meters 0.289965159517535 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99985933e-01 2.86391487e-03 4.46443007e-03 2.32522323e+00] [-2.86136331e-03 9.99995739e-01 -5.77812183e-04 -1.43015753e-01] [-4.46606586e-03 5.65029699e-04 9.99989867e-01 8.22879149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.702557844 meters 0.29062509502371286 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.82 [[ 9.99980575e-01 -3.48086570e-03 5.17050232e-03 2.35013499e+00] [ 3.47275296e-03 9.99992726e-01 1.57719463e-03 -1.40991460e-01] [-5.17595472e-03 -1.55920811e-03 9.99985389e-01 8.20170387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.762557844 meters 0.29021684482780835 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.82 [[ 9.99980314e-01 -3.45036129e-03 5.24086713e-03 2.34979989e+00] [ 3.44171623e-03 9.99992703e-01 1.65767175e-03 -1.41312452e-01] [-5.24654845e-03 -1.63960154e-03 9.99984893e-01 8.20583160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.822557844 meters 0.2897201106146226 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.82 [[ 9.99980535e-01 -3.45175898e-03 5.19752370e-03 2.34981345e+00] [ 3.44320693e-03 9.99992705e-01 1.65345939e-03 -1.41286060e-01] [-5.20319312e-03 -1.63553105e-03 9.99985126e-01 8.20805862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.882557844 meters 0.29027808110742254 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.82 [[ 9.99981160e-01 -3.43120535e-03 5.08980963e-03 2.35001163e+00] [ 3.42251645e-03 9.99992673e-01 1.71484470e-03 -1.41527627e-01] [-5.09565632e-03 -1.69739243e-03 9.99985576e-01 8.20980789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters 0.2890569526643042 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:0.82 [[ 9.99981866e-01 -3.39039151e-03 4.97725418e-03 2.35029939e+00] [ 3.38133520e-03 9.99992615e-01 1.82682814e-03 -1.42004230e-01] [-4.98341108e-03 -1.80996525e-03 9.99985945e-01 8.20967440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002557844 meters 0.2878084570462092 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99964441e-01 4.13440568e-03 7.35008423e-03 2.32856111e+00] [-4.14422429e-03 9.99990540e-01 1.32112116e-03 -1.50671778e-01] [-7.34455265e-03 -1.35153458e-03 9.99972115e-01 8.20648558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters 0.28756747230125235 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99963066e-01 4.33658220e-03 7.42035047e-03 2.32820877e+00] [-4.35129001e-03 9.99988598e-01 1.96709520e-03 -1.53296794e-01] [-7.41173539e-03 -1.99931064e-03 9.99970534e-01 8.21039427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters 0.28803240454530454 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99963225e-01 4.38309199e-03 7.37142555e-03 2.32819185e+00] [-4.39862234e-03 9.99988138e-01 2.09194014e-03 -1.53792980e-01] [-7.36216894e-03 -2.12428732e-03 9.99970643e-01 8.21358026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters 0.2876745709089934 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99963515e-01 4.34692279e-03 7.35341790e-03 2.32837351e+00] [-4.36172669e-03 9.99988491e-01 1.99836125e-03 -1.53426899e-01] [-7.34464655e-03 -2.03036193e-03 9.99970966e-01 8.21040579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters 0.2882559237811263 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99963763e-01 4.35123611e-03 7.31710900e-03 2.32846442e+00] [-4.36606626e-03 9.99988445e-01 2.01202673e-03 -1.53481879e-01] [-7.30826965e-03 -2.04390080e-03 9.99971205e-01 8.21043496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters 0.28741474411208057 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99963631e-01 4.37527710e-03 7.32078810e-03 2.32840590e+00] [-4.39061789e-03 9.99988196e-01 2.08075249e-03 -1.53751415e-01] [-7.31159782e-03 -2.11281959e-03 9.99971038e-01 8.21169259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters 0.2887183092348295 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.82 [[ 9.99955990e-01 -4.47934721e-03 8.24337329e-03 2.35005802e+00] [ 4.46214415e-03 9.99987831e-01 2.10410564e-03 -1.51382940e-01] [-8.25269799e-03 -2.06722992e-03 9.99963809e-01 8.21135097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters 0.2883478162378753 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99976908e-01 9.41937732e-04 6.73025055e-03 2.32572894e+00] [-9.37486749e-04 9.99999340e-01 -6.64464042e-04 -1.52340965e-01] [-6.73087199e-03 6.58139178e-04 9.99977131e-01 8.23701652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.482557844 meters 0.2871011356216139 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99976681e-01 1.01800196e-03 6.75289678e-03 2.32550848e+00] [-1.01512881e-03 9.99999393e-01 -4.28883487e-04 -1.53235207e-01] [-6.75332929e-03 4.22018425e-04 9.99977107e-01 8.24106883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.542557844 meters 0.2877195326830401 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99974834e-01 1.03305779e-03 7.01887177e-03 2.32503575e+00] [-1.03073525e-03 9.99999413e-01 -3.34509128e-04 -1.53662364e-01] [-7.01921322e-03 3.27266112e-04 9.99975311e-01 8.23715025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.602557844 meters 0.2872492658107029 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99976569e-01 1.11412313e-03 6.75425674e-03 2.32571619e+00] [-1.11386054e-03 9.99999379e-01 -4.26384233e-05 -1.54810045e-01] [-6.75430005e-03 3.51141242e-05 9.99977189e-01 8.23533268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.662557844 meters 0.2880144017100814 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:0.82 [[ 9.99975891e-01 1.20625145e-03 6.83826977e-03 2.32545496e+00] [-1.20802512e-03 9.99999238e-01 2.55249635e-04 -1.55973289e-01] [-6.83795666e-03 -2.63504283e-04 9.99976586e-01 8.23656773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.722557844 meters 0.28764947984732125 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:0.82 [[ 9.99975269e-01 1.24306332e-03 6.92212617e-03 2.32512897e+00] [-1.24554632e-03 9.99999162e-01 3.54404976e-04 -1.56382278e-01] [-6.92167982e-03 -3.63018040e-04 9.99975979e-01 8.23923375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.782557844 meters 0.28827853250042235 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:0.82 [[ 9.99975668e-01 1.21755158e-03 6.86880196e-03 2.32545804e+00] [-1.21955382e-03 9.99999215e-01 2.87316294e-04 -1.56122526e-01] [-6.86844675e-03 -2.95686177e-04 9.99976368e-01 8.23483407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.842557844 meters 0.2868310668144898 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:0.82 [[ 9.99975033e-01 1.19323740e-03 6.96487956e-03 2.32499947e+00] [-1.19480448e-03 9.99999262e-01 2.20841474e-04 -1.55803363e-01] [-6.96461091e-03 -2.29157630e-04 9.99975721e-01 8.24033971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.902557844 meters 0.2861984274693807 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99975042e-01 1.10702952e-03 6.97776954e-03 2.32509700e+00] [-1.10698518e-03 9.99999387e-01 -1.02163846e-05 -1.54862417e-01] [-6.97777657e-03 2.49184215e-06 9.99975655e-01 8.23749830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.962557844 meters 0.2885956146019924 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:0.82 [[ 0.99997079 -0.00423931 0.00636049 2.35075088] [ 0.00422004 0.99998648 0.00303947 -0.15185615] [-0.00637329 -0.00301254 0.99997515 0.8214734 ] [ 0. 0. 0. 1. ]] SLAMing on 322.022557844 meters 0.2867385962051763 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.15, Z:0.82 [[ 9.99989860e-01 2.53181033e-03 3.72430099e-03 2.32794338e+00] [-2.53449328e-03 9.99996532e-01 7.15847726e-04 -1.45358789e-01] [-3.72247568e-03 -7.25279683e-04 9.99992809e-01 8.24222883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.082557844 meters 0.2882096202405625 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:0.82 [[ 9.99990400e-01 2.23128793e-03 3.77116559e-03 2.32792788e+00] [-2.23107193e-03 9.99997509e-01 -6.14836202e-05 -1.42153130e-01] [-3.77129338e-03 5.30692882e-05 9.99992887e-01 8.24057242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.142557844 meters 0.28900425740961827 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:0.82 [[ 9.99994538e-01 -2.89467031e-03 1.59528258e-03 2.35400181e+00] [ 2.89103938e-03 9.99993236e-01 2.27366672e-03 -1.32930158e-01] [-1.60185330e-03 -2.26904228e-03 9.99996143e-01 8.22074414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.202557844 meters 0.28909871714468954 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:0.82 [[ 9.99976857e-01 5.99357769e-03 3.21908434e-03 2.37287219e+00] [-5.99488527e-03 9.99981952e-01 3.96699094e-04 -1.31698471e-01] [-3.21664859e-03 -4.15987954e-04 9.99994740e-01 8.22820556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.262557844 meters 0.2891437131140361 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.82 [[ 9.99997367e-01 -1.37250673e-03 1.83918639e-03 2.35178292e+00] [ 1.36789642e-03 9.99995925e-01 2.50562797e-03 -1.23046859e-01] [-1.84261789e-03 -2.50310555e-03 9.99995170e-01 8.22865952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.322557844 meters 0.2868304427407834 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.82 [[ 9.99997410e-01 -1.54525621e-03 1.67073594e-03 2.35245371e+00] [ 1.54188582e-03 9.99996778e-01 2.01671468e-03 -1.21111833e-01] [-1.67384690e-03 -2.01413337e-03 9.99996571e-01 8.22263377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.382557844 meters 0.2880279084689921 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.82 [[ 9.99996891e-01 -1.73444507e-03 1.79151499e-03 2.35229622e+00] [ 1.73159653e-03 9.99997236e-01 1.59034687e-03 -1.19347431e-01] [-1.79426840e-03 -1.58723975e-03 9.99997131e-01 8.22007045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442557844 meters 0.28730225969784307 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.82 [[ 9.99996688e-01 -1.89270577e-03 1.74392754e-03 2.35266592e+00] [ 1.89066111e-03 9.99997524e-01 1.17335116e-03 -1.17633205e-01] [-1.74614404e-03 -1.17005010e-03 9.99997791e-01 8.21454829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters 0.28806934217717856 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:0.82 [[ 9.99996296e-01 -2.10969803e-03 1.71964972e-03 2.35283485e+00] [ 2.10866590e-03 9.99997596e-01 6.01792504e-04 -1.15288362e-01] [-1.72091519e-03 -5.98164108e-04 9.99998340e-01 8.21269960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters 0.28742108014082823 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.82 [[ 9.99995065e-01 -2.49926125e-03 1.90351405e-03 2.35228095e+00] [ 2.50034308e-03 9.99996714e-01 -5.66165756e-04 -1.10527414e-01] [-1.90209280e-03 5.70922400e-04 9.99998028e-01 8.21566225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622557844 meters 0.2876338230997066 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:0.82 [[ 9.99994100e-01 -2.79296538e-03 1.99998051e-03 2.35195615e+00] [ 2.79560975e-03 9.99995220e-01 -1.32062294e-03 -1.07398439e-01] [-1.99628249e-03 1.32620631e-03 9.99997128e-01 8.21790522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68255784400003 meters 0.2873628478375451 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99993164e-01 -3.14700912e-03 1.94120162e-03 2.35232301e+00] [ 3.15127195e-03 9.99992622e-01 -2.19683451e-03 -1.03766483e-01] [-1.93427384e-03 2.20293675e-03 9.99995703e-01 8.21415885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74255784400003 meters 0.28872317115673446 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99992910e-01 -3.21052834e-03 1.96790695e-03 2.35224799e+00] [ 3.21517314e-03 9.99992043e-01 -2.36166810e-03 -1.03083855e-01] [-1.96030909e-03 2.36797852e-03 9.99995275e-01 8.21446874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80255784400003 meters 0.2881503795560587 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99991947e-01 -3.49915228e-03 1.96507591e-03 2.35234376e+00] [ 3.50504452e-03 9.99989348e-01 -3.00308448e-03 -1.00400854e-01] [-1.95454673e-03 3.00994797e-03 9.99993560e-01 8.21341458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86255784400004 meters 0.2883561671113238 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99991820e-01 -3.60548182e-03 1.83296051e-03 2.35288355e+00] [ 3.61149451e-03 9.99988074e-01 -3.28765942e-03 -9.92236949e-02] [-1.82108506e-03 3.29425225e-03 9.99992916e-01 8.20868469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92255784400004 meters 0.2882584704916986 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99991349e-01 -3.65475548e-03 1.98625887e-03 2.35257805e+00] [ 3.66152554e-03 9.99987463e-01 -3.41556686e-03 -9.86995866e-02] [-1.97375091e-03 3.42281005e-03 9.99992194e-01 8.20689791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.982557844 meters 0.28673166064483047 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99994383e-01 -1.57890058e-03 2.95658284e-03 2.34717621e+00] [ 1.58348583e-03 9.99997546e-01 -1.54916355e-03 -9.69073319e-02] [-2.95412961e-03 1.55383656e-03 9.99994429e-01 8.24496867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.042557844 meters 0.28772818957395324 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:0.82 [[ 9.99994712e-01 -1.70182390e-03 2.77130376e-03 2.34775111e+00] [ 1.70703964e-03 9.99996774e-01 -1.88077630e-03 -9.55231114e-02] [-2.76809407e-03 1.88549708e-03 9.99994391e-01 8.24284325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.102557844 meters 0.2898377304137294 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:0.82 [[ 0.9999674 0.00720161 0.00365091 2.36832477] [-0.0071904 0.99996942 -0.00307489 -0.09629651] [-0.00367294 0.00304854 0.99998861 0.82464572] [ 0. 0. 0. 1. ]] SLAMing on 323.162557844 meters 0.2883976555142362 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.09, Z:0.83 [[ 9.99986856e-01 9.44389292e-04 5.03953082e-03 2.34493796e+00] [-9.41553904e-04 9.99999397e-01 -5.64972059e-04 -8.65756634e-02] [-5.04006133e-03 5.60219643e-04 9.99987142e-01 8.25783021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.222557844 meters 0.2903736420398435 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:0.83 [[ 9.99988709e-01 6.15033357e-04 4.71212893e-03 2.34590190e+00] [-6.07620353e-04 9.99998576e-01 -1.57444535e-03 -8.24678332e-02] [-4.71309056e-03 1.57156439e-03 9.99987658e-01 8.25546240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.282557844 meters 0.28742705459628515 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:0.83 [[ 9.99989106e-01 2.33406227e-05 4.66767930e-03 2.34628824e+00] [-8.33291433e-06 9.99994831e-01 -3.21523343e-03 -7.57842067e-02] [-4.66773022e-03 3.21515951e-03 9.99983937e-01 8.25180902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.342557844 meters 0.28946673892001396 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:0.82 [[ 9.99982802e-01 3.79554956e-03 4.47099848e-03 2.34718054e+00] [-3.79418477e-03 9.99992753e-01 -3.13695742e-04 -7.01090047e-02] [-4.47215672e-03 2.96726553e-04 9.99989956e-01 8.24466379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.402557844 meters 0.288745810089564 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:0.82 [[ 9.99983664e-01 3.53902176e-03 4.48846892e-03 2.34731045e+00] [-3.53465561e-03 9.99993273e-01 -9.80307552e-04 -6.73692656e-02] [-4.49190806e-03 9.64426347e-04 9.99989446e-01 8.24144025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.462557844 meters 0.2871749961872458 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.82 [[ 9.99983989e-01 3.30258638e-03 4.59500049e-03 2.34707809e+00] [-3.29548735e-03 9.99993366e-01 -1.55166112e-03 -6.49910438e-02] [-4.60009451e-03 1.53649351e-03 9.99988239e-01 8.24148687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.522557844 meters 0.2884449093955027 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.82 [[ 9.99985262e-01 3.10930950e-03 4.45058175e-03 2.34787002e+00] [-3.10005222e-03 9.99993020e-01 -2.08540399e-03 -6.27156365e-02] [-4.45703486e-03 2.07157622e-03 9.99987922e-01 8.23074129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.582557844 meters 0.29099798504020585 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.82 [[ 9.99986165e-01 3.01397778e-03 4.31101498e-03 2.34834872e+00] [-3.00392299e-03 9.99992758e-01 -2.33692657e-03 -6.16584496e-02] [-4.31802720e-03 2.32394428e-03 9.99987977e-01 8.22824005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.642557844 meters 0.2894112213711643 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.82 [[ 0.99998656 0.0027121 0.004419 2.34779985] [-0.00269776 0.99999109 -0.00324731 -0.05788103] [-0.00442776 0.00323535 0.99998496 0.82348151] [ 0. 0. 0. 1. ]] SLAMing on 323.702557844 meters 0.28802839332790603 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:0.82 [[ 0.99998731 0.00249529 0.00437552 2.34795319] [-0.00247833 0.99998941 -0.00387697 -0.05531141] [-0.00438514 0.00386608 0.99998291 0.82344928] [ 0. 0. 0. 1. ]] SLAMing on 323.762557844 meters 0.2879195902736356 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:0.82 [[ 9.99986599e-01 2.10242325e-03 4.73094342e-03 2.34675334e+00] [-2.07764272e-03 9.99984130e-01 -5.23679949e-03 -4.95221866e-02] [-4.74187831e-03 5.22690010e-03 9.99975097e-01 8.24409514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.822557844 meters 0.28828582002191977 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.83 [[ 0.99997505 0.00424718 0.00564378 2.34137322] [-0.00422623 0.99998415 -0.00371973 -0.04463244] [-0.00565949 0.00369578 0.99997716 0.82863086] [ 0. 0. 0. 1. ]] SLAMing on 323.882557844 meters 0.2865359413618466 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:0.83 [[ 0.99998115 -0.00401724 0.00464263 2.32312172] [ 0.00403242 0.99998654 -0.003265 -0.03362283] [-0.00462945 0.00328366 0.99998389 0.82731865] [ 0. 0. 0. 1. ]] SLAMing on 323.942557844 meters 0.2870588871971285 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:0.83 [[ 9.99989992e-01 -2.15719617e-04 4.46871189e-03 2.32376225e+00] [ 2.17130606e-04 9.99999927e-01 -3.15265741e-04 -2.79990082e-02] [-4.46864355e-03 3.16232880e-04 9.99989966e-01 8.26866008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters 0.28582371920728844 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.02, Z:0.83 [[ 9.99974406e-01 -6.71559628e-03 2.46751605e-03 2.30268737e+00] [ 6.71106964e-03 9.99975791e-01 1.83821541e-03 -1.94708187e-02] [-2.47980102e-03 -1.82160869e-03 9.99995266e-01 8.27902808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters 0.2887414717804674 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99991708e-01 1.89472335e-03 3.60465923e-03 2.32286438e+00] [-1.89692041e-03 9.99998017e-01 6.06181973e-04 -2.21401230e-02] [-3.60350353e-03 -6.13014698e-04 9.99993319e-01 8.27188313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters 0.2872717738829511 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99991092e-01 1.83360266e-03 3.80184111e-03 2.32240782e+00] [-1.83528318e-03 9.99998220e-01 4.38585242e-04 -2.14575788e-02] [-3.80103016e-03 -4.45558790e-04 9.99992677e-01 8.27142491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters 0.28687106895895664 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99991705e-01 1.72515069e-03 3.68981920e-03 2.32267974e+00] [-1.72573838e-03 9.99998499e-01 1.56094398e-04 -2.02788571e-02] [-3.68954438e-03 -1.62460765e-04 9.99993180e-01 8.27201598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters 0.2895581843069674 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99992412e-01 1.63610318e-03 3.53533977e-03 2.32327305e+00] [-1.63579439e-03 9.99998658e-01 -9.02332787e-05 -1.92240866e-02] [-3.53548265e-03 8.44495050e-05 9.99993747e-01 8.26738938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters 0.2887281015080676 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.83 [[ 9.99964887e-01 -7.83326876e-03 2.97740023e-03 2.34468654e+00] [ 7.83356561e-03 9.99969313e-01 -8.80530988e-05 -1.42883011e-02] [-2.97661912e-03 1.11373667e-04 9.99995564e-01 8.27415315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters 0.2897051189000598 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.83 [[ 9.99964457e-01 -7.93363049e-03 2.85332772e-03 2.34485110e+00] [ 7.93468521e-03 9.99968456e-01 -3.58514085e-04 -1.31656428e-02] [-2.85039340e-03 3.81141600e-04 9.99995865e-01 8.27790749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42255784400004 meters 0.28791964603631154 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.83 [[ 9.99964098e-01 -7.94563918e-03 2.94440802e-03 2.34442225e+00] [ 7.94681031e-03 9.99968349e-01 -3.86258844e-04 -1.30716336e-02] [-2.94124575e-03 4.09643628e-04 9.99995591e-01 8.28240070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.482557844 meters 0.2886932651143329 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:0.83 [[ 9.99964667e-01 -7.80120084e-03 3.13131605e-03 2.34405344e+00] [ 7.80100576e-03 9.99969569e-01 7.45112222e-05 -1.49343350e-02] [-3.13180204e-03 -5.00811750e-05 9.99995095e-01 8.27965109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.542557844 meters 0.2874444152348955 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.02, Z:0.83 [[ 9.99966448e-01 -7.60665197e-03 3.03991156e-03 2.34438376e+00] [ 7.60466825e-03 9.99970864e-01 6.63587628e-04 -1.73338491e-02] [-3.04487067e-03 -6.40447844e-04 9.99995159e-01 8.27637336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.602557844 meters 0.28686769520299993 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.02, Z:0.83 [[ 9.99997595e-01 9.30770965e-04 1.98592247e-03 2.32514297e+00] [-9.30080006e-04 9.99999507e-01 -3.48823885e-04 -2.09859179e-02] [-1.98624617e-03 3.46975979e-04 9.99997967e-01 8.26309676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.662557844 meters 0.289446027163114 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99997262e-01 1.09963299e-03 2.06569352e-03 2.32472728e+00] [-1.09987619e-03 9.99999388e-01 1.16599591e-04 -2.29734688e-02] [-2.06556404e-03 -1.18871279e-04 9.99997860e-01 8.26741344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.722557844 meters 0.2876047509812183 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:0.83 [[ 9.99996977e-01 1.13749867e-03 2.18010558e-03 2.32447287e+00] [-1.13798318e-03 9.99999328e-01 2.21014065e-04 -2.34126879e-02] [-2.17985271e-03 -2.23494321e-04 9.99997599e-01 8.26645158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.782557844 meters 0.2892149095433898 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:0.83 [[ 9.99996680e-01 1.36187275e-03 2.18774599e-03 2.32469152e+00] [-1.36362400e-03 9.99998751e-01 7.99188709e-04 -2.58654210e-02] [-2.18665487e-03 -8.02169318e-04 9.99997288e-01 8.26067811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.842557844 meters 0.28819502482736586 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.83 [[ 9.99998424e-01 6.63936528e-04 1.64664128e-03 2.36131903e+00] [-6.65475890e-04 9.99999342e-01 9.34478307e-04 -3.15446324e-02] [-1.64601976e-03 -9.35572634e-04 9.99998208e-01 8.31044125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.902557844 meters 0.2877608778672817 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.83 [[ 9.99997984e-01 9.33609006e-04 1.77788726e-03 2.36093996e+00] [-9.36601287e-04 9.99998145e-01 1.68296626e-03 -3.46094090e-02] [-1.77631273e-03 -1.68462803e-03 9.99997003e-01 8.31053889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.962557844 meters 0.28951373453697293 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99997561e-01 1.12434545e-03 1.90075552e-03 2.36062799e+00] [-1.12852880e-03 9.99996940e-01 2.20125372e-03 -3.67590023e-02] [-1.89827473e-03 -2.20339341e-03 9.99995771e-01 8.30993161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.022557844 meters 0.2883059998888046 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:0.83 [[ 9.99999694e-01 -4.85220207e-04 6.14285702e-04 2.36601371e+00] [ 4.84611271e-04 9.99999391e-01 9.91052945e-04 -3.93644712e-02] [-6.14766207e-04 -9.90754951e-04 9.99999320e-01 8.27985040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.082557844 meters 0.28993892990267994 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:0.83 [[ 9.99999741e-01 -3.00227362e-04 6.54578717e-04 2.36597274e+00] [ 2.99261872e-04 9.99998868e-01 1.47457790e-03 -4.13559791e-02] [-6.55020685e-04 -1.47438162e-03 9.99998699e-01 8.27794059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.142557844 meters 0.28879233414491734 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:0.83 [[ 9.99999865e-01 -5.82370689e-05 5.15714790e-04 2.36637049e+00] [ 5.71441909e-05 9.99997753e-01 2.11891317e-03 -4.40398933e-02] [-5.15837031e-04 -2.11888341e-03 9.99997622e-01 8.27576684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.202557844 meters 0.29045762133921327 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.83 [[ 9.99999846e-01 1.05046715e-04 5.45112100e-04 2.36625484e+00] [-1.06419647e-04 9.99996821e-01 2.51920598e-03 -4.57167484e-02] [-5.44845733e-04 -2.51926360e-03 9.99996678e-01 8.27622278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.262557844 meters 0.2889107675731179 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.83 [[ 9.99999892e-01 1.36471028e-04 4.44323667e-04 2.36650888e+00] [-1.37628087e-04 9.99996597e-01 2.60510321e-03 -4.60600569e-02] [-4.43966634e-04 -2.60516408e-03 9.99996508e-01 8.27601627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.322557844 meters 0.2880892683523596 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:0.83 [[ 9.99999877e-01 2.05726509e-04 4.50925453e-04 2.36647445e+00] [-2.06980778e-04 9.99996105e-01 2.78326345e-03 -4.68050595e-02] [-4.50351106e-04 -2.78335644e-03 9.99996025e-01 8.27621384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.382557844 meters 0.29204391887112546 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.83 [[ 9.99999533e-01 -9.55153726e-04 1.49546999e-04 2.40436154e+00] [ 9.54835315e-04 9.99997308e-01 2.11495470e-03 -5.20419447e-02] [-1.51566703e-04 -2.11481092e-03 9.99997752e-01 8.31293676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters 0.2882849159454059 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.83 [[ 9.99999608e-01 -8.81470187e-04 8.49451555e-05 2.40461109e+00] [ 8.81272048e-04 9.99996955e-01 2.30501819e-03 -5.28388629e-02] [-8.69767017e-05 -2.30494243e-03 9.99997340e-01 8.31080953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters 0.29021997471726213 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.05, Z:0.83 [[ 9.99999671e-01 -8.10465285e-04 -1.48036942e-05 2.40502939e+00] [ 8.10499599e-04 9.99996578e-01 2.48730851e-03 -5.35875814e-02] [ 1.27877664e-05 -2.48731970e-03 9.99996907e-01 8.30679486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters 0.28727949706763406 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.83 [[ 9.99985542e-01 5.20864664e-03 -1.33641324e-03 2.38261859e+00] [-5.20971571e-03 9.99986111e-01 -7.97723648e-04 -5.41138051e-02] [ 1.33223962e-03 8.04674448e-04 9.99998789e-01 8.31798418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters 0.2882224584714638 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:0.83 [[ 9.99996009e-01 -2.74659198e-03 6.61568691e-04 2.40187418e+00] [ 2.74601240e-03 9.99995847e-01 8.75382104e-04 -5.48881381e-02] [-6.63970261e-04 -8.73561934e-04 9.99999398e-01 8.33284107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters 0.2874449529218809 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.83 [[ 9.99996770e-01 -2.45715103e-03 6.49504235e-04 2.40202738e+00] [ 2.45606891e-03 9.99995603e-01 1.66164927e-03 -5.81514411e-02] [-6.53584302e-04 -1.66004868e-03 9.99998409e-01 8.32969105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters 0.2879919446467198 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.83 [[ 9.99997160e-01 -2.30025332e-03 6.24353152e-04 2.40206456e+00] [ 2.29895850e-03 9.99995222e-01 2.06671077e-03 -5.98411161e-02] [-6.29104127e-04 -2.06526954e-03 9.99997669e-01 8.32987573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters 0.288287393206172 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.83 [[ 9.99997049e-01 -2.26799090e-03 8.71298717e-04 2.40121939e+00] [ 2.26609963e-03 9.99995088e-01 2.16553143e-03 -6.02683725e-02] [-8.76205842e-04 -2.16355059e-03 9.99997276e-01 8.33675487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters 0.2901687576749219 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.06, Z:0.83 [[ 9.99997132e-01 -2.27939805e-03 7.35050004e-04 2.40183580e+00] [ 2.27782866e-03 9.99995140e-01 2.12889296e-03 -6.00926836e-02] [-7.39899026e-04 -2.12721254e-03 9.99997464e-01 8.33021787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters 0.2912988523460078 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:0.83 [[ 9.99991319e-01 2.84883779e-03 -3.04077152e-03 2.38113236e+00] [-2.85306206e-03 9.99994970e-01 -1.38577785e-03 -5.75173977e-02] [ 3.03680837e-03 1.39444133e-03 9.99994417e-01 8.33970380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.982557844 meters 0.2890130139847033 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:0.83 [[ 9.99990929e-01 2.88302573e-03 -3.13518758e-03 2.38167231e+00] [-2.88710065e-03 9.99994993e-01 -1.29598822e-03 -5.78941979e-02] [ 3.13143551e-03 1.30502806e-03 9.99994245e-01 8.33213757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.042557844 meters 0.28851990478247486 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:0.83 [[ 9.99990760e-01 2.76806407e-03 -3.28899012e-03 2.38229106e+00] [-2.77337564e-03 9.99994856e-01 -1.61149236e-03 -5.65297840e-02] [ 3.28451249e-03 1.62059907e-03 9.99993293e-01 8.32732800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.102557844 meters 0.28737002491388897 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:0.83 [[ 9.99984148e-01 -3.94708456e-03 -4.01558022e-03 2.35895844e+00] [ 3.95094138e-03 9.99991741e-01 9.52984421e-04 -5.34487607e-02] [ 4.01178554e-03 -9.68834636e-04 9.99991483e-01 8.34725312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.162557844 meters 0.2889750087684678 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:0.83 [[ 9.99988817e-01 4.54766786e-03 -1.29826622e-03 2.37832167e+00] [-4.54749746e-03 9.99989651e-01 1.34170980e-04 -5.56294362e-02] [ 1.29886295e-03 -1.28265618e-04 9.99999148e-01 8.34858391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.222557844 meters 0.2892020219909203 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.83 [[ 9.99989566e-01 4.35322454e-03 -1.38434701e-03 2.37857856e+00] [-4.35371713e-03 9.99990460e-01 -3.53013970e-04 -5.35648700e-02] [ 1.38279706e-03 3.59037342e-04 9.99998979e-01 8.34849256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.282557844 meters 0.2886970939201299 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.83 [[ 9.99990687e-01 4.05252519e-03 -1.48428488e-03 2.37896764e+00] [-4.05416120e-03 9.99991176e-01 -1.10087096e-03 -5.04211569e-02] [ 1.47981047e-03 1.10687824e-03 9.99998292e-01 8.34673486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.342557844 meters 0.286760694403874 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99990856e-01 -4.27619692e-03 -4.12908814e-05 2.35874325e+00] [ 4.27615451e-03 9.99990379e-01 -9.77840716e-04 -3.83131575e-02] [ 4.54719236e-05 9.77655208e-04 9.99999521e-01 8.33891460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.402557844 meters 0.28807309816434434 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99990108e-01 -4.44645427e-03 1.16856995e-04 2.35832644e+00] [ 4.44661447e-03 9.99989122e-01 -1.40843004e-03 -3.65098796e-02] [-1.10593204e-04 1.40893572e-03 9.99999001e-01 8.33995107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.462557844 meters 0.28762417392305034 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99989973e-01 -4.46977779e-03 2.75394083e-04 2.35785482e+00] [ 4.47017822e-03 9.99988927e-01 -1.47099321e-03 -3.62683700e-02] [-2.68816020e-04 1.47220952e-03 9.99998880e-01 8.34173027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.522557844 meters 0.2881377009180443 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99990519e-01 -4.34991167e-03 1.98114668e-04 2.35823702e+00] [ 4.35012877e-03 9.99989923e-01 -1.10892199e-03 -3.77574855e-02] [-1.93288959e-04 1.10977330e-03 9.99999366e-01 8.33641988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.582557844 meters 0.28836307277292006 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99991460e-01 -4.13261856e-03 2.08611922e-05 2.35889110e+00] [ 4.13262700e-03 9.99991371e-01 -4.22403895e-04 -4.05439534e-02] [-1.91153780e-05 4.22486499e-04 9.99999911e-01 8.32952956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.642557844 meters 0.29033443483008503 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.83 [[ 9.99988496e-01 4.26727876e-03 2.19045356e-03 2.37668976e+00] [-4.26598565e-03 9.99990724e-01 -5.94672673e-04 -5.09709837e-02] [-2.19297087e-03 5.85321388e-04 9.99997424e-01 8.34170935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.702557844 meters 0.2897437276778418 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:0.83 [[ 9.99988538e-01 4.32660812e-03 2.05049441e-03 2.37705541e+00] [-4.32567402e-03 9.99990539e-01 -4.59767987e-04 -5.15429535e-02] [-2.05246425e-03 4.50892947e-04 9.99997792e-01 8.34142486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.762557844 meters 0.28896805299762013 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.83 [[ 9.99974273e-01 7.11483726e-03 9.12067100e-04 2.34323305e+00] [-7.11632436e-03 9.99973338e-01 1.63772806e-03 -4.45379193e-02] [-9.00390614e-04 -1.64417649e-03 9.99998243e-01 8.29369486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.822557844 meters 0.29254891361935825 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:0.83 [[ 9.99993007e-01 -2.81013684e-03 2.46768158e-03 2.36491831e+00] [ 2.80848027e-03 9.99995829e-01 6.74517704e-04 -4.12317751e-02] [-2.46956677e-03 -6.67582552e-04 9.99996728e-01 8.28918270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.882557844 meters 0.2867463467092955 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:0.83 [[ 9.99978852e-01 6.29044817e-03 1.65110164e-03 2.34237698e+00] [-6.29052806e-03 9.99980213e-01 4.31958504e-05 -3.94696556e-02] [-1.65079725e-03 -5.35812381e-05 9.99998636e-01 8.29346027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters 0.2890015728140895 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.83 [[ 9.99996449e-01 -2.42071844e-03 1.11476303e-03 2.36460407e+00] [ 2.42019903e-03 9.99996962e-01 4.67051604e-04 -3.47011628e-02] [-1.11589025e-03 -4.64351997e-04 9.99999270e-01 8.29827636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters 0.28771189434526234 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:0.83 [[ 9.99993726e-01 3.26580545e-03 -1.37216643e-03 2.34054478e+00] [-3.26962739e-03 9.99990756e-01 -2.79238141e-03 -3.05341804e-02] [ 1.36303437e-03 2.79685036e-03 9.99995160e-01 8.32583876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters 0.2878652849458259 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.83 [[ 9.99993314e-01 -3.23433738e-03 1.70598990e-03 2.36105205e+00] [ 3.23449644e-03 9.99994765e-01 -9.04861336e-05 -3.18471952e-02] [-1.70568831e-03 9.60035469e-05 9.99998541e-01 8.31748419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters 0.2865699231228193 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.84 [[ 9.99995626e-01 -1.19289366e-03 2.70652377e-03 2.35512015e+00] [ 1.18790067e-03 9.99997591e-01 1.84565764e-03 -3.19907556e-02] [-2.70871893e-03 -1.84243448e-03 9.99994634e-01 8.36295424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters 0.2885737749838636 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.84 [[ 9.99995436e-01 -1.40596527e-03 2.67421574e-03 2.35510880e+00] [ 1.40256872e-03 9.99998208e-01 1.27156396e-03 -2.95890667e-02] [-2.67599872e-03 -1.26780739e-03 9.99995616e-01 8.36562900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters 0.28839370442749707 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:0.84 [[ 9.99995381e-01 -1.58588848e-03 2.59275655e-03 2.35546920e+00] [ 1.58384727e-03 9.99998434e-01 7.89137915e-04 -2.75622185e-02] [-2.59400398e-03 -7.85027740e-04 9.99996327e-01 8.36251926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters 0.28864863630035154 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.84 [[ 0.99999361 0.00250715 0.00254784 2.35570786] [-0.00251863 0.99998665 0.00451246 -0.02496829] [-0.00253649 -0.00451885 0.99998657 0.83597206] [ 0. 0. 0. 1. ]] SLAMing on 327.36255784400004 meters 0.28859247327029186 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.84 [[ 0.9999935 0.0024011 0.00269018 2.35520274] [-0.00241247 0.99998813 0.00423261 -0.0238195 ] [-0.00267999 -0.00423907 0.99998742 0.8363745 ] [ 0. 0. 0. 1. ]] SLAMing on 327.42255784400004 meters 0.288693978290272 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.84 [[ 9.99994155e-01 2.32538173e-03 2.50636112e-03 2.35607995e+00] [-2.33544640e-03 9.99989192e-01 4.02023140e-03 -2.29153037e-02] [-2.49698546e-03 -4.02606137e-03 9.99988778e-01 8.35324627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.482557844 meters 0.2890516353283479 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.83 [[ 9.99994361e-01 2.34314100e-03 2.40566125e-03 2.35652498e+00] [-2.35289834e-03 9.99988985e-01 4.06120607e-03 -2.30749523e-02] [-2.39611877e-03 -4.06684344e-03 9.99988860e-01 8.34844130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.542557844 meters 0.28742110841514945 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.84 [[ 9.99994731e-01 2.23942932e-03 2.35009344e-03 2.35644286e+00] [-2.24830925e-03 9.99990318e-01 3.78272845e-03 -2.18904425e-02] [-2.34159953e-03 -3.78799226e-03 9.99990084e-01 8.35368328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.602557844 meters 0.2872147545651623 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:0.84 [[ 9.99994491e-01 -1.67507375e-03 2.86553405e-03 2.35481004e+00] [ 1.67493298e-03 9.99998596e-01 5.15231482e-05 -2.27317685e-02] [-2.86561633e-03 -4.67232869e-05 9.99995893e-01 8.36377219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.662557844 meters 0.2875888072590308 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.84 [[ 9.99994737e-01 -1.78535060e-03 2.70894899e-03 2.35512410e+00] [ 1.78642562e-03 9.99998327e-01 -3.94473116e-04 -2.09644541e-02] [-2.70824018e-03 3.99310376e-04 9.99996253e-01 8.36550928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.722557844 meters 0.287598438328807 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:0.84 [[ 9.99940602e-01 9.51640775e-03 5.31322464e-03 2.37557091e+00] [-9.51900595e-03 9.99954586e-01 4.63931631e-04 -1.41306230e-02] [-5.30856838e-03 -5.14480691e-04 9.99985777e-01 8.37026733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.782557844 meters 0.2867265136637219 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.01, Z:0.84 [[ 9.99977221e-01 1.45581576e-04 6.74803078e-03 2.35439121e+00] [-1.45206704e-04 9.99999988e-01 -5.60426798e-05 -5.52488040e-03] [-6.74803886e-03 5.50615439e-05 9.99977230e-01 8.36818620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.842557844 meters 0.28589352504984583 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.00, Z:0.84 [[ 9.99975412e-01 -1.95662887e-04 7.00972617e-03 2.35370860e+00] [ 2.04757316e-04 9.99999138e-01 -1.29670730e-03 -5.85128293e-04] [-7.00946641e-03 1.29811071e-03 9.99974591e-01 8.36984151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.902557844 meters 0.2879480113741669 Centerline is valid? [False, False] Translation: X:2.35, Y:0.00, Z:0.84 [[ 9.99977502e-01 -4.80578901e-04 6.69067383e-03 2.35462668e+00] [ 4.95561738e-04 9.99997373e-01 -2.23788365e-03 3.25946854e-03] [-6.68958077e-03 2.24114894e-03 9.99975113e-01 8.36721179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.962557844 meters 0.28589500346870095 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.84 [[ 9.99971218e-01 3.62256139e-03 6.66627519e-03 2.35463366e+00] [-3.63334490e-03 9.99992109e-01 1.60622333e-03 5.38607968e-03] [-6.66040395e-03 -1.63039798e-03 9.99976490e-01 8.36891150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.022557844 meters 0.2855180689457135 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.84 [[ 9.99971226e-01 3.34853104e-03 6.80687557e-03 2.35432255e+00] [-3.35286065e-03 9.99994184e-01 6.24752103e-04 9.29714524e-03] [-6.80474398e-03 -6.47556631e-04 9.99976638e-01 8.36857130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.082557844 meters 0.28751149144938376 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.84 [[ 9.99972855e-01 3.19733465e-03 6.63829651e-03 2.35478987e+00] [-3.19842296e-03 9.99994873e-01 1.53334883e-04 1.12138308e-02] [-6.63777222e-03 -1.74562801e-04 9.99977955e-01 8.36723968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.142557844 meters 0.2858421754589904 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:0.84 [[ 9.99973528e-01 3.02029082e-03 6.61970741e-03 2.35487890e+00] [-3.01739364e-03 9.99995347e-01 -4.47603035e-04 1.36207638e-02] [-6.62102850e-03 4.27616924e-04 9.99977989e-01 8.36617444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.202557844 meters 0.2868617270911812 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:0.84 [[ 9.99973350e-01 2.87376767e-03 6.71129311e-03 2.35470642e+00] [-2.86761038e-03 9.99995459e-01 -9.26894390e-04 1.55535090e-02] [-6.71392631e-03 9.07624314e-04 9.99977049e-01 8.36488848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.262557844 meters 0.2889629691658917 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.84 [[ 9.99977059e-01 2.78753112e-03 6.17339596e-03 2.35637814e+00] [-2.77927423e-03 9.99995232e-01 -1.34567045e-03 1.72567146e-02] [-6.17711763e-03 1.32848202e-03 9.99980039e-01 8.35352272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.322557844 meters 0.28727132238356257 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.84 [[ 9.99977320e-01 2.74562450e-03 6.14984896e-03 2.35647216e+00] [-2.73664357e-03 9.99995177e-01 -1.46829025e-03 1.77566730e-02] [-6.15385067e-03 1.45142701e-03 9.99980012e-01 8.35259798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.382557844 meters 0.2864620611656318 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.84 [[ 9.99976538e-01 2.77702077e-03 6.26197123e-03 2.35601304e+00] [-2.76845770e-03 9.99995221e-01 -1.37572555e-03 1.73981457e-02] [-6.26576173e-03 1.35835727e-03 9.99979447e-01 8.35701747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442557844 meters 0.2865794212468406 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.84 [[ 9.99976569e-01 2.79936570e-03 6.24693817e-03 2.35610755e+00] [-2.79120116e-03 9.99995240e-01 -1.31530272e-03 1.71473556e-02] [-6.25059044e-03 1.29783545e-03 9.99979623e-01 8.35571989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502557844 meters 0.28596909202757975 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:0.83 [[ 9.99976550e-01 2.90535786e-03 6.20151237e-03 2.35648697e+00] [-2.89900899e-03 9.99995265e-01 -1.03250624e-03 1.59535804e-02] [-6.20448280e-03 1.01450379e-03 9.99980237e-01 8.34944764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562557844 meters 0.2874080602691353 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:0.84 [[ 9.99980854e-01 3.35442139e-03 5.19990874e-03 2.39620075e+00] [-3.35256720e-03 9.99994313e-01 -3.65257366e-04 1.48273468e-02] [-5.20110440e-03 3.47817329e-04 9.99986414e-01 8.37703613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters 0.28798868134566785 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:0.84 [[ 9.99981027e-01 3.49704211e-03 5.07114185e-03 2.39682110e+00] [-3.49694544e-03 9.99993885e-01 -2.79291883e-05 1.33747677e-02] [-5.07120851e-03 1.01951520e-05 9.99987141e-01 8.37107518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters 0.28571030916694923 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:0.84 [[ 0.99998578 -0.00312205 0.00432297 2.3717127 ] [ 0.00311106 0.99999192 0.00254674 0.01392478] [-0.00433089 -0.00253325 0.99998741 0.83997154] [ 0. 0. 0. 1. ]] SLAMing on 328.74255784400003 meters 0.28694672277791267 Centerline is valid? [False, False] Translation: X:2.39, Y:0.02, Z:0.84 [[ 9.99950084e-01 6.07511901e-03 7.93231335e-03 2.39042511e+00] [-6.09310688e-03 9.99978916e-01 2.24547612e-03 1.69192346e-02] [-7.91850456e-03 -2.29369647e-03 9.99966018e-01 8.40460584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters 0.28682028978993734 Centerline is valid? [False, False] Translation: X:2.39, Y:0.02, Z:0.84 [[ 9.99951064e-01 5.82687250e-03 7.99485892e-03 2.39037737e+00] [-5.83844680e-03 9.99981941e-01 1.42514311e-03 2.02020560e-02] [-7.98641041e-03 -1.47175093e-03 9.99967025e-01 8.40142484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters 0.2876520028935602 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.84 [[ 9.99962646e-01 -2.13648584e-03 8.37514185e-03 2.40885780e+00] [ 2.11485058e-03 9.99994406e-01 2.59127601e-03 2.91557676e-02] [-8.38063123e-03 -2.57346704e-03 9.99961570e-01 8.42326963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters 0.2871179013643733 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:0.84 [[ 9.99984994e-01 2.77539543e-03 4.72333084e-03 2.38978569e+00] [-2.76722995e-03 9.99994667e-01 -1.73441366e-03 3.05820847e-02] [-4.72811934e-03 1.72131709e-03 9.99987341e-01 8.42422372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.982557844 meters 0.28754566632879375 Centerline is valid? [False, False] Translation: X:2.39, Y:0.03, Z:0.84 [[ 9.99985686e-01 2.74464894e-03 4.59299462e-03 2.39007461e+00] [-2.73632473e-03 9.99994604e-01 -1.81767378e-03 3.09212268e-02] [-4.59795871e-03 1.80507984e-03 9.99987800e-01 8.42507215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.042557844 meters 0.2882638123113353 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:0.84 [[ 9.99971206e-01 -5.29831836e-03 5.43283120e-03 2.40947745e+00] [ 5.30010403e-03 9.99985905e-01 -3.14335705e-04 3.44755098e-02] [-5.43108917e-03 3.43121225e-04 9.99985193e-01 8.44265392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.102557844 meters 0.28559373617464023 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.85 [[ 9.99987269e-01 -4.19663776e-03 2.80194600e-03 2.36510813e+00] [ 4.19531709e-03 9.99991086e-01 4.77051065e-04 3.18712379e-02] [-2.80392303e-03 -4.65289939e-04 9.99995961e-01 8.46111369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.162557844 meters 0.2869344366555135 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.85 [[ 9.99987523e-01 -4.19866241e-03 2.70661783e-03 2.36541656e+00] [ 4.19739706e-03 9.99991079e-01 4.73013022e-04 3.18807185e-02] [-2.70857970e-03 -4.61646371e-04 9.99996225e-01 8.45947124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.222557844 meters 0.2868972436125949 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.85 [[ 9.99988098e-01 -4.06520007e-03 2.69768616e-03 2.36540264e+00] [ 4.06302402e-03 9.99991417e-01 8.11624641e-04 3.04640020e-02] [-2.70096242e-03 -8.00654218e-04 9.99996032e-01 8.46051191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.282557844 meters 0.2869805088916395 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:0.85 [[ 9.99988488e-01 -3.98781483e-03 2.66873307e-03 2.36550302e+00] [ 3.98510614e-03 9.99991540e-01 1.01951948e-03 2.96020462e-02] [-2.67277615e-03 -1.00887256e-03 9.99995919e-01 8.46006851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.342557844 meters 0.2850196910747179 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:0.85 [[ 9.99996207e-01 2.16279488e-03 1.70516964e-03 2.34206535e+00] [-2.15988144e-03 9.99996208e-01 -1.70858277e-03 2.43829395e-02] [-1.70885849e-03 1.70489333e-03 9.99997087e-01 8.47922105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.402557844 meters 0.28602107320079695 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:0.85 [[ 9.99998029e-01 1.70380676e-03 1.01941496e-03 2.37969140e+00] [-1.70233095e-03 9.99997504e-01 -1.44682421e-03 1.98393832e-02] [-1.02187753e-03 1.44508597e-03 9.99998434e-01 8.52019205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.462557844 meters 0.28660808511997476 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:0.85 [[ 9.99996905e-01 2.28899575e-03 9.75186792e-04 2.38014569e+00] [-2.28883404e-03 9.99997367e-01 -1.66907604e-04 1.45063308e-02] [-9.75566275e-04 1.64675047e-04 9.99999511e-01 8.51538261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.522557844 meters 0.2870408956299734 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:0.85 [[ 9.99996124e-01 2.68283138e-03 7.43968444e-04 2.38109360e+00] [-2.68352420e-03 9.99995965e-01 9.31814354e-04 9.82780313e-03] [-7.41465541e-04 -9.33807200e-04 9.99999289e-01 8.50771902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.582557844 meters 0.286529470703462 Centerline is valid? [False, False] Translation: X:2.38, Y:0.00, Z:0.85 [[ 9.99999253e-01 -9.33628677e-04 7.89332366e-04 2.38076054e+00] [ 9.34974985e-04 9.99998106e-01 -1.70698347e-03 2.66829914e-03] [-7.87737183e-04 1.70772020e-03 9.99998232e-01 8.51467228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.642557844 meters 0.28640512871548357 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.00, Z:0.85 [[ 9.99999625e-01 -4.19069635e-04 7.57573869e-04 2.38055774e+00] [ 4.19361284e-04 9.99999838e-01 -3.84859275e-04 -2.81381325e-03] [-7.57412463e-04 3.85176827e-04 9.99999639e-01 8.52047034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.702557844 meters 0.2868419692371635 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:0.85 [[ 9.99996689e-01 -2.57112850e-03 -1.02099001e-04 2.38523263e+00] [ 2.57099584e-03 9.99995877e-01 -1.27891140e-03 -1.18094980e-02] [ 1.05386825e-04 1.27864467e-03 9.99999177e-01 8.48583476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.762557844 meters 0.2876868220384956 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99997989e-01 -1.97537789e-03 -3.46709624e-04 2.38613415e+00] [ 1.97540138e-03 9.99998047e-01 6.74258534e-05 -1.75055774e-02] [ 3.46575755e-04 -6.81106084e-05 9.99999938e-01 8.48263046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.822557844 meters 0.28785537110701565 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99998289e-01 -1.78652613e-03 -4.79635956e-04 2.38655740e+00] [ 1.78678368e-03 9.99998259e-01 5.37082098e-04 -1.94669132e-02] [ 4.78675610e-04 -5.37938185e-04 9.99999741e-01 8.48115508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.882557844 meters 0.28835761220203354 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99998393e-01 -1.71886216e-03 -5.09399049e-04 2.38676399e+00] [ 1.71922641e-03 9.99998266e-01 7.15485514e-04 -2.01970099e-02] [ 5.08168345e-04 -7.16360136e-04 9.99999614e-01 8.47843442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters 0.28819141701045226 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.85 [[ 9.99968415e-01 7.90824373e-03 -7.93418938e-04 2.36368879e+00] [-7.90735788e-03 9.99968116e-01 1.11349070e-03 -2.19386915e-02] [ 8.02199397e-04 -1.10718168e-03 9.99999065e-01 8.48407702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters 0.2870219078174443 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:0.85 [[ 9.99993557e-01 3.47626911e-03 -8.94798543e-04 2.36397406e+00] [-3.47936902e-03 9.99987869e-01 -3.48644026e-03 -2.06845497e-02] [ 8.82667884e-04 3.48953113e-03 9.99993522e-01 8.48177617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062557844 meters 0.2880665578745933 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.85 [[ 9.99996625e-01 -2.09062014e-03 1.54240390e-03 2.38419182e+00] [ 2.09027894e-03 9.99997791e-01 2.22792908e-04 -2.05692935e-02] [-1.54286627e-03 -2.19568102e-04 9.99998786e-01 8.48427546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122557844 meters 0.286986301436146 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.85 [[ 9.99996504e-01 -2.10743200e-03 1.59731495e-03 2.38396566e+00] [ 2.10715152e-03 9.99997764e-01 1.77254698e-04 -2.03728000e-02] [-1.59768493e-03 -1.73888293e-04 9.99998709e-01 8.48621665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters 0.28842916445316297 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.85 [[ 9.99996231e-01 -2.30940672e-03 1.48450967e-03 2.38441950e+00] [ 2.30994854e-03 9.99997266e-01 -3.63372959e-04 -1.81496848e-02] [-1.48366644e-03 3.66800731e-04 9.99998832e-01 8.48212400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters 0.2880907835373913 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.85 [[ 9.99996493e-01 -2.23659781e-03 1.41829750e-03 2.38455371e+00] [ 2.23683898e-03 9.99997484e-01 -1.68479477e-04 -1.89565924e-02] [-1.41791711e-03 1.71651389e-04 9.99998980e-01 8.48310482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30255784400003 meters 0.2867349421297938 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:0.85 [[ 9.99996924e-01 -2.01044504e-03 1.45241005e-03 2.38435234e+00] [ 2.00967512e-03 9.99997839e-01 5.31360981e-04 -2.17934016e-02] [-1.45347518e-03 -5.28440474e-04 9.99998804e-01 8.48594705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36255784400004 meters 0.28921116196864305 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.02, Z:0.85 [[ 9.99982207e-01 4.08141125e-03 4.35050113e-03 2.40714369e+00] [-4.07117757e-03 9.99988931e-01 -2.35856506e-03 -2.06485534e-02] [-4.36007925e-03 2.34081143e-03 9.99987755e-01 8.46444413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42255784400004 meters 0.2889584329196713 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.02, Z:0.85 [[ 9.99981994e-01 4.23214214e-03 4.25447479e-03 2.40750645e+00] [-4.22381517e-03 9.99989150e-01 -1.96430882e-03 -2.23105591e-02] [-4.26274187e-03 1.94630333e-03 9.99989020e-01 8.46206241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.482557844 meters 0.28737366569921036 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99984198e-01 -5.13908772e-03 2.27883237e-03 2.38707269e+00] [ 5.14239009e-03 9.99985733e-01 -1.44566493e-03 -2.26017407e-02] [-2.27137046e-03 1.45736074e-03 9.99996358e-01 8.46373250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.542557844 meters 0.2875173260558461 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99984826e-01 -5.10854718e-03 2.06162516e-03 2.38762380e+00] [ 5.11133333e-03 9.99986028e-01 -1.34843463e-03 -2.30061163e-02] [-2.05470781e-03 1.35895182e-03 9.99996966e-01 8.46313132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.602557844 meters 0.2883909057515565 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99985426e-01 -5.07630134e-03 1.83814399e-03 2.38837604e+00] [ 5.07861069e-03 9.99986318e-01 -1.25386690e-03 -2.34095450e-02] [-1.83175383e-03 1.26318384e-03 9.99997525e-01 8.45755954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.662557844 meters 0.287810949665834 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.02, Z:0.85 [[ 9.99985675e-01 -4.98311391e-03 1.95407502e-03 2.38793741e+00] [ 4.98508792e-03 9.99987068e-01 -1.00663550e-03 -2.44267965e-02] [-1.94903357e-03 1.01636231e-03 9.99997584e-01 8.46140695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.722557844 meters 0.2895833328808625 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.85 [[ 9.99990286e-01 -4.33372726e-03 8.04225130e-04 2.42802416e+00] [ 4.33426506e-03 9.99990384e-01 -6.68183868e-04 -2.50511203e-02] [-8.01321670e-04 6.71663102e-04 9.99999453e-01 8.49209881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.782557844 meters 0.2889330470370507 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.85 [[ 9.99990828e-01 -4.20614026e-03 8.07418431e-04 2.42792681e+00] [ 4.20639584e-03 9.99991103e-01 -3.15100819e-04 -2.64925705e-02] [-8.06085890e-04 3.18494251e-04 9.99999624e-01 8.49444935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.842557844 meters 0.2876729640317848 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.03, Z:0.85 [[ 9.99991437e-01 -4.06016577e-03 8.00635110e-04 2.42746790e+00] [ 4.06010156e-03 9.99991754e-01 8.18147601e-05 -2.82481559e-02] [-8.00960690e-04 -7.85633997e-05 9.99999676e-01 8.50580530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.902557844 meters 0.28860736048499286 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:0.85 [[ 9.99987838e-01 4.54933012e-03 1.90448758e-03 2.44699738e+00] [-4.54753767e-03 9.99989214e-01 -9.44448872e-04 -3.23853951e-02] [-1.90876365e-03 9.35776657e-04 9.99997740e-01 8.51810411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.962557844 meters 0.2878148449098969 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:0.85 [[ 9.99988648e-01 3.17242904e-03 3.55510328e-03 2.44116690e+00] [-3.16529630e-03 9.99992970e-01 -2.01017283e-03 -3.28174645e-02] [-3.56145542e-03 1.99889706e-03 9.99991660e-01 8.54614031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.022557844 meters 0.28871487110528427 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:0.85 [[ 9.99988451e-01 3.41432642e-03 3.38248812e-03 2.44147021e+00] [-3.40983605e-03 9.99993299e-01 -1.33241422e-03 -3.55916127e-02] [-3.38701475e-03 1.32086510e-03 9.99993392e-01 8.54961753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.082557844 meters 0.2894273382528247 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:0.85 [[ 9.99994626e-01 -5.73255907e-04 3.22781781e-03 2.44227845e+00] [ 5.88489219e-04 9.99988686e-01 -4.72041385e-03 -3.95529126e-02] [-3.22507528e-03 4.72228802e-03 9.99983649e-01 8.53730086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.142557844 meters 0.28970455027929504 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:0.85 [[ 9.99994468e-01 -3.25266904e-04 3.31029599e-03 2.44214228e+00] [ 3.38796954e-04 9.99991589e-01 -4.08752332e-03 -4.21971197e-02] [-3.30893861e-03 4.08862222e-03 9.99986167e-01 8.53620735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.202557844 meters 0.2901815626899318 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.04, Z:0.85 [[ 9.99995033e-01 -1.01897001e-04 3.15012431e-03 2.44256832e+00] [ 1.13045635e-04 9.99993731e-01 -3.53913374e-03 -4.44600741e-02] [-3.14974394e-03 3.53947227e-03 9.99988776e-01 8.53616033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.262557844 meters 0.2897411525243194 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:0.85 [[ 9.99996158e-01 -2.37175413e-05 2.77201860e-03 2.44363884e+00] [ 3.28930554e-05 9.99994521e-01 -3.31004909e-03 -4.54131081e-02] [-2.77192490e-03 3.31012755e-03 9.99990680e-01 8.53200490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.322557844 meters 0.2925514560867714 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99995396e-01 1.80674694e-03 2.43803566e-03 2.48275056e+00] [-1.80065570e-03 9.99995258e-01 -2.49830453e-03 -4.42135369e-02] [-2.44253790e-03 2.49390297e-03 9.99993907e-01 8.55650591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.382557844 meters 0.2936877320177253 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99994664e-01 1.84854555e-03 2.69356226e-03 2.48198162e+00] [-1.84210683e-03 9.99995445e-01 -2.39093536e-03 -4.46154415e-02] [-2.69796974e-03 2.38596078e-03 9.99993514e-01 8.56001042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters 0.29182520043941906 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99994944e-01 1.81385256e-03 2.61205858e-03 2.48206722e+00] [-1.80737473e-03 9.99995291e-01 -2.48019964e-03 -4.42421401e-02] [-2.61654500e-03 2.47546613e-03 9.99993513e-01 8.56273799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters 0.29201988979906157 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99994848e-01 1.78121992e-03 2.67052732e-03 2.48183897e+00] [-1.77435582e-03 9.99995122e-01 -2.57048742e-03 -4.38552903e-02] [-2.67509290e-03 2.56573571e-03 9.99993130e-01 8.56447264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters 0.2907248401032227 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99994866e-01 1.54857716e-03 2.80519970e-03 2.48127509e+00] [-1.53960712e-03 9.99993704e-01 -3.19699007e-03 -4.12252369e-02] [-2.81013283e-03 3.19265475e-03 9.99990955e-01 8.56883858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters 0.29089011577335117 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99994442e-01 1.30647446e-03 3.06739007e-03 2.48044914e+00] [-1.29450601e-03 9.99991555e-01 -3.90058127e-03 -3.82809684e-02] [-3.07246018e-03 3.89658883e-03 9.99987688e-01 8.57184507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters 0.29212418513393396 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:0.86 [[ 9.99994166e-01 8.46752555e-04 3.30907857e-03 2.47986845e+00] [-8.29270507e-04 9.99985712e-01 -5.28086207e-03 -3.27726790e-02] [-3.31350287e-03 5.27808715e-03 9.99980581e-01 8.57095284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters 0.2913213912601353 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:0.86 [[ 9.99994816e-01 5.68255084e-04 3.16932935e-03 2.48047597e+00] [-5.48954671e-04 9.99981322e-01 -6.08729540e-03 -2.94114767e-02] [-3.17272929e-03 6.08552403e-03 9.99976450e-01 8.56301204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters 0.29213397837884486 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:0.86 [[ 9.99994432e-01 4.14249827e-04 3.31113731e-03 2.47997683e+00] [-3.92856461e-04 9.99979063e-01 -6.45907358e-03 -2.78545140e-02] [-3.31374365e-03 6.45773682e-03 9.99973658e-01 8.56538365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86255784400004 meters 0.2924364418105221 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.03, Z:0.86 [[ 0.9999664 -0.00479591 0.00664822 2.50076951] [ 0.00481519 0.99998424 -0.00288741 -0.02928566] [-0.00663426 0.00291932 0.99997373 0.8557915 ] [ 0. 0. 0. 1. ]] SLAMing on 331.92255784400004 meters 0.2897938296028647 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:0.86 [[ 9.99982594e-01 -5.09868922e-03 2.96889155e-03 2.45720369e+00] [ 5.10590122e-03 9.99984020e-01 -2.42669860e-03 -3.60508491e-02] [-2.95647113e-03 2.44181523e-03 9.99992648e-01 8.58017142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.982557844 meters 0.2922029494503646 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.04, Z:0.86 [[ 9.99993388e-01 3.58693009e-03 -5.98276435e-04 2.48280786e+00] [-3.58868697e-03 9.99989174e-01 -2.96182181e-03 -4.36015500e-02] [ 5.87646111e-04 2.96394925e-03 9.99995435e-01 8.57957368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.042557844 meters 0.29122870931123557 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.05, Z:0.86 [[ 9.99981191e-01 -5.66306832e-03 2.35517825e-03 2.50271347e+00] [ 5.66816801e-03 9.99981594e-01 -2.16430031e-03 -5.31328248e-02] [-2.34287832e-03 2.17760915e-03 9.99994884e-01 8.58226763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.102557844 meters 0.2902879438163937 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.06, Z:0.86 [[ 9.99983831e-01 -5.29518761e-03 2.07320713e-03 2.50328145e+00] [ 5.29689101e-03 9.99985638e-01 -8.17000751e-04 -5.83838776e-02] [-2.06885118e-03 8.27969093e-04 9.99997517e-01 8.58517290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.162557844 meters 0.2935255985521906 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.86 [[ 9.99997009e-01 1.01471241e-03 2.22552146e-03 2.52654685e+00] [-1.00733825e-03 9.99994008e-01 -3.31207677e-03 -6.73984091e-02] [-2.22886893e-03 3.30982501e-03 9.99992039e-01 8.57668279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.222557844 meters 0.2891048836768357 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.07, Z:0.86 [[ 9.99966984e-01 -8.11527880e-03 4.16837031e-04 2.50653200e+00] [ 8.11623004e-03 9.99964340e-01 -2.33342946e-03 -6.74244566e-02] [-3.97885736e-04 2.33673556e-03 9.99997191e-01 8.57667669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.282557844 meters 0.29122367508015273 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.07, Z:0.86 [[ 9.99998243e-01 1.32766606e-03 1.32310406e-03 2.52795623e+00] [-1.32433406e-03 9.99995958e-01 -2.51602187e-03 -7.17005874e-02] [-1.32643915e-03 2.51426522e-03 9.99995960e-01 8.58109593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.342557844 meters 0.2934719853120927 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.07, Z:0.86 [[ 9.99972002e-01 -6.63172156e-03 3.46637509e-03 2.54678439e+00] [ 6.63659171e-03 9.99977004e-01 -1.39535909e-03 -6.87431940e-02] [-3.45704174e-03 1.41832494e-03 9.99993019e-01 8.58893937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.402557844 meters 0.29049857231991705 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.08, Z:0.86 [[ 9.99992066e-01 1.73063758e-03 3.58792659e-03 2.52511854e+00] [-1.72538136e-03 9.99997435e-01 -1.46755328e-03 -7.69306985e-02] [-3.59045719e-03 1.46135109e-03 9.99992487e-01 8.59375997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.462557844 meters 0.2901715154881514 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.08, Z:0.86 [[ 9.99991707e-01 1.87233703e-03 3.61679402e-03 2.52497773e+00] [-1.86849896e-03 9.99997688e-01 -1.06426738e-03 -7.85706577e-02] [-3.61877833e-03 1.05750058e-03 9.99992893e-01 8.59576295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.522557844 meters 0.28990562119210833 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.08, Z:0.86 [[ 9.99961585e-01 -7.37697394e-03 4.73368683e-03 2.54727613e+00] [ 7.37974048e-03 9.99972608e-01 -5.67234623e-04 -8.34330239e-02] [-4.72937269e-03 6.02146213e-04 9.99988635e-01 8.59172518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.582557844 meters 0.2907730684167436 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.09, Z:0.86 [[ 9.99964484e-01 -7.07956517e-03 4.57286024e-03 2.54762693e+00] [ 7.07870597e-03 9.99974925e-01 2.04049888e-04 -8.66433366e-02] [-4.57419016e-03 -1.71672708e-04 9.99989524e-01 8.59337897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.642557844 meters 0.2900231803578876 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.10, Z:0.86 [[ 9.99984109e-01 1.13010847e-03 5.52317646e-03 2.52571979e+00] [-1.13203240e-03 9.99999300e-01 3.45224257e-04 -9.67430372e-02] [-5.52278246e-03 -3.51471186e-04 9.99984688e-01 8.58163087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.702557844 meters 0.29130765788014296 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.10, Z:0.86 [[ 9.99983833e-01 1.21458934e-03 5.55503783e-03 2.52562666e+00] [-1.21784179e-03 9.99999089e-01 5.82150288e-04 -9.77037852e-02] [-5.55432569e-03 -5.88906034e-04 9.99984401e-01 8.58218415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.762557844 meters 0.29093004866654804 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.10, Z:0.86 [[ 9.99972426e-01 -7.17326584e-03 1.92106958e-03 2.50721314e+00] [ 7.16927215e-03 9.99972142e-01 2.07776821e-03 -1.00329120e-01] [-1.93592044e-03 -2.06393825e-03 9.99995996e-01 8.58539100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.822557844 meters 0.29267334000403195 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:0.86 [[ 9.99972246e-01 -7.13306920e-03 2.15094226e-03 2.55189137e+00] [ 7.12970730e-03 9.99973356e-01 1.56662551e-03 -1.03416526e-01] [-2.16205980e-03 -1.55124644e-03 9.99996460e-01 8.57340561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.882557844 meters 0.2909420589086367 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99991110e-01 8.96501845e-04 4.12018233e-03 2.53247653e+00] [-9.05249074e-04 9.99997340e-01 2.12164562e-03 -1.15910303e-01] [-4.11826931e-03 -2.12535655e-03 9.99989261e-01 8.56538598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942557844 meters 0.29061777015396756 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99991206e-01 1.07810288e-03 4.05295145e-03 2.53234973e+00] [-1.08940490e-03 9.99995522e-01 2.78741737e-03 -1.18460465e-01] [-4.04992818e-03 -2.79180816e-03 9.99987902e-01 8.57270425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters 0.2890964029165862 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99991236e-01 1.21102544e-03 4.00761221e-03 2.53242267e+00] [-1.22378960e-03 9.99994182e-01 3.18406206e-03 -1.20064649e-01] [-4.00373291e-03 -3.18893863e-03 9.99986900e-01 8.57367224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters 0.2894406927042251 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99990190e-01 1.37452274e-03 4.21088799e-03 2.53174570e+00] [-1.39006345e-03 9.99992226e-01 3.68990219e-03 -1.22119602e-01] [-4.20578340e-03 -3.69571939e-03 9.99984326e-01 8.57828536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters 0.2898878561581703 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99990291e-01 1.47428089e-03 4.15255013e-03 2.53182762e+00] [-1.49078171e-03 9.99990995e-01 3.97337081e-03 -1.23279888e-01] [-4.14665487e-03 -3.97952278e-03 9.99983484e-01 8.57992302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters 0.2883667078338731 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.12, Z:0.86 [[ 9.99993009e-01 3.73765078e-03 -1.10835327e-04 2.50968445e+00] [-3.73783393e-03 9.99991567e-01 -1.70109820e-03 -1.19680524e-01] [ 1.04476281e-04 1.70150059e-03 9.99998547e-01 8.61076367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters 0.2902133849931208 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99994905e-01 -2.40691619e-03 2.09684764e-03 2.53366369e+00] [ 2.40556072e-03 9.99996896e-01 6.48716456e-04 -1.20459564e-01] [-2.09840254e-03 -6.43669056e-04 9.99997591e-01 8.58062533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters 0.28884768981380315 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99994835e-01 -2.38671190e-03 2.15259593e-03 2.53353753e+00] [ 2.38521633e-03 9.99996912e-01 6.97073643e-04 -1.20662119e-01] [-2.15425300e-03 -6.91935636e-04 9.99997440e-01 8.58029074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters 0.2883183788891358 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99994476e-01 -2.34815419e-03 2.35250254e-03 2.53290981e+00] [ 2.34626906e-03 9.99996924e-01 8.03768898e-04 -1.21082595e-01] [-2.35438268e-03 -7.98244854e-04 9.99996910e-01 8.58408677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters 0.287701752494044 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99994381e-01 -2.28032038e-03 2.45712123e-03 2.53264553e+00] [ 2.27781342e-03 9.99996883e-01 1.02260083e-03 -1.21948968e-01] [-2.45944543e-03 -1.01699822e-03 9.99996458e-01 8.58440208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.482557844 meters 0.2880024721992802 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99994699e-01 -2.19380083e-03 2.40607134e-03 2.53272769e+00] [ 2.19069884e-03 9.99996767e-01 1.29111314e-03 -1.23025847e-01] [-2.40889601e-03 -1.28583532e-03 9.99996272e-01 8.58554135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.542557844 meters 0.2875873384985471 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.12, Z:0.86 [[ 9.99993687e-01 -2.15860552e-03 2.82254260e-03 2.53135202e+00] [ 2.15463582e-03 9.99996687e-01 1.40871308e-03 -1.23486380e-01] [-2.82557411e-03 -1.40262263e-03 9.99995024e-01 8.59669457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.602557844 meters 0.2895531159104164 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:0.86 [[ 9.99996133e-01 -1.36014429e-03 2.42579633e-03 2.56842307e+00] [ 1.35742820e-03 9.99998450e-01 1.12096475e-03 -1.23097644e-01] [-2.42731724e-03 -1.11766757e-03 9.99996429e-01 8.63584376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.662557844 meters 0.2878099267438522 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:0.86 [[ 9.99995950e-01 -1.32239635e-03 2.52023088e-03 2.56811498e+00] [ 1.31930831e-03 9.99998377e-01 1.22657064e-03 -1.23518933e-01] [-2.52184880e-03 -1.22324071e-03 9.99996072e-01 8.63760182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.722557844 meters 0.2879711663984059 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:0.86 [[ 9.99996208e-01 -1.19548745e-03 2.48074575e-03 2.56823189e+00] [ 1.19135567e-03 9.99997902e-01 1.66634807e-03 -1.25255929e-01] [-2.48273265e-03 -1.66338630e-03 9.99995535e-01 8.63701325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.782557844 meters 0.289206527314977 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:0.86 [[ 9.99997374e-01 -1.00503429e-03 2.05938260e-03 2.56926965e+00] [ 9.99859563e-04 9.99996344e-01 2.51224722e-03 -1.28754390e-01] [-2.06189996e-03 -2.51018154e-03 9.99994724e-01 8.63588011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.842557844 meters 0.2895666091859803 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:0.86 [[ 9.99997739e-01 -7.94470995e-04 1.97248946e-03 2.56948256e+00] [ 7.88422563e-04 9.99994991e-01 3.06528122e-03 -1.31040113e-01] [-1.97491486e-03 -3.06371913e-03 9.99993357e-01 8.63568322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.902557844 meters 0.28707012071922317 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.13, Z:0.86 [[ 9.99985930e-01 5.10284039e-03 -1.44967271e-03 2.54891911e+00] [-5.10216450e-03 9.99986874e-01 4.69552709e-04 -1.31001606e-01] [ 1.45204973e-03 -4.62149634e-04 9.99998839e-01 8.64418120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.962557844 meters 0.2877571173791011 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:0.87 [[ 9.99993701e-01 -3.34799979e-03 -1.17813033e-03 2.56850625e+00] [ 3.34931016e-03 9.99993773e-01 1.11203870e-03 -1.27097373e-01] [ 1.17439989e-03 -1.11597762e-03 9.99998688e-01 8.65182440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.022557844 meters 0.2883110367042428 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.13, Z:0.87 [[ 9.99980934e-01 5.95394523e-03 1.63784771e-03 2.58614542e+00] [-5.95409231e-03 9.99982271e-01 8.49427983e-05 -1.27101374e-01] [-1.63731293e-03 -9.46930752e-05 9.99998655e-01 8.66589305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.082557844 meters 0.2899368266523014 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.13, Z:0.87 [[ 9.99981806e-01 5.89483229e-03 1.28021690e-03 2.58745298e+00] [-5.89475816e-03 9.99982624e-01 -6.16712118e-05 -1.26573893e-01] [-1.28055819e-03 5.41235208e-05 9.99999179e-01 8.65481628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.142557844 meters 0.2887005875826706 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:0.86 [[ 9.99995557e-01 -2.90382079e-03 -6.74296491e-04 2.56954774e+00] [ 2.90468426e-03 9.99994958e-01 1.28311799e-03 -1.23347386e-01] [ 6.70567147e-04 -1.28507090e-03 9.99998949e-01 8.64152098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.202557844 meters 0.28968012893222284 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:0.86 [[ 9.99975494e-01 6.87940546e-03 -1.29791152e-03 2.59237369e+00] [-6.87855843e-03 9.99976127e-01 6.55950311e-04 -1.24401823e-01] [ 1.30239308e-03 -6.47006476e-04 9.99998943e-01 8.63933763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.262557844 meters 0.2894741365131019 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:0.86 [[ 9.99976029e-01 6.82807753e-03 -1.14827851e-03 2.59195693e+00] [-6.82749142e-03 9.99976561e-01 5.13576052e-04 -1.23797532e-01] [ 1.15175833e-03 -5.05723879e-04 9.99999209e-01 8.64032302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.322557844 meters 0.2884916806497349 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:0.86 [[ 9.99995861e-01 -2.08032571e-03 -1.98736535e-03 2.57300850e+00] [ 2.08390839e-03 9.99996204e-01 1.80236268e-03 -1.20422836e-01] [ 1.98360831e-03 -1.80649671e-03 9.99996401e-01 8.62674294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.382557844 meters 0.29072394288683495 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.12, Z:0.86 [[ 9.99988173e-01 4.80260883e-03 -7.66919840e-04 2.59585925e+00] [-4.80368719e-03 9.99987467e-01 -1.41048860e-03 -1.20072501e-01] [ 7.60136203e-04 1.41415596e-03 9.99998711e-01 8.61055796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442557844 meters 0.2898666536066619 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.12, Z:0.86 [[ 9.99988692e-01 4.69795893e-03 -7.38282991e-04 2.59549935e+00] [-4.69918282e-03 9.99987573e-01 -1.66485121e-03 -1.18928371e-01] [ 7.30452414e-04 1.66830171e-03 9.99998342e-01 8.61669214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters 0.2887228142597478 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.11, Z:0.86 [[ 9.99986838e-01 -5.12948147e-03 1.12101432e-04 2.57345768e+00] [ 5.12963399e-03 9.99985856e-01 -1.40550613e-03 -1.14363556e-01] [-1.04890329e-04 1.40606267e-03 9.99999006e-01 8.61858612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562557844 meters 0.28900051318848824 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.11, Z:0.86 [[ 9.99983710e-01 4.09386700e-03 3.97751654e-03 2.58942998e+00] [-4.08439116e-03 9.99988809e-01 -2.38756005e-03 -1.13143549e-01] [-3.98724638e-03 2.37127542e-03 9.99989239e-01 8.63509279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622557844 meters 0.2899897859242933 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.11, Z:0.86 [[ 9.99983887e-01 4.04069747e-03 3.98729576e-03 2.58934747e+00] [-4.03061509e-03 9.99988668e-01 -2.53342867e-03 -1.12544004e-01] [-3.99748740e-03 2.51731660e-03 9.99988842e-01 8.63649174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68255784400003 meters 0.2884810170113581 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.11, Z:0.86 [[ 9.99984588e-01 4.12285384e-03 3.71841373e-03 2.59014421e+00] [-4.11427271e-03 9.99988863e-01 -2.31244313e-03 -1.13468340e-01] [-3.72790618e-03 2.29710892e-03 9.99990413e-01 8.63298134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74255784400003 meters 0.28852140847536245 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.11, Z:0.86 [[ 9.99983338e-01 4.25681873e-03 3.89923526e-03 2.58948693e+00] [-4.24920125e-03 9.99989052e-01 -1.95978795e-03 -1.14911173e-01] [-3.90753503e-03 1.94318666e-03 9.99990478e-01 8.63847280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80255784400003 meters 0.2909202747761763 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.11, Z:0.86 [[ 9.99983042e-01 -4.49191131e-03 3.70648515e-03 2.61206366e+00] [ 4.49829413e-03 9.99988411e-01 -1.71553238e-03 -1.12560763e-01] [-3.69873618e-03 1.73217615e-03 9.99991659e-01 8.63110856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86255784400004 meters 0.2897875280931881 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.11, Z:0.86 [[ 9.99993767e-01 3.52457449e-03 -2.06228935e-04 2.59508387e+00] [-3.52505055e-03 9.99991013e-01 -2.35545526e-03 -1.14540966e-01] [ 1.97925104e-04 2.35616755e-03 9.99997205e-01 8.61179737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92255784400004 meters 0.2917011669293494 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.12, Z:0.86 [[ 9.99995643e-01 -1.04517056e-03 2.76073802e-03 2.61766788e+00] [ 1.04184315e-03 9.99998730e-01 1.20642217e-03 -1.16772302e-01] [-2.76199543e-03 -1.20354066e-03 9.99995461e-01 8.59799574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.982557844 meters 0.29086740472628986 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.12, Z:0.86 [[ 9.99995835e-01 -7.38984813e-04 2.78979215e-03 2.61761212e+00] [ 7.33352421e-04 9.99997692e-01 2.01941242e-03 -1.20104024e-01] [-2.79127803e-03 -2.01735811e-03 9.99994069e-01 8.59778842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.042557844 meters 0.2903083442333985 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.12, Z:0.86 [[ 9.99993414e-01 3.62914016e-03 -3.60117612e-05 2.59581348e+00] [-3.62918796e-03 9.99992391e-01 -1.43045558e-03 -1.22356908e-01] [ 3.08201634e-05 1.43057685e-03 9.99998976e-01 8.60598614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.102557844 meters 0.29009121459862797 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.12, Z:0.86 [[ 9.99993251e-01 3.67322926e-03 -7.70141456e-05 2.59593073e+00] [-3.67332703e-03 9.99992395e-01 -1.31035778e-03 -1.22857113e-01] [ 7.22003154e-05 1.31063183e-03 9.99999139e-01 8.60569684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.162557844 meters 0.29054856253912287 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:0.86 [[ 9.99991570e-01 -3.82364651e-03 1.49674521e-03 2.61449199e+00] [ 3.82385063e-03 9.99992680e-01 -1.33537098e-04 -1.17973211e-01] [-1.49622365e-03 1.39259302e-04 9.99998871e-01 8.61352426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.222557844 meters 0.29125480547347427 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:0.86 [[ 9.99991347e-01 -3.90541435e-03 1.43286396e-03 2.61485982e+00] [ 3.90592355e-03 9.99992310e-01 -3.52746773e-04 -1.17100402e-01] [-1.43147532e-03 3.58340378e-04 9.99998911e-01 8.60848376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.282557844 meters 0.2906938643577982 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:0.86 [[ 9.99991191e-01 -3.93184826e-03 1.46951189e-03 2.61471213e+00] [ 3.93247433e-03 9.99992178e-01 -4.23387676e-04 -1.16798147e-01] [-1.46783570e-03 4.29162764e-04 9.99998831e-01 8.60961629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.342557844 meters 0.29208713975292677 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.12, Z:0.86 [[ 9.99991152e-01 -3.89422230e-03 1.59077904e-03 2.61438591e+00] [ 3.89475444e-03 9.99992360e-01 -3.31556657e-04 -1.17173104e-01] [-1.58947573e-03 3.37749417e-04 9.99998680e-01 8.61007913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.402557844 meters 0.2910539741874454 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:0.86 [[ 9.99997271e-01 1.64347511e-03 -1.66061014e-03 2.59266355e+00] [-1.64839825e-03 9.99994238e-01 -2.96765498e-03 -1.17201445e-01] [ 1.65572330e-03 2.97038423e-03 9.99994218e-01 8.63090040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.462557844 meters 0.2916479122617983 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:0.86 [[ 9.99997530e-01 1.52478023e-03 -1.61728776e-03 2.59261111e+00] [-1.53018447e-03 9.99993233e-01 -3.34558768e-03 -1.15706685e-01] [ 1.61217552e-03 3.34805416e-03 9.99993096e-01 8.62931326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.522557844 meters 0.2905810923815335 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.11, Z:0.86 [[ 9.99996366e-01 -2.68706351e-03 -2.20173711e-04 2.61485970e+00] [ 2.68719768e-03 9.99996203e-01 6.11385104e-04 -1.11673128e-01] [ 2.18530044e-04 -6.11974532e-04 9.99999789e-01 8.62278946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.582557844 meters 0.2928747551107377 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.11, Z:0.86 [[ 9.99996170e-01 -2.76734697e-03 -4.62238961e-05 2.61431171e+00] [ 2.76736398e-03 9.99996102e-01 3.71951776e-04 -1.10670484e-01] [ 4.51943963e-05 -3.72078270e-04 9.99999930e-01 8.62564801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.642557844 meters 0.2910932001297686 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.11, Z:0.86 [[ 9.99995619e-01 -2.95296811e-03 -2.04699978e-04 2.61482969e+00] [ 2.95292943e-03 9.99995622e-01 -1.88985610e-04 -1.08451219e-01] [ 2.05257150e-04 1.88380317e-04 9.99999961e-01 8.62171461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.702557844 meters 0.29030944522139535 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.11, Z:0.86 [[ 9.99994981e-01 -3.16801536e-03 3.70960315e-05 2.61426144e+00] [ 3.16804488e-03 9.99994642e-01 -8.24596105e-04 -1.05849010e-01] [-3.44834996e-05 8.24709488e-04 9.99999659e-01 8.62022378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.762557844 meters 0.29139078460066986 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.10, Z:0.86 [[ 9.99993947e-01 -3.44970787e-03 4.52671148e-04 2.61308063e+00] [ 3.45047403e-03 9.99992597e-01 -1.70280012e-03 -1.02129264e-01] [-4.46793634e-04 1.70435174e-03 9.99998448e-01 8.62329404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.822557844 meters 0.2902526172697148 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:0.86 [[ 9.99990771e-01 3.85393381e-03 -1.89883023e-03 2.59413741e+00] [-3.85991200e-03 9.99987574e-01 -3.15481619e-03 -1.03958838e-01] [ 1.88664818e-03 3.16211639e-03 9.99993221e-01 8.61019272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.882557844 meters 0.290389093296223 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:0.86 [[ 9.99991123e-01 3.72715310e-03 -1.96523105e-03 2.59461529e+00] [-3.73398940e-03 9.99986951e-01 -3.48650323e-03 -1.02623357e-01] [ 1.95221068e-03 3.49381044e-03 9.99991991e-01 8.60278816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942557844 meters 0.2897246525008568 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.10, Z:0.86 [[ 9.99991243e-01 3.84697750e-03 -1.64782642e-03 2.59352277e+00] [-3.85209264e-03 9.99987737e-01 -3.11233110e-03 -1.04073325e-01] [ 1.63583314e-03 3.11865142e-03 9.99993799e-01 8.61270873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002557844 meters 0.290824336980913 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99986926e-01 -4.80821022e-03 -1.74055626e-03 2.61726855e+00] [ 4.80334304e-03 9.99984572e-01 -2.78979509e-03 -1.03611001e-01] [ 1.75394333e-03 2.78139812e-03 9.99994594e-01 8.60559747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062557844 meters 0.2891405102171551 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.11, Z:0.86 [[ 0.9999873 0.00323352 -0.00386496 2.59789936] [-0.00324552 0.99998992 -0.00310148 -0.10895469] [ 0.0038549 0.00311398 0.99998772 0.86019968] [ 0. 0. 0. 1. ]] SLAMing on 336.122557844 meters 0.29069229833830884 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.11, Z:0.86 [[ 0.99998667 0.00322973 -0.00402844 2.5984753 ] [-0.00324224 0.99998993 -0.00310211 -0.10899138] [ 0.00401838 0.00311513 0.99998707 0.85978822] [ 0. 0. 0. 1. ]] SLAMing on 336.18255784400003 meters 0.29142076826359037 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.11, Z:0.86 [[ 0.9999872 0.00310827 -0.00399295 2.59846698] [-0.00312233 0.99998894 -0.00351863 -0.10736666] [ 0.00398197 0.00353105 0.99998584 0.85957741] [ 0. 0. 0. 1. ]] SLAMing on 336.24255784400003 meters 0.2922952490058949 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:0.86 [[ 0.99998872 0.00291669 -0.0037479 2.59779798] [-0.00293287 0.99998637 -0.00432021 -0.10424519] [ 0.00373525 0.00433115 0.99998364 0.85978178] [ 0. 0. 0. 1. ]] SLAMing on 336.30255784400003 meters 0.29222035905185906 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:0.86 [[ 0.99998977 0.00275584 -0.00358643 2.59739608] [-0.00277288 0.99998486 -0.00475372 -0.10243224] [ 0.00357328 0.00476362 0.99998227 0.85975274] [ 0. 0. 0. 1. ]] SLAMing on 336.36255784400004 meters 0.28982973244680926 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:0.86 [[ 0.99999012 0.00271702 -0.00351722 2.5971203 ] [-0.00273411 0.99998445 -0.00486152 -0.10196821] [ 0.00350396 0.00487109 0.999982 0.85997765] [ 0. 0. 0. 1. ]] SLAMing on 336.42255784400004 meters 0.2911629917943478 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99995133e-01 -2.95007582e-03 -1.01497390e-03 2.61710919e+00] [ 2.94830510e-03 9.99994137e-01 -1.74168560e-03 -9.99229789e-02] [ 1.02010605e-03 1.73868467e-03 9.99997968e-01 8.60331000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.482557844 meters 0.2921381975035662 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99994863e-01 -3.01524278e-03 -1.08712362e-03 2.61735026e+00] [ 3.01316372e-03 9.99993638e-01 -1.90903452e-03 -9.92477148e-02] [ 1.09287290e-03 1.90574903e-03 9.99997587e-01 8.60186059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.542557844 meters 0.29004947512531987 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99994707e-01 -3.07363833e-03 -1.06732257e-03 2.61725985e+00] [ 3.07143742e-03 9.99993166e-01 -2.05763777e-03 -9.86182087e-02] [ 1.07363971e-03 2.05434867e-03 9.99997313e-01 8.60261389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.602557844 meters 0.288631498856538 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.10, Z:0.86 [[ 0.99998192 0.0049766 -0.00337509 2.59700042] [-0.00498591 0.99998377 -0.00275595 -0.10060578] [ 0.00336132 0.00277273 0.99999051 0.86062791] [ 0. 0. 0. 1. ]] SLAMing on 336.662557844 meters 0.29063884467816137 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999349e-01 -4.39391725e-04 -1.05323734e-03 2.62021476e+00] [ 4.39481850e-04 9.99999900e-01 8.53395480e-05 -9.89685636e-02] [ 1.05319974e-03 -8.58023711e-05 9.99999442e-01 8.58287652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.722557844 meters 0.288885771634021 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999445e-01 -5.76034868e-04 -8.82115516e-04 2.61946095e+00] [ 5.75792436e-04 9.99999796e-01 -2.75059827e-04 -9.73819472e-02] [ 8.82273780e-04 2.74551758e-04 9.99999573e-01 8.59053295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.782557844 meters 0.28800418597025335 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999448e-01 -6.28829960e-04 -8.41570214e-04 2.61924713e+00] [ 6.28482367e-04 9.99999717e-01 -4.13229668e-04 -9.67976764e-02] [ 8.41829827e-04 4.12700528e-04 9.99999561e-01 8.59294192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.842557844 meters 0.28833362839509713 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999148e-01 -7.05167823e-04 -1.09841583e-03 2.62014245e+00] [ 7.04490719e-04 9.99999562e-01 -6.16701862e-04 -9.60446000e-02] [ 1.09885023e-03 6.15927513e-04 9.99999207e-01 8.58602369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.902557844 meters 0.28811817210398716 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999191e-01 -7.41113638e-04 -1.03350682e-03 2.61976708e+00] [ 7.40380753e-04 9.99999474e-01 -7.09327331e-04 -9.56068037e-02] [ 1.03403197e-03 7.08561569e-04 9.99999214e-01 8.59071168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.962557844 meters 0.28867767971092556 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.10, Z:0.86 [[ 9.99999237e-01 -7.38115681e-04 -9.90673315e-04 2.61955603e+00] [ 7.37419703e-04 9.99999481e-01 -7.02711182e-04 -9.56219219e-02] [ 9.91191483e-04 7.01980104e-04 9.99999262e-01 8.59298094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.022557844 meters 0.2880247918466298 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999164e-01 -8.46476352e-04 -9.77849804e-04 2.61945350e+00] [ 8.45505379e-04 9.99999150e-01 -9.92954098e-04 -9.44083004e-02] [ 9.78689484e-04 9.92126491e-04 9.99999029e-01 8.59439062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.082557844 meters 0.2884713608444603 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999205e-01 -1.04016841e-03 -7.13304071e-04 2.61871630e+00] [ 1.03901872e-03 9.99998164e-01 -1.61026923e-03 -9.18530538e-02] [ 7.14977713e-04 1.60952681e-03 9.99998449e-01 8.59606216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.142557844 meters 0.28913997572461336 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999112e-01 -1.02658398e-03 -8.49305027e-04 2.61929587e+00] [ 1.02524582e-03 9.99998235e-01 -1.57453570e-03 -9.20783694e-02] [ 8.50919921e-04 1.57366355e-03 9.99998400e-01 8.59033893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.202557844 meters 0.28816916999859343 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999165e-01 -9.28201140e-04 -8.99281215e-04 2.61924843e+00] [ 9.27024552e-04 9.99998715e-01 -1.30789940e-03 -9.31708509e-02] [ 9.00494053e-04 1.30706465e-03 9.99998740e-01 8.59443166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.262557844 meters 0.28749554612291306 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999238e-01 -9.19294462e-04 -8.24102329e-04 2.61903653e+00] [ 9.18232704e-04 9.99998749e-01 -1.28783463e-03 -9.32525940e-02] [ 8.25285197e-04 1.28707693e-03 9.99998831e-01 8.59493635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.322557844 meters 0.28742983307016345 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.09, Z:0.86 [[ 9.99999132e-01 -9.97544821e-04 -8.61013799e-04 2.61922150e+00] [ 9.96258672e-04 9.99998389e-01 -1.49289882e-03 -9.24106588e-02] [ 8.62501646e-04 1.49203973e-03 9.99998515e-01 8.59269084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.382557844 meters 0.2900841289230538 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99998656e-01 5.46156674e-04 -1.54564032e-03 2.65711987e+00] [-5.48766821e-04 9.99998423e-01 -1.68879559e-03 -8.77739613e-02] [ 1.54471554e-03 1.68964152e-03 9.99997379e-01 8.63004198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442557844 meters 0.2898575185892024 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99998788e-01 3.86318300e-04 -1.50819352e-03 2.65703478e+00] [-3.89550708e-04 9.99997627e-01 -2.14352625e-03 -8.59235242e-02] [ 1.50736186e-03 2.14411117e-03 9.99996565e-01 8.62951729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters 0.2892280682610539 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99998860e-01 3.26845913e-04 -1.47437345e-03 2.65705700e+00] [-3.30227678e-04 9.99997314e-01 -2.29403603e-03 -8.52995292e-02] [ 1.47361969e-03 2.29452029e-03 9.99996282e-01 8.62712453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters 0.28886617999529113 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99998927e-01 3.75530035e-04 -1.41566310e-03 2.65663259e+00] [-3.78599259e-04 9.99997577e-01 -2.16840293e-03 -8.57867893e-02] [ 1.41484537e-03 2.16893657e-03 9.99996647e-01 8.63366926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters 0.2873928705962107 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99999091e-01 3.41984386e-04 -1.30431076e-03 2.65626774e+00] [-3.44933183e-04 9.99997384e-01 -2.26125426e-03 -8.53846359e-02] [ 1.30353403e-03 2.26170211e-03 9.99996593e-01 8.63561022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters 0.28849280042052855 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.86 [[ 9.99985899e-01 -4.96013006e-03 1.89687854e-03 2.67946610e+00] [ 4.95881118e-03 9.99987460e-01 6.99362723e-04 -8.76335512e-02] [-1.90032368e-03 -6.89946600e-04 9.99997956e-01 8.60401144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters 0.28724233717374487 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99995345e-01 3.04114455e-03 -2.46168751e-04 2.65926412e+00] [-3.04112560e-03 9.99995373e-01 7.73022769e-05 -8.99104226e-02] [ 2.46402700e-04 -7.65532870e-05 9.99999967e-01 8.59691084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters 0.2879195901033034 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99995457e-01 3.00961463e-03 -1.65199939e-04 2.65907432e+00] [-3.00961597e-03 9.99995471e-01 -7.84052404e-06 -8.95546775e-02] [ 1.65175593e-04 8.33767680e-06 9.99999986e-01 8.59651419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters 0.28790781359366086 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.86 [[ 9.99995471e-01 3.00791758e-03 -9.95717405e-05 2.65877226e+00] [-3.00791884e-03 9.99995476e-01 -1.24578035e-05 -8.95186459e-02] [ 9.95338180e-05 1.27572508e-05 9.99999995e-01 8.59967436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.922557844 meters 0.28968164370156346 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.86 [[ 9.99997498e-01 -2.17470742e-03 -5.24929004e-04 2.68366884e+00] [ 2.17647712e-03 9.99991870e-01 3.39462095e-03 -8.65053514e-02] [ 5.17542429e-04 -3.39575495e-03 9.99994100e-01 8.58406214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.982557844 meters 0.28968302388795286 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.09, Z:0.86 [[ 9.99997106e-01 -2.31693430e-03 -6.47936354e-04 2.68412316e+00] [ 2.31889217e-03 9.99992698e-01 3.03745217e-03 -8.50107855e-02] [ 6.40894046e-04 -3.03894587e-03 9.99995177e-01 8.58063575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.042557844 meters 0.2889499411219153 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.86 [[ 9.99996528e-01 -2.60579366e-03 -3.91305599e-04 2.68328671e+00] [ 2.60665599e-03 9.99994139e-01 2.21962958e-03 -8.15354712e-02] [ 3.85519409e-04 -2.22064188e-03 9.99997460e-01 8.58363981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.102557844 meters 0.28823943735522317 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.86 [[ 9.99995936e-01 -2.83558539e-03 -2.97059256e-04 2.68291578e+00] [ 2.83605273e-03 9.99994723e-01 1.58479073e-03 -7.88865554e-02] [ 2.92563879e-04 -1.58562676e-03 9.99998700e-01 8.58596146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.162557844 meters 0.2883743543528155 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.07, Z:0.86 [[ 9.99994617e-01 -3.28073723e-03 5.29658386e-05 2.68195362e+00] [ 3.28072330e-03 9.99994584e-01 2.60943784e-04 -7.34805670e-02] [-5.38216398e-05 -2.60768613e-04 9.99999965e-01 8.58619359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.222557844 meters 0.29051981069592275 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.86 [[ 9.99984892e-01 3.53951110e-03 4.20575968e-03 2.70253494e+00] [-3.52852014e-03 9.99990348e-01 -2.61786400e-03 -6.51560292e-02] [-4.21498505e-03 2.60298434e-03 9.99987729e-01 8.56467325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.282557844 meters 0.2879587572358781 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.86 [[ 0.99998672 0.00309199 0.00412247 2.70282739] [-0.00307641 0.99998812 -0.00378105 -0.06036628] [-0.00413411 0.00376832 0.99998435 0.85629677] [ 0. 0. 0. 1. ]] SLAMing on 338.342557844 meters 0.29054314685149524 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.86 [[ 0.99998775 0.00291255 0.00400276 2.70303105] [-0.00289558 0.99998682 -0.00423951 -0.05844555] [-0.00401506 0.00422787 0.999983 0.85650853] [ 0. 0. 0. 1. ]] SLAMing on 338.402557844 meters 0.28937135905994776 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:0.86 [[ 9.99980199e-01 -3.28051189e-03 5.37030074e-03 2.68004387e+00] [ 3.28584127e-03 9.99994118e-01 -9.83857716e-04 -5.21947376e-02] [-5.36704159e-03 1.00148419e-03 9.99985096e-01 8.56566206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.462557844 meters 0.29081678208892264 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:0.86 [[ 9.99978726e-01 -3.48863418e-03 5.51151821e-03 2.67972474e+00] [ 3.49769233e-03 9.99992547e-01 -1.63471222e-03 -4.95781269e-02] [-5.50577422e-03 1.65395503e-03 9.99983475e-01 8.56430509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.522557844 meters 0.2900574725421933 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.86 [[ 9.99983198e-01 5.31198384e-03 2.32093820e-03 2.65989764e+00] [-5.30680390e-03 9.99983427e-01 -2.23231843e-03 -4.46320981e-02] [-2.33275778e-03 2.21996416e-03 9.99994815e-01 8.56555133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.582557844 meters 0.2900238709269649 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.86 [[ 9.99984799e-01 5.02631447e-03 2.26662716e-03 2.66023333e+00] [-5.01952885e-03 9.99982933e-01 -2.98952549e-03 -4.14936705e-02] [-2.28161477e-03 2.97810264e-03 9.99992963e-01 8.56033322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.642557844 meters 0.29101758108970094 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.86 [[ 9.99987086e-01 4.55577840e-03 2.25212982e-03 2.66062517e+00] [-4.54660754e-03 9.99981420e-01 -4.06056845e-03 -3.69022633e-02] [-2.27058702e-03 4.05027646e-03 9.99989220e-01 8.55284219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.702557844 meters 0.29129974219199756 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:0.86 [[ 9.99987859e-01 4.38507396e-03 2.24783634e-03 2.66045098e+00] [-4.37491948e-03 9.99980293e-01 -4.50263082e-03 -3.50420020e-02] [-2.26753641e-03 4.49274205e-03 9.99987337e-01 8.55682787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.762557844 meters 0.29073274688522177 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.86 [[ 9.99989515e-01 3.97821784e-03 2.26807790e-03 2.66001480e+00] [-3.96594607e-03 9.99977611e-01 -5.38971292e-03 -3.11493872e-02] [-2.28946857e-03 5.38066134e-03 9.99982903e-01 8.56250070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.822557844 meters 0.2912245528548044 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:0.86 [[ 9.99990797e-01 3.67165122e-03 2.21907044e-03 2.66039518e+00] [-3.65791589e-03 9.99974322e-01 -6.16236199e-03 -2.79016900e-02] [-2.24163950e-03 6.15418811e-03 9.99978550e-01 8.55646956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.882557844 meters 0.29073813319963965 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.86 [[ 9.99997761e-01 -2.11159487e-03 -1.36252441e-04 2.63903979e+00] [ 2.11117021e-03 9.99993135e-01 -3.04507127e-03 -2.28527384e-02] [ 1.42681462e-04 3.04477680e-03 9.99995354e-01 8.56416683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942557844 meters 0.28697170282403384 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.86 [[ 9.99997581e-01 -2.19861518e-03 -6.29131966e-05 2.63846779e+00] [ 2.19839790e-03 9.99992246e-01 -3.26722996e-03 -2.18710467e-02] [ 7.00960902e-05 3.26708375e-03 9.99994661e-01 8.57280237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002557844 meters 0.28940366878545815 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.86 [[ 9.99997478e-01 -2.23021500e-03 2.63122649e-04 2.63727183e+00] [ 2.23109262e-03 9.99991787e-01 -3.38360769e-03 -2.13991658e-02] [-2.55574315e-04 3.38418621e-03 9.99994241e-01 8.58346573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062557844 meters 0.2893274565813341 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:0.86 [[ 9.99998005e-01 1.97393348e-03 3.05293008e-04 2.63717142e+00] [-1.97411054e-03 9.99997883e-01 5.80766756e-04 -2.02938926e-02] [-3.04145967e-04 -5.81368280e-04 9.99999785e-01 8.58489404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122557844 meters 0.28688374410834877 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:0.86 [[ 9.99998442e-01 -5.96115465e-04 1.66123384e-03 2.63123349e+00] [ 5.98640594e-04 9.99998666e-01 -1.51994975e-03 -2.32208377e-02] [-1.66032556e-03 1.52094187e-03 9.99997465e-01 8.62740924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18255784400003 meters 0.28783169979325685 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:0.86 [[ 9.99998333e-01 -4.11973515e-04 1.77876390e-03 2.63073726e+00] [ 4.13577583e-04 9.99999508e-01 -9.01514512e-04 -2.55897171e-02] [-1.77839162e-03 9.02248666e-04 9.99998012e-01 8.63336013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24255784400003 meters 0.2859195360403665 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:0.86 [[ 9.99997860e-01 -1.80764918e-04 2.06094162e-03 2.63006134e+00] [ 1.80619104e-04 9.99999981e-01 7.09372835e-05 -2.93971291e-02] [-2.06095441e-03 -7.05648862e-05 9.99997874e-01 8.63389611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30255784400003 meters 0.2853121489974614 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.03, Z:0.86 [[ 9.99998022e-01 7.43513312e-05 1.98779794e-03 2.63014788e+00] [-7.59955675e-05 9.99999655e-01 8.27101990e-04 -3.24380036e-02] [-1.98773575e-03 -8.27251418e-04 9.99997682e-01 8.63588451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36255784400004 meters 0.2878392265401562 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.86 [[ 9.99997759e-01 -1.99687063e-03 7.03046657e-04 2.63615794e+00] [ 1.99733867e-03 9.99997784e-01 -6.65669150e-04 -3.82336353e-02] [-7.01715843e-04 6.67071881e-04 9.99999531e-01 8.59684466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.422557844 meters 0.2854966068780661 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.04, Z:0.86 [[ 9.99983011e-01 5.60721728e-03 -1.59298916e-03 2.61809426e+00] [-5.60981319e-03 9.99982937e-01 -1.62981698e-03 -4.36477052e-02] [ 1.58382324e-03 1.63872566e-03 9.99997403e-01 8.57366323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.482557844 meters 0.2867392488151333 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.86 [[ 9.99992456e-01 -3.65730373e-03 -1.30829294e-03 2.64119575e+00] [ 3.65541636e-03 9.99992279e-01 -1.44211932e-03 -4.42499741e-02] [ 1.31355711e-03 1.43732609e-03 9.99998104e-01 8.56817532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.542557844 meters 0.28574415187101515 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.05, Z:0.86 [[ 9.99993245e-01 -3.50267992e-03 -1.11420590e-03 2.64050786e+00] [ 3.50162621e-03 9.99993422e-01 -9.46260783e-04 -4.62233944e-02] [ 1.11751301e-03 9.42352858e-04 9.99998932e-01 8.57399480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.602557844 meters 0.285847518620223 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:0.86 [[ 9.99997710e-01 -1.29831085e-03 -1.70158026e-03 2.64317211e+00] [ 1.29926499e-03 9.99998999e-01 5.59752891e-04 -4.23958439e-02] [ 1.70085182e-03 -5.61962412e-04 9.99998396e-01 8.55687939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.662557844 meters 0.28762273189188203 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.04, Z:0.85 [[ 9.99987173e-01 5.01494842e-03 -7.09428304e-04 2.66654289e+00] [-5.01665089e-03 9.99984491e-01 -2.41871657e-03 -4.47960204e-02] [ 6.97287563e-04 2.42224450e-03 9.99996823e-01 8.53974098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.722557844 meters 0.28779988719364086 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:0.85 [[ 9.99986173e-01 5.25510814e-03 -1.96276473e-04 2.66499009e+00] [-5.25540203e-03 9.99985023e-01 -1.52811055e-03 -4.83015416e-02] [ 1.88243147e-04 1.52912093e-03 9.99998813e-01 8.54757002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.782557844 meters 0.28591238405376573 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.06, Z:0.86 [[ 9.99990307e-01 -2.10411836e-03 -3.86762447e-03 2.64448435e+00] [ 2.10807319e-03 9.99997259e-01 1.01875542e-03 -5.52383696e-02] [ 3.86547028e-03 -1.02689878e-03 9.99992002e-01 8.56218348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.842557844 meters 0.2867858722409716 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.85 [[ 9.99991092e-01 3.80839027e-03 -1.81979059e-03 2.66701740e+00] [-3.81176063e-03 9.99991020e-01 -1.85219708e-03 -5.95661267e-02] [ 1.81272036e-03 1.85911719e-03 9.99996629e-01 8.54655921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.902557844 meters 0.28598160734567996 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.86 [[ 9.99990297e-01 4.04848509e-03 -1.73651114e-03 2.66639129e+00] [-4.05063767e-03 9.99991030e-01 -1.23788109e-03 -6.21678936e-02] [ 1.73148402e-03 1.24490305e-03 9.99997726e-01 8.55577434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.962557844 meters 0.2856508240163603 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.86 [[ 9.99990008e-01 4.14592530e-03 -1.67180540e-03 2.66620045e+00] [-4.14754809e-03 9.99990930e-01 -9.68384331e-04 -6.32616462e-02] [ 1.66777539e-03 9.75308548e-04 9.99998134e-01 8.55642656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.022557844 meters 0.2847087475483729 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:0.86 [[ 9.99989265e-01 4.18007306e-03 -1.99906396e-03 2.66707429e+00] [-4.18181843e-03 9.99990878e-01 -8.69715140e-04 -6.36538244e-02] [ 1.99541025e-03 8.78065526e-04 9.99997624e-01 8.55371471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.082557844 meters 0.2865610979276501 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:0.85 [[ 9.99998375e-01 -1.12120154e-03 1.41184198e-03 2.68872289e+00] [ 1.11808524e-03 9.99996941e-01 2.20611416e-03 -6.50119982e-02] [-1.41431116e-03 -2.20453202e-03 9.99996570e-01 8.54089637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.142557844 meters 0.28487779094297916 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.85 [[ 9.99976863e-01 6.79789976e-03 2.47920870e-04 2.66946274e+00] [-6.79812336e-03 9.99976476e-01 9.12499602e-04 -6.76830642e-02] [-2.41711957e-04 -9.14163886e-04 9.99999553e-01 8.52753086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.202557844 meters 0.28714595062343923 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:0.85 [[ 9.99998680e-01 -1.33616600e-03 9.24510957e-04 2.69050199e+00] [ 1.33464419e-03 9.99997757e-01 1.64473080e-03 -6.33376492e-02] [-9.26706516e-04 -1.64349473e-03 9.99998220e-01 8.53945454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.262557844 meters 0.28643135266174824 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:0.85 [[ 9.99998694e-01 -1.34163469e-03 9.00952969e-04 2.69050589e+00] [ 1.34016680e-03 9.99997777e-01 1.62789488e-03 -6.32675268e-02] [-9.03135006e-04 -1.62668533e-03 9.99998269e-01 8.54068145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.322557844 meters 0.2868497539029359 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:0.85 [[ 9.99998868e-01 -1.34547916e-03 6.73723583e-04 2.69098595e+00] [ 1.34438778e-03 9.99997788e-01 1.61775862e-03 -6.32121453e-02] [-6.75898753e-04 -1.61685104e-03 9.99998464e-01 8.54234272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.382557844 meters 0.2864990356645403 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:0.85 [[ 9.99998862e-01 -1.37922758e-03 6.10920233e-04 2.69120807e+00] [ 1.37829089e-03 9.99997878e-01 1.53103175e-03 -6.28532665e-02] [-6.13030578e-04 -1.53018798e-03 9.99998641e-01 8.54096398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442557844 meters 0.2864982162672125 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.06, Z:0.85 [[ 9.99998546e-01 -1.57563354e-03 6.51611203e-04 2.69100163e+00] [ 1.57498699e-03 9.99998268e-01 9.91548139e-04 -6.06215884e-02] [-6.53172391e-04 -9.90520419e-04 9.99999296e-01 8.54332824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters 0.28520322844264284 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:0.86 [[ 9.99985262e-01 4.68653015e-03 -2.74090777e-03 2.66830234e+00] [-4.69122063e-03 9.99987539e-01 -1.70736623e-03 -5.30742854e-02] [ 2.73287199e-03 1.72019927e-03 9.99994786e-01 8.56893699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562557844 meters 0.28514586330318137 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:0.86 [[ 9.99999198e-01 -4.62800757e-04 -1.17861868e-03 2.69110273e+00] [ 4.63994353e-04 9.99999380e-01 1.01263550e-03 -4.54366217e-02] [ 1.17814930e-03 -1.01318156e-03 9.99998793e-01 8.55802881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622557844 meters 0.28637428016877015 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.85 [[ 9.99998872e-01 -7.12120220e-04 -1.32228266e-03 2.69185970e+00] [ 7.12578737e-04 9.99999686e-01 3.46323218e-04 -4.26777556e-02] [ 1.32203562e-03 -3.47265058e-04 9.99999066e-01 8.54772195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68255784400003 meters 0.2871546949739527 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.86 [[ 9.99998836e-01 -9.18501548e-04 -1.21793274e-03 2.69146613e+00] [ 9.18333675e-04 9.99999569e-01 -1.38385711e-04 -4.06721906e-02] [ 1.21805932e-03 1.37267081e-04 9.99999249e-01 8.55058346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74255784400003 meters 0.2866048711795679 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.86 [[ 9.99998800e-01 -1.01163419e-03 -1.17333392e-03 2.69125443e+00] [ 1.01113663e-03 9.99999399e-01 -4.24578170e-04 -3.95492503e-02] [ 1.17376274e-03 4.23391260e-04 9.99999222e-01 8.55321664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80255784400003 meters 0.2885260188376688 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.85 [[ 9.99997993e-01 -1.09179726e-03 -1.67997787e-03 2.69295447e+00] [ 1.09074068e-03 9.99999207e-01 -6.29713383e-04 -3.88390365e-02] [ 1.68066405e-03 6.27879699e-04 9.99998391e-01 8.53761929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86255784400004 meters 0.28699703691303796 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.85 [[ 9.99998034e-01 -1.16718942e-03 -1.60304351e-03 2.69265108e+00] [ 1.16586347e-03 9.99998978e-01 -8.27828783e-04 -3.80222847e-02] [ 1.60400811e-03 8.25958225e-04 9.99998372e-01 8.54039957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.922557844 meters 0.28714278275004224 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:0.85 [[ 9.99997282e-01 -1.44393181e-03 -1.83071639e-03 2.69343981e+00] [ 1.44098401e-03 9.99997665e-01 -1.61049072e-03 -3.48178057e-02] [ 1.83303756e-03 1.60784831e-03 9.99997027e-01 8.53530198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.982557844 meters 0.28827207076766903 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:0.85 [[ 9.99996651e-01 -1.66759200e-03 -1.97929818e-03 2.69390855e+00] [ 1.66303895e-03 9.99995973e-01 -2.29975716e-03 -3.20590355e-02] [ 1.98312527e-03 2.29645781e-03 9.99995397e-01 8.53328064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.042557844 meters 0.2867594540386313 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.03, Z:0.86 [[ 9.99999129e-01 6.38833580e-04 -1.15484565e-03 2.68884556e+00] [-6.39615923e-04 9.99999566e-01 -6.77201432e-04 -2.72093728e-02] [ 1.15441253e-03 6.77939500e-04 9.99999104e-01 8.57395024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.102557844 meters 0.2884079064568673 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:0.86 [[ 9.99999221e-01 1.66285818e-04 -1.23706970e-03 2.68940789e+00] [-1.68642545e-04 9.99998171e-01 -1.90522843e-03 -2.21594797e-02] [ 1.23675063e-03 1.90543557e-03 9.99997420e-01 8.56818070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.162557844 meters 0.2871424147556998 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:0.86 [[ 9.99999145e-01 -2.93160207e-04 -1.27448495e-03 2.68957642e+00] [ 2.89521271e-04 9.99995884e-01 -2.85446856e-03 -1.81454783e-02] [ 1.27531652e-03 2.85409713e-03 9.99995114e-01 8.56725789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.222557844 meters 0.28757090286025117 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:0.86 [[ 9.99999054e-01 -4.49587465e-04 -1.30032481e-03 2.68978480e+00] [ 4.45368461e-04 9.99994642e-01 -3.24304853e-03 -1.65457415e-02] [ 1.30177587e-03 3.24246634e-03 9.99993896e-01 8.56434127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.282557844 meters 0.2872792982376771 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.86 [[ 9.99972674e-01 -6.56963667e-03 -3.38995935e-03 2.66776133e+00] [ 6.56734763e-03 9.99978199e-01 -6.85931791e-04 -1.10167149e-02] [ 3.39439177e-03 6.63650005e-04 9.99994019e-01 8.57497119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.342557844 meters 0.28847267983628894 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:0.86 [[ 9.99992015e-01 -2.41350967e-03 -3.18501881e-03 2.66702880e+00] [ 2.42341328e-03 9.99992230e-01 3.10924988e-03 -8.90770790e-03] [ 3.17748985e-03 -3.11694367e-03 9.99990094e-01 8.58004846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.402557844 meters 0.2873756533697618 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.00, Z:0.86 [[ 9.99991262e-01 -3.00227392e-03 -2.90895549e-03 2.66605407e+00] [ 3.00618044e-03 9.99994584e-01 1.33948745e-03 -1.69474276e-03] [ 2.90491822e-03 -1.34822059e-03 9.99994872e-01 8.58597279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.462557844 meters 0.2872291349565577 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:0.86 [[ 9.99988914e-01 -3.63218023e-03 -2.99659425e-03 2.66636744e+00] [ 3.63015413e-03 9.99993179e-01 -6.81297053e-04 6.39344653e-03] [ 2.99904840e-03 6.70411401e-04 9.99995278e-01 8.58480725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.522557844 meters 0.28609053458029204 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:0.86 [[ 9.99979519e-01 5.21390808e-03 -3.71164278e-03 2.64431489e+00] [-5.22247144e-03 9.99983715e-01 -2.30122114e-03 1.22120586e-02] [ 3.69958398e-03 2.32055796e-03 9.99990464e-01 8.58547753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.582557844 meters 0.2879056368814788 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.86 [[ 9.99995443e-01 -8.60367203e-04 -2.89378955e-03 2.66731945e+00] [ 8.61465692e-04 9.99999557e-01 3.78377260e-04 1.85922026e-02] [ 2.89346272e-03 -3.80868436e-04 9.99995741e-01 8.57517710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.642557844 meters 0.2878245092978687 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:0.86 [[ 9.99993819e-01 -1.35626769e-03 -3.24373090e-03 2.66864960e+00] [ 1.35368404e-03 9.99998765e-01 -7.98570445e-04 2.36686208e-02] [ 3.24480997e-03 7.94174523e-04 9.99994420e-01 8.56451803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.702557844 meters 0.28902448395686614 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:0.86 [[ 9.99993353e-01 -1.51020851e-03 -3.31865050e-03 2.66877172e+00] [ 1.50627308e-03 9.99998160e-01 -1.18803091e-03 2.52579990e-02] [ 3.32043857e-03 1.18302422e-03 9.99993788e-01 8.56631783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.762557844 meters 0.28840037984469147 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:0.85 [[ 9.99997219e-01 -7.40460715e-04 -2.23901778e-03 2.62939136e+00] [ 7.37903368e-04 9.99999075e-01 -1.14278392e-03 3.04006894e-02] [ 2.23986190e-03 1.14112856e-03 9.99996840e-01 8.54020556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.822557844 meters 0.28857140636702683 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:0.85 [[ 9.99996881e-01 -9.04551531e-04 -2.32822607e-03 2.62975872e+00] [ 9.00948905e-04 9.99998396e-01 -1.54795374e-03 3.20991399e-02] [ 2.32962254e-03 1.54585129e-03 9.99996092e-01 8.53746261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.882557844 meters 0.2879759961417173 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:0.85 [[ 9.99996854e-01 -1.19185385e-03 -2.20705634e-03 2.62938058e+00] [ 1.18694242e-03 9.99996820e-01 -2.22530384e-03 3.49472982e-02] [ 2.20970155e-03 2.22267720e-03 9.99995088e-01 8.53932623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942557844 meters 0.2867835378568647 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:0.86 [[ 9.99974878e-01 -6.85346207e-03 -1.80907999e-03 2.60505802e+00] [ 6.85504642e-03 9.99976125e-01 8.71031788e-04 3.93580666e-02] [ 1.80306722e-03 -8.83411234e-04 9.99997984e-01 8.55522330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002557844 meters 0.28896483811360185 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:0.85 [[ 9.99999435e-01 -4.65363135e-04 9.55327725e-04 2.62657808e+00] [ 4.67149123e-04 9.99998142e-01 -1.87013209e-03 4.10495982e-02] [-9.54455660e-04 1.87057731e-03 9.99997795e-01 8.53910221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters 0.2873583755342224 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:0.85 [[ 9.99985464e-01 -5.31693285e-03 -8.95373789e-04 2.60435331e+00] [ 5.31858145e-03 9.99984147e-01 1.84903648e-03 4.39142617e-02] [ 8.85528391e-04 -1.85377173e-03 9.99997890e-01 8.54521842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122557844 meters 0.28689936659950677 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:0.85 [[ 9.99984912e-01 -5.43619147e-03 -7.89448006e-04 2.60394700e+00] [ 5.43739834e-03 9.99984040e-01 1.53473185e-03 4.52133102e-02] [ 7.81092310e-04 -1.53900123e-03 9.99998511e-01 8.54869291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18255784400003 meters 0.2875773239513817 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:0.86 [[ 9.99996311e-01 2.71625349e-03 6.88158439e-06 2.62464061e+00] [-2.71625358e-03 9.99996311e-01 1.27287231e-05 4.55133567e-02] [-6.84698457e-06 -1.27473682e-05 1.00000000e+00 8.55309625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters 0.2874231908314851 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:0.86 [[ 9.99996998e-01 2.45040169e-03 -1.85767027e-05 2.62472496e+00] [-2.45041522e-03 9.99996703e-01 -7.67169087e-04 4.86989428e-02] [ 1.66967690e-05 7.67212304e-04 9.99999706e-01 8.55288202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30255784400003 meters 0.2884673920898938 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:0.86 [[ 9.99997587e-01 2.19231542e-03 -1.38389531e-04 2.62505580e+00] [-2.19252405e-03 9.99996432e-01 -1.52588228e-03 5.17887241e-02] [ 1.35043822e-04 1.52618202e-03 9.99998826e-01 8.55276249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters 0.28880525074849994 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:0.86 [[ 9.99993973e-01 -3.33914535e-03 -9.50335231e-04 2.64847192e+00] [ 3.34111453e-03 9.99992259e-01 2.07810382e-03 5.86614826e-02] [ 9.43388784e-04 -2.08126648e-03 9.99997389e-01 8.55192257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.422557844 meters 0.28983892988278176 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:0.86 [[ 9.99993396e-01 -3.52719000e-03 -8.75200550e-04 2.64820172e+00] [ 3.52857399e-03 9.99992519e-01 1.58486084e-03 6.06731297e-02] [ 8.69603897e-04 -1.58793858e-03 9.99998361e-01 8.55427698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.482557844 meters 0.2875838045662556 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:0.86 [[ 9.99973574e-01 5.88879128e-03 -4.26299633e-03 2.62818341e+00] [-5.88307492e-03 9.99981780e-01 1.35222499e-03 6.37034448e-02] [ 4.27088163e-03 -1.32710973e-03 9.99989999e-01 8.56605299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.542557844 meters 0.2912817377762245 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:0.85 [[ 9.99989762e-01 -2.51813049e-03 -3.75955352e-03 2.65240456e+00] [ 2.52739046e-03 9.99993780e-01 2.46033496e-03 6.55502374e-02] [ 3.75333469e-03 -2.46981163e-03 9.99989906e-01 8.54754649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.602557844 meters 0.29075206832850203 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:0.85 [[ 9.99989412e-01 -2.76429614e-03 -3.67901527e-03 2.65209236e+00] [ 2.77112444e-03 9.99994445e-01 1.85220973e-03 6.80965272e-02] [ 3.67387478e-03 -1.86238513e-03 9.99991517e-01 8.54972077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.662557844 meters 0.2899535513317728 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:0.86 [[ 9.99989214e-01 -2.93477435e-03 -3.59992148e-03 2.65175087e+00] [ 2.93966777e-03 9.99994761e-01 1.35477384e-03 7.01071967e-02] [ 3.59592666e-03 -1.36534180e-03 9.99992603e-01 8.55378861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.722557844 meters 0.28852737101437137 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:0.86 [[ 9.99988994e-01 -3.18762204e-03 -3.44258254e-03 2.65104928e+00] [ 3.18938512e-03 9.99994785e-01 5.06769761e-04 7.34466992e-02] [ 3.44094920e-03 -5.17743905e-04 9.99993946e-01 8.56170190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.782557844 meters 0.2879650559207995 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:0.86 [[ 9.99987388e-01 -3.55486912e-03 -3.54786491e-03 2.65141480e+00] [ 3.55215679e-03 9.99993394e-01 -7.70504790e-04 7.85143255e-02] [ 3.55058052e-03 7.57892500e-04 9.99993409e-01 8.55965088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.842557844 meters 0.2874855766940406 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:0.86 [[ 9.99985891e-01 -3.88397524e-03 -3.62396832e-03 2.65140615e+00] [ 3.87829371e-03 9.99991241e-01 -1.57347717e-03 8.18353584e-02] [ 3.63004793e-03 1.55940016e-03 9.99992195e-01 8.56465392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.902557844 meters 0.2893114055778327 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:0.86 [[ 9.99986379e-01 4.67633541e-03 -2.31833766e-03 2.67214067e+00] [-4.68128039e-03 9.99986770e-01 -2.13216490e-03 7.89894852e-02] [ 2.30833627e-03 2.14298865e-03 9.99995040e-01 8.56112964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.962557844 meters 0.2900420959725357 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:0.85 [[ 9.99993275e-01 -3.62656171e-03 5.46388646e-04 2.69363826e+00] [ 3.62694828e-03 9.99993172e-01 -7.08164220e-04 7.59968228e-02] [-5.43816714e-04 7.10141181e-04 9.99999600e-01 8.54633655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.022557844 meters 0.28899008049130387 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:0.86 [[ 9.99993432e-01 -3.57172946e-03 6.15550927e-04 2.69316311e+00] [ 3.57207437e-03 9.99993463e-01 -5.60149006e-04 7.52912117e-02] [-6.13546203e-04 5.62344120e-04 9.99999654e-01 8.55340193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.082557844 meters 0.289298643853151 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:0.85 [[ 9.99983664e-01 5.65957994e-03 8.00318070e-04 2.67136992e+00] [-5.65824809e-03 9.99982620e-01 -1.65672987e-03 7.53934397e-02] [-8.09680555e-04 1.65217441e-03 9.99998307e-01 8.54622599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.142557844 meters 0.2887064200753435 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:0.86 [[ 9.99996716e-01 -2.34316240e-03 -1.03843722e-03 2.69356139e+00] [ 2.34292765e-03 9.99997230e-01 -2.27223160e-04 8.25691415e-02] [ 1.03896676e-03 2.24789430e-04 9.99999435e-01 8.55296478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.202557844 meters 0.2895208448556714 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:0.86 [[ 9.99995861e-01 -2.58087156e-03 -1.27136918e-03 2.69424714e+00] [ 2.57968693e-03 9.99996238e-01 -9.32540856e-04 8.55280054e-02] [ 1.27377117e-03 9.29257262e-04 9.99998757e-01 8.55110500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.262557844 meters 0.2887058831676014 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.86 [[ 9.99986111e-01 5.26492955e-03 2.40810127e-04 2.71457692e+00] [-5.26433935e-03 9.99983289e-01 -2.38917966e-03 8.53795031e-02] [-2.53384965e-04 2.38787877e-03 9.99997117e-01 8.55862467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.322557844 meters 0.2890664356823534 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.86 [[ 9.99988276e-01 4.83315985e-03 2.95931559e-04 2.71421655e+00] [-4.83214960e-03 9.99982799e-01 -3.32431106e-03 8.93913992e-02] [-3.11993395e-04 3.32284211e-03 9.99994431e-01 8.56343386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.382557844 meters 0.28848806086231543 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.86 [[ 9.99989011e-01 4.67641385e-03 3.30257123e-04 2.71427010e+00] [-4.67515060e-03 9.99982124e-01 -3.72749115e-03 9.10695536e-02] [-3.47682511e-04 3.72590619e-03 9.99992998e-01 8.56057850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442557844 meters 0.28991691558239946 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:0.85 [[ 9.99991919e-01 -3.29548779e-03 -2.30264565e-03 2.69569528e+00] [ 3.28836221e-03 9.99989815e-01 -3.09148088e-03 9.71238527e-02] [ 2.31281013e-03 3.08388397e-03 9.99992570e-01 8.54883563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters 0.2900087128415464 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:0.85 [[ 9.99991393e-01 -3.42186851e-03 -2.34633221e-03 2.69593343e+00] [ 3.41385083e-03 9.99988350e-01 -3.41264436e-03 9.84794440e-02] [ 2.35798249e-03 3.40460495e-03 9.99991424e-01 8.54640948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters 0.28706900179549444 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:0.85 [[ 9.99997022e-01 5.31442293e-04 -2.38209734e-03 2.69593214e+00] [-5.31563154e-04 9.99999857e-01 -5.01040837e-05 1.02607804e-01] [ 2.38207037e-03 5.13701696e-05 9.99997162e-01 8.54919927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters 0.2890971282587393 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.86 [[ 9.99997388e-01 1.78814468e-04 -2.27855488e-03 2.69549413e+00] [-1.81566549e-04 9.99999254e-01 -1.20766909e-03 1.07240481e-01] [ 2.27833723e-03 1.20807965e-03 9.99996675e-01 8.55395534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters 0.28798047888346795 Centerline is valid? [False, False] Translation: X:2.67, Y:0.11, Z:0.86 [[ 9.99986339e-01 -4.57727903e-03 -2.52401356e-03 2.67199060e+00] [ 4.58315170e-03 9.99986792e-01 2.32586085e-03 1.12034785e-01] [ 2.51333411e-03 -2.33739701e-03 9.99994110e-01 8.56048638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters 0.28912266728513814 Centerline is valid? [False, False] Translation: X:2.69, Y:0.12, Z:0.86 [[ 9.99992391e-01 3.58999250e-03 -1.52632841e-03 2.69427089e+00] [-3.58864665e-03 9.99993170e-01 8.83579025e-04 1.15532021e-01] [ 1.52949002e-03 -8.78094849e-04 9.99998445e-01 8.55530914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters 0.28871993708865196 Centerline is valid? [False, False] Translation: X:2.69, Y:0.12, Z:0.86 [[ 9.99993168e-01 3.28173881e-03 -1.70127697e-03 2.69471940e+00] [-3.28149668e-03 9.99994605e-01 1.45098667e-04 1.18656263e-01] [ 1.70174396e-03 -1.39514941e-04 9.99998542e-01 8.55641863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters 0.28855998330720073 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:0.86 [[ 9.99997456e-01 -1.18162692e-03 -1.92132923e-03 2.67179072e+00] [ 1.18761685e-03 9.99994429e-01 3.11945235e-03 1.29293686e-01] [ 1.91763249e-03 -3.12172622e-03 9.99993289e-01 8.56064971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.922557844 meters 0.2884420580728427 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.85 [[ 9.99989315e-01 4.35251275e-03 1.55768911e-03 2.69413246e+00] [-4.35239367e-03 9.99990525e-01 -7.98240805e-05 1.36693065e-01] [-1.55802179e-03 7.30435513e-05 9.99998784e-01 8.53778417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.982557844 meters 0.2878221069631774 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.85 [[ 9.99990785e-01 4.01295221e-03 1.52548348e-03 2.69394296e+00] [-4.01113105e-03 9.99991241e-01 -1.19501272e-03 1.41074413e-01] [-1.53026564e-03 1.18888279e-03 9.99998122e-01 8.54491892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.042557844 meters 0.28721767416097976 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99994284e-01 -3.30496053e-03 7.13915795e-04 2.67525206e+00] [ 3.30558551e-03 9.99994153e-01 -8.76025471e-04 1.53360572e-01] [-7.11016391e-04 8.78380373e-04 9.99999361e-01 8.53749699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.102557844 meters 0.28589185886538776 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:0.85 [[ 9.99993445e-01 -3.56511754e-03 6.32559467e-04 2.67502730e+00] [ 3.56636622e-03 9.99991672e-01 -1.98399767e-03 1.57698728e-01] [-6.25481015e-04 1.98624060e-03 9.99997832e-01 8.54791459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.162557844 meters 0.285774770298432 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:0.86 [[ 9.99992296e-01 -3.83462074e-03 8.38329949e-04 2.67423653e+00] [ 3.83706668e-03 9.99988329e-01 -2.93575589e-03 1.61340772e-01] [-8.27062654e-04 2.93895001e-03 9.99995339e-01 8.55618199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.222557844 meters 0.285219371609957 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.86 [[ 9.99991254e-01 -4.08129349e-03 9.13785498e-04 2.67386561e+00] [ 4.08482805e-03 9.99984051e-01 -3.90017128e-03 1.65079894e-01] [-8.97853181e-04 3.90386982e-03 9.99991977e-01 8.56129421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.282557844 meters 0.2850136645844875 Centerline is valid? [False, False] Translation: X:2.67, Y:0.16, Z:0.86 [[ 9.99999427e-01 2.69471828e-04 1.03650873e-03 2.67381079e+00] [-2.69910221e-04 9.99999874e-01 4.22835590e-04 1.64742078e-01] [-1.03639465e-03 -4.23115111e-04 9.99999373e-01 8.55625008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.342557844 meters 0.2868107849411355 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.85 [[ 9.99969412e-01 6.78072327e-03 3.89822066e-03 2.69540050e+00] [-6.77327201e-03 9.99975215e-01 -1.92148638e-03 1.68685309e-01] [-3.91115311e-03 1.89502390e-03 9.99990556e-01 8.54329258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.402557844 meters 0.2852517203884611 Centerline is valid? [False, False] Translation: X:2.67, Y:0.18, Z:0.85 [[ 9.99991165e-01 -1.54282636e-03 3.91020109e-03 2.67491012e+00] [ 1.55015224e-03 9.99997048e-01 -1.87119358e-03 1.75731353e-01] [-3.90730262e-03 1.87723846e-03 9.99990604e-01 8.54234541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.462557844 meters 0.2865607871832497 Centerline is valid? [False, False] Translation: X:2.68, Y:0.18, Z:0.85 [[ 9.99991141e-01 -1.62542968e-03 3.88267070e-03 2.67515065e+00] [ 1.63360737e-03 9.99996452e-01 -2.10396040e-03 1.76731499e-01] [-3.87923708e-03 2.11028452e-03 9.99990249e-01 8.53814434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.522557844 meters 0.28622433987277174 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.85 [[ 9.99993983e-01 1.07392572e-04 3.46746596e-03 2.64144414e+00] [-9.93918217e-05 9.99997333e-01 -2.30746666e-03 1.77825973e-01] [-3.46770451e-03 2.30710814e-03 9.99991326e-01 8.48097780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.582557844 meters 0.2872281096283428 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:0.85 [[ 9.99997240e-01 1.06825925e-04 2.34693327e-03 2.68006599e+00] [-1.06591909e-04 9.99999989e-01 -9.98362356e-05 1.74861959e-01] [-2.34694391e-03 9.95857960e-05 9.99997241e-01 8.51288287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.642557844 meters 0.28633919076307485 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:0.85 [[ 9.99996941e-01 3.10322122e-04 2.45381614e-03 2.67981738e+00] [-3.11339163e-04 9.99999866e-01 4.14102183e-04 1.72705817e-01] [-2.45368731e-03 -4.14864886e-04 9.99996904e-01 8.51223619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.702557844 meters 0.28721626448872445 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:0.85 [[ 9.99996711e-01 7.66112004e-04 2.44784860e-03 2.68032553e+00] [-7.69713326e-04 9.99998622e-01 1.47061616e-03 1.68348370e-01] [-2.44671858e-03 -1.47249547e-03 9.99995923e-01 8.50306701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.762557844 meters 0.28635841272434887 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:0.85 [[ 9.99996556e-01 9.87674239e-04 2.43151027e-03 2.68043264e+00] [-9.92637930e-04 9.99997424e-01 2.04104282e-03 1.65997344e-01] [-2.42948813e-03 -2.04344940e-03 9.99994961e-01 8.50163871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.822557844 meters 0.2862653762991514 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:0.85 [[ 9.99992936e-01 -2.91120183e-03 2.37759561e-03 2.68055043e+00] [ 2.91388296e-03 9.99995122e-01 -1.12497946e-03 1.61371751e-01] [-2.37430897e-03 1.13189955e-03 9.99996541e-01 8.50287750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.882557844 meters 0.2853812470545457 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:0.85 [[ 9.99993388e-01 -2.61265006e-03 2.52948915e-03 2.68030330e+00] [ 2.61360909e-03 9.99996514e-01 -3.75907293e-04 1.58275976e-01] [-2.52849822e-03 3.82515903e-04 9.99996730e-01 8.50050156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942557844 meters 0.2860796631036538 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99993742e-01 -2.25245339e-03 2.72809266e-03 2.67963476e+00] [ 2.25105065e-03 9.99997333e-01 5.17143806e-04 1.54386905e-01] [-2.72925022e-03 -5.10999495e-04 9.99996145e-01 8.50530981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002557844 meters 0.28515779438126954 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99994499e-01 -1.81575752e-03 2.77582924e-03 2.67940863e+00] [ 1.81152237e-03 9.99997193e-01 1.52747748e-03 1.50104064e-01] [-2.77859498e-03 -1.52244060e-03 9.99994981e-01 8.50854851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062557844 meters 0.28645220349775374 Centerline is valid? [False, False] Translation: X:2.70, Y:0.15, Z:0.85 [[ 9.99974447e-01 4.43581570e-03 5.60619730e-03 2.70110514e+00] [-4.43221004e-03 9.99989963e-01 -6.55417133e-04 1.48272666e-01] [-5.60904834e-03 6.30552541e-04 9.99984070e-01 8.49135508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122557844 meters 0.28533856036532335 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99984014e-01 -3.84023992e-03 4.15026709e-03 2.68090615e+00] [ 3.84038837e-03 9.99992625e-01 -2.77995362e-05 1.51095851e-01] [-4.15012972e-03 4.37377292e-05 9.99991387e-01 8.48778554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18255784400003 meters 0.2861591552328609 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99985135e-01 -3.89862809e-03 3.81187063e-03 2.68201430e+00] [ 3.89959162e-03 9.99992366e-01 -2.45372207e-04 1.52116802e-01] [-3.81088492e-03 2.60233299e-04 9.99992705e-01 8.47869402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24255784400003 meters 0.28594515991009173 Centerline is valid? [False, False] Translation: X:2.66, Y:0.15, Z:0.85 [[ 9.99993403e-01 3.46601976e-03 1.08619640e-03 2.66424959e+00] [-3.46292714e-03 9.99989982e-01 -2.83626445e-03 1.49571742e-01] [-1.09601606e-03 2.83248432e-03 9.99995388e-01 8.47220950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30255784400003 meters 0.28573630592378896 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:0.85 [[ 9.99984365e-01 -4.10812686e-03 3.79391748e-03 2.68418699e+00] [ 4.10932799e-03 9.99991509e-01 -3.08852822e-04 1.47958260e-01] [-3.79261646e-03 3.24438444e-04 9.99992755e-01 8.46675651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36255784400004 meters 0.28572597543190736 Centerline is valid? [False, False] Translation: X:2.68, Y:0.14, Z:0.85 [[ 9.99986379e-01 -3.71324836e-03 3.66780996e-03 2.68482205e+00] [ 3.70936112e-03 9.99992552e-01 1.06605985e-03 1.42584586e-01] [-3.67174119e-03 -1.05244010e-03 9.99992705e-01 8.45963715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.422557844 meters 0.28639704169494445 Centerline is valid? [False, False] Translation: X:2.69, Y:0.14, Z:0.85 [[ 9.99987898e-01 -3.34714445e-03 3.60553038e-03 2.68523220e+00] [ 3.34009304e-03 9.99992501e-01 1.95997130e-03 1.38838352e-01] [-3.61206365e-03 -1.94790478e-03 9.99991579e-01 8.45485578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.482557844 meters 0.2877708633208233 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:0.84 [[ 9.99991628e-01 2.60341875e-03 3.15705125e-03 2.70915025e+00] [-2.60154232e-03 9.99996437e-01 -5.98323065e-04 1.32639051e-01] [-3.15859768e-03 5.90104853e-04 9.99994838e-01 8.44024645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.542557844 meters 0.28609753710744595 Centerline is valid? [False, False] Translation: X:2.69, Y:0.13, Z:0.85 [[ 9.99996321e-01 -2.70503271e-03 2.02613340e-04 2.68694448e+00] [ 2.70448880e-03 9.99992863e-01 2.63830804e-03 1.29688113e-01] [-2.09748604e-04 -2.63775037e-03 9.99996499e-01 8.45729128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.602557844 meters 0.28764718349100754 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:0.84 [[ 9.99986119e-01 3.93857908e-03 3.49983474e-03 2.70893822e+00] [-3.94127783e-03 9.99991941e-01 7.64547374e-04 1.30805198e-01] [-3.49679531e-03 -7.78330583e-04 9.99993583e-01 8.43591703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.662557844 meters 0.2858195019449453 Centerline is valid? [False, False] Translation: X:2.69, Y:0.13, Z:0.84 [[ 9.99988860e-01 -4.57262533e-03 1.17054410e-03 2.68828604e+00] [ 4.57115892e-03 9.99988768e-01 1.25238783e-03 1.31134492e-01] [-1.17625765e-03 -1.24702313e-03 9.99998531e-01 8.44258114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.722557844 meters 0.2860124074574277 Centerline is valid? [False, False] Translation: X:2.69, Y:0.13, Z:0.84 [[ 9.99989298e-01 -4.46566669e-03 1.20868736e-03 2.68805845e+00] [ 4.46381126e-03 9.99988861e-01 1.53344721e-03 1.29948385e-01] [-1.21552176e-03 -1.52803545e-03 9.99998094e-01 8.44600111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.782557844 meters 0.2855608372511457 Centerline is valid? [False, False] Translation: X:2.69, Y:0.13, Z:0.85 [[ 9.99990127e-01 -4.23863048e-03 1.33446527e-03 2.68743714e+00] [ 4.23562177e-03 9.99988500e-01 2.24942805e-03 1.26929868e-01] [-1.34398441e-03 -2.24375355e-03 9.99996580e-01 8.45526008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.842557844 meters 0.28662755028693 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:0.85 [[ 9.99987160e-01 3.53809122e-03 3.62791061e-03 2.70666877e+00] [-3.54357276e-03 9.99992588e-01 1.50562368e-03 1.22073415e-01] [-3.62255668e-03 -1.51846011e-03 9.99992286e-01 8.46424557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.902557844 meters 0.28618814531002806 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:0.85 [[ 9.99989037e-01 7.62821325e-04 4.61992193e-03 2.70255369e+00] [-7.60277068e-04 9.99999558e-01 -5.52445389e-04 1.17279706e-01] [-4.62034131e-03 5.48926912e-04 9.99989176e-01 8.48665073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.962557844 meters 0.2862049053907617 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:0.85 [[ 9.99989162e-01 8.92847207e-04 4.56940049e-03 2.70291427e+00] [-8.91916150e-04 9.99999581e-01 -2.05792889e-04 1.15844376e-01] [-4.56958232e-03 2.01715137e-04 9.99989539e-01 8.48111635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.022557844 meters 0.2869877006397944 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.85 [[ 9.99989247e-01 1.39124825e-03 4.42394245e-03 2.70339473e+00] [-1.39571657e-03 9.99998519e-01 1.00710302e-03 1.10813519e-01] [-4.42253477e-03 -1.01326676e-03 9.99989707e-01 8.48041524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.082557844 meters 0.28740560808474813 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:0.85 [[ 9.99988401e-01 1.75421320e-03 4.48567901e-03 2.70328912e+00] [-1.76303663e-03 9.99996518e-01 1.96382511e-03 1.06843160e-01] [-4.48221842e-03 -1.97171074e-03 9.99988011e-01 8.47955851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.142557844 meters 0.2869491782074191 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:0.85 [[ 9.99987901e-01 2.10244143e-03 4.44711737e-03 2.70376839e+00] [-2.11490240e-03 9.99993846e-01 2.79918825e-03 1.03336876e-01] [-4.44120488e-03 -2.80855960e-03 9.99986194e-01 8.47220778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.202557844 meters 0.286777968367176 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:0.85 [[ 9.99992872e-01 -1.61636842e-03 3.41210432e-03 2.70642177e+00] [ 1.61647696e-03 9.99998693e-01 -2.90515699e-05 9.80561308e-02] [-3.41205290e-03 3.45669508e-05 9.99994178e-01 8.46566860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.262557844 meters 0.288400722845626 Centerline is valid? [False, False] Translation: X:2.73, Y:0.10, Z:0.84 [[ 9.99968464e-01 5.14591136e-03 6.04896618e-03 2.72840966e+00] [-5.13456165e-03 9.99985031e-01 -1.89034054e-03 9.56290093e-02] [-6.05860316e-03 1.85922214e-03 9.99979918e-01 8.44694878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.322557844 meters 0.2874086008353327 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.84 [[ 9.99991367e-01 -2.70442499e-03 3.15453319e-03 2.70933272e+00] [ 2.70470977e-03 9.99996339e-01 -8.60167007e-05 9.07668012e-02] [-3.15428901e-03 9.45480549e-05 9.99995021e-01 8.44039541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.382557844 meters 0.28764374410084287 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:0.84 [[ 9.99992296e-01 -2.44200335e-03 3.07333475e-03 2.70976893e+00] [ 2.44019200e-03 9.99996847e-01 5.92985342e-04 8.79016914e-02] [-3.07477313e-03 -5.85481246e-04 9.99995101e-01 8.43597379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442557844 meters 0.28760408644599456 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.84 [[ 9.99992989e-01 -2.07114403e-03 3.11960313e-03 2.70931621e+00] [ 2.06621983e-03 9.99996616e-01 1.58086715e-03 8.35855018e-02] [-3.12286678e-03 -1.57441028e-03 9.99993884e-01 8.44386772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502557844 meters 0.28847413761674473 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.84 [[ 9.99992973e-01 -1.85901745e-03 3.25558841e-03 2.70881763e+00] [ 1.85182555e-03 9.99995842e-01 2.21071672e-03 8.10025412e-02] [-3.25968463e-03 -2.20467240e-03 9.99992257e-01 8.44927912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters 0.28869665694119084 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:0.85 [[ 9.99993386e-01 -1.58800374e-03 3.27204644e-03 2.70875500e+00] [ 1.57733440e-03 9.99993440e-01 3.26075760e-03 7.69470020e-02] [-3.27720307e-03 -3.25557492e-03 9.99989331e-01 8.45070108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters 0.28720887391237937 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.85 [[ 9.99993612e-01 -1.31433685e-03 3.32396543e-03 2.70856885e+00] [ 1.30057691e-03 9.99990591e-01 4.13839364e-03 7.34388905e-02] [-3.32937340e-03 -4.13404413e-03 9.99985912e-01 8.45261206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters 0.28728837619702585 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.85 [[ 9.99993904e-01 -1.09199981e-03 3.31640236e-03 2.70861183e+00] [ 1.07630660e-03 9.99988234e-01 4.73010098e-03 7.09970573e-02] [-3.32152861e-03 -4.72650268e-03 9.99983314e-01 8.45246472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters 0.28618339263860293 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:0.84 [[ 9.99990287e-01 4.35285940e-03 6.91054843e-04 2.68870832e+00] [-4.35369474e-03 9.99989788e-01 1.21191329e-03 6.65062679e-02] [-6.85772498e-04 -1.21491016e-03 9.99999027e-01 8.44860440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters 0.2868836234183652 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.84 [[ 9.99987919e-01 -4.86768659e-03 6.83361797e-04 2.70956077e+00] [ 4.86630940e-03 9.99986154e-01 2.00272296e-03 6.89663903e-02] [-6.93100963e-04 -1.99937331e-03 9.99997761e-01 8.44979172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters 0.287201955319193 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.84 [[ 9.99988842e-01 -4.67315157e-03 6.90837151e-04 2.70985891e+00] [ 4.67144577e-03 9.99986086e-01 2.45050025e-03 6.70826924e-02] [-7.02279098e-04 -2.44724570e-03 9.99996759e-01 8.44403714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.922557844 meters 0.28771399192599284 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:0.84 [[ 9.99989534e-01 -4.53193171e-03 6.26894407e-04 2.71016516e+00] [ 4.53015554e-03 9.99985801e-01 2.80625743e-03 6.55856597e-02] [-6.39603273e-04 -2.80338813e-03 9.99995866e-01 8.44133430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.982557844 meters 0.28891042921831106 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.84 [[ 9.99990957e-01 -4.22467784e-03 4.86941630e-04 2.71073008e+00] [ 4.22291785e-03 9.99984745e-01 3.56043636e-03 6.24087943e-02] [-5.01975898e-04 -3.55834785e-03 9.99993543e-01 8.43827186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.042557844 meters 0.2876655250662866 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.84 [[ 9.99991975e-01 -3.98221888e-03 4.38862168e-04 2.71086503e+00] [ 3.98035751e-03 9.99983410e-01 4.16359703e-03 5.98680683e-02] [-4.55435242e-04 -4.16181678e-03 9.99991236e-01 8.43870177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.102557844 meters 0.28793400532502006 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:0.84 [[ 9.99993114e-01 -3.67361519e-03 5.25832126e-04 2.71068616e+00] [ 3.67096086e-03 9.99980947e-01 4.96283794e-03 5.65264764e-02] [-5.44053665e-04 -4.96087345e-03 9.99987547e-01 8.43855528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.162557844 meters 0.2882436433114506 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:0.84 [[ 9.99993881e-01 -3.45901837e-03 5.22427880e-04 2.71056215e+00] [ 3.45608373e-03 9.99978806e-01 5.51746324e-03 5.41960706e-02] [-5.41501815e-04 -5.51562393e-03 9.99984642e-01 8.44201396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.222557844 meters 0.2875285312718452 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:0.84 [[ 9.99994920e-01 -3.15294292e-03 4.68174246e-04 2.71061874e+00] [ 3.14991900e-03 9.99975036e-01 6.32502989e-03 5.08154770e-02] [-4.88105017e-04 -6.32352304e-03 9.99979887e-01 8.44473053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.282557844 meters 0.28725856480088646 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:0.84 [[ 9.99995613e-01 -2.93182462e-03 4.22035975e-04 2.71077688e+00] [ 2.92883632e-03 9.99971800e-01 6.91521983e-03 4.83626367e-02] [-4.42298286e-04 -6.91395342e-03 9.99976001e-01 8.44441306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.342557844 meters 0.28709468221861895 Centerline is valid? [False, False] Translation: X:2.71, Y:0.04, Z:0.85 [[ 9.99996618e-01 -2.55769515e-03 4.71140346e-04 2.71040712e+00] [ 2.55393046e-03 9.99966123e-01 7.82500741e-03 4.44528188e-02] [-4.91138368e-04 -7.82377768e-03 9.99969273e-01 8.45075165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.402557844 meters 0.2874237682226384 Centerline is valid? [False, False] Translation: X:2.71, Y:0.04, Z:0.85 [[ 9.99997072e-01 -2.37513281e-03 4.63321763e-04 2.71048089e+00] [ 2.37121888e-03 9.99962969e-01 8.27268680e-03 4.25628187e-02] [-4.82953336e-04 -8.27156394e-03 9.99965673e-01 8.45019678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.462557844 meters 0.2881413608999681 Centerline is valid? [False, False] Translation: X:2.71, Y:0.04, Z:0.84 [[ 9.99997246e-01 -2.30530044e-03 4.39062084e-04 2.71071188e+00] [ 2.30150846e-03 9.99961653e-01 8.44963978e-03 4.18086567e-02] [-4.58524205e-04 -8.44860600e-03 9.99964205e-01 8.44673261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.522557844 meters 0.28802003471102466 Centerline is valid? [False, False] Translation: X:2.71, Y:0.04, Z:0.84 [[ 9.99998138e-01 -1.89677175e-03 3.56030461e-04 2.71106995e+00] [ 1.89333123e-03 9.99953771e-01 9.42717867e-03 3.76413879e-02] [-3.73895208e-04 -9.42648703e-03 9.99955500e-01 8.44522774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.582557844 meters 0.2884338535334613 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:0.84 [[ 9.99998718e-01 -1.57315556e-03 2.98279128e-04 2.71109185e+00] [ 1.57002132e-03 9.99946420e-01 1.02319182e-02 3.42696109e-02] [-3.14359545e-04 -1.02314368e-02 9.99947608e-01 8.44872763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.642557844 meters 0.2885818592014823 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:0.84 [[ 9.99916112e-01 1.28816328e-02 1.35352462e-03 2.71341670e+00] [-1.28908100e-02 9.99892368e-01 7.00564949e-03 2.45875435e-02] [-1.26313474e-03 -7.02250983e-03 9.99974544e-01 8.43071897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.702557844 meters 0.2873857975298513 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:0.84 [[ 9.99999352e-01 1.11069231e-03 -2.48042835e-04 2.69532908e+00] [-1.10933789e-03 9.99984829e-01 5.39539396e-03 2.57568137e-02] [ 2.54031695e-04 -5.39511530e-03 9.99985414e-01 8.40984065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.762557844 meters 0.2888269278217824 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:0.84 [[ 0.99996651 0.00764521 0.00291907 2.71619874] [-0.00765334 0.99996684 0.00278226 0.02558971] [-0.0028977 -0.00280451 0.99999187 0.83988477] [ 0. 0. 0. 1. ]] SLAMing on 347.822557844 meters 0.2886507023844311 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:0.84 [[ 9.99990239e-01 3.30665018e-03 2.93039615e-03 2.71623393e+00] [-3.30206710e-03 9.99993320e-01 -1.56744074e-03 2.57515274e-02] [-2.93555955e-03 1.55774908e-03 9.99994478e-01 8.39595326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.882557844 meters 0.2891234806348206 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99990416e-01 3.38444205e-03 2.77726791e-03 2.71677907e+00] [-3.38066579e-03 9.99993356e-01 -1.36327465e-03 2.48584024e-02] [-2.78186339e-03 1.35387257e-03 9.99995214e-01 8.39260530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942557844 meters 0.2881769809591484 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99990695e-01 3.47446969e-03 2.55695159e-03 2.71730871e+00] [-3.47168597e-03 9.99993377e-01 -1.09232125e-03 2.37393233e-02] [-2.56072990e-03 1.08343416e-03 9.99996134e-01 8.39333351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters 0.2882233419422113 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99990533e-01 3.62793230e-03 2.40230069e-03 2.71777461e+00] [-3.62646711e-03 9.99993236e-01 -6.13987646e-04 2.17845474e-02] [-2.40451194e-03 6.05269969e-04 9.99996926e-01 8.39149652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062557844 meters 0.28826935325261405 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99989739e-01 3.82731569e-03 2.42348884e-03 2.71765047e+00] [-3.82733813e-03 9.99992676e-01 4.62106949e-06 1.92844720e-02] [-2.42345340e-03 -1.38965333e-05 9.99997063e-01 8.39377525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122557844 meters 0.28810066773306175 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99989435e-01 3.98077028e-03 2.29858804e-03 2.71808574e+00] [-3.98174255e-03 9.99991985e-01 4.18564229e-04 1.75498839e-02] [-2.29690340e-03 -4.27712192e-04 9.99997271e-01 8.39127349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18255784400003 meters 0.2904678288038486 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:0.84 [[ 9.99989780e-01 -3.93456932e-03 2.22694059e-03 2.73708038e+00] [ 3.93041058e-03 9.99990530e-01 1.86877069e-03 2.31225179e-02] [-2.23427231e-03 -1.85999880e-03 9.99995774e-01 8.40358406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24255784400003 meters 0.28873178243277425 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:0.84 [[ 9.99988958e-01 -4.02629964e-03 2.42345231e-03 2.73658636e+00] [ 4.02239325e-03 9.99990607e-01 1.61463420e-03 2.41853994e-02] [-2.42993055e-03 -1.60486829e-03 9.99995760e-01 8.40331921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30255784400003 meters 0.2887165099256567 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:0.84 [[ 9.99988250e-01 -4.11209905e-03 2.56738800e-03 2.73590473e+00] [ 4.10855429e-03 9.99990602e-01 1.38443654e-03 2.52532507e-02] [-2.57305681e-03 -1.37387202e-03 9.99995746e-01 8.41087772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36255784400004 meters 0.28781011369634824 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99991449e-01 3.99479250e-03 1.06918539e-03 2.71811060e+00] [-3.99483425e-03 9.99992020e-01 3.69124202e-05 2.03618834e-02] [-1.06902940e-03 -4.11833229e-05 9.99999428e-01 8.39543953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.422557844 meters 0.2879725608710827 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99991721e-01 3.97420663e-03 8.73716266e-04 2.71870266e+00] [-3.97419218e-03 9.99992103e-01 -1.82756381e-05 2.05484474e-02] [-8.73781997e-04 1.48031704e-05 9.99999618e-01 8.39263687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.482557844 meters 0.2877993496675553 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99991450e-01 4.03645614e-03 8.98681658e-04 2.71843938e+00] [-4.03659047e-03 9.99991842e-01 1.47714342e-04 1.98699230e-02] [-8.98078084e-04 -1.51340689e-04 9.99999585e-01 8.39745396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.542557844 meters 0.28857210246727266 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99990597e-01 4.21280477e-03 1.02823958e-03 2.71803051e+00] [-4.21346855e-03 9.99990916e-01 6.44238859e-04 1.78301993e-02] [-1.02551619e-03 -6.48565256e-04 9.99999264e-01 8.39954822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.602557844 meters 0.28830449560143867 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99990452e-01 4.26752330e-03 9.40203206e-04 2.71840740e+00] [-4.26826351e-03 9.99990581e-01 7.86695878e-04 1.72147719e-02] [-9.36837108e-04 -7.90701401e-04 9.99999249e-01 8.39627303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.662557844 meters 0.2871914575551617 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:0.84 [[ 9.99990628e-01 -4.28149565e-03 6.42227586e-04 2.69826330e+00] [ 4.28000429e-03 9.99988182e-01 2.30584369e-03 1.93660529e-02] [-6.52092456e-04 -2.30307334e-03 9.99997135e-01 8.38603055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.722557844 meters 0.29048668066872596 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99989329e-01 3.69161370e-03 2.77723006e-03 2.71715612e+00] [-3.69390698e-03 9.99992840e-01 8.21067648e-04 1.65448692e-02] [-2.77417911e-03 -8.31317716e-04 9.99995806e-01 8.40287671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.782557844 meters 0.2885487838871591 Centerline is valid? [False, False] Translation: X:2.72, Y:0.02, Z:0.84 [[ 9.99989120e-01 3.78625082e-03 2.72476873e-03 2.71743917e+00] [-3.78917505e-03 9.99992250e-01 1.06883940e-03 1.54946932e-02] [-2.72070071e-03 -1.07915240e-03 9.99995717e-01 8.39956137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.842557844 meters 0.28751495818500045 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:0.84 [[ 9.99988304e-01 4.01814147e-03 2.69178518e-03 2.71760724e+00] [-4.02254608e-03 9.99990576e-01 1.63290686e-03 1.31303761e-02] [-2.68519856e-03 -1.64371560e-03 9.99995044e-01 8.39827968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.902557844 meters 0.2893985916023074 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:0.84 [[ 0.99998244 -0.00425977 0.00411928 2.73823369] [ 0.00424697 0.99998615 0.00310965 0.01243262] [-0.00413247 -0.0030921 0.99998668 0.84020393] [ 0. 0. 0. 1. ]] SLAMing on 348.962557844 meters 0.2874803149429872 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:0.84 [[ 9.99998534e-01 7.90293158e-04 1.51916697e-03 2.71625621e+00] [-7.90220038e-04 9.99999687e-01 -4.87311984e-05 8.53782434e-03] [-1.51920500e-03 4.75306508e-05 9.99998845e-01 8.41448044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.022557844 meters 0.287918515130897 Centerline is valid? [False, False] Translation: X:2.72, Y:0.01, Z:0.84 [[ 9.99998525e-01 1.02328113e-03 1.37919925e-03 2.71657871e+00] [-1.02417403e-03 9.99999266e-01 6.46858145e-04 5.71243019e-03] [-1.37853632e-03 -6.48269731e-04 9.99998840e-01 8.41555070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.082557844 meters 0.28750681400731376 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:0.84 [[ 9.99996308e-01 -1.07906086e-03 2.49401759e-03 2.67694048e+00] [ 1.07785688e-03 9.99999302e-01 4.84038989e-04 -4.39056198e-03] [-2.49453815e-03 -4.81349007e-04 9.99996773e-01 8.39092704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.142557844 meters 0.28854630454679636 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.84 [[ 9.99999270e-01 -1.07599784e-03 5.50608089e-04 2.71888986e+00] [ 1.07550637e-03 9.99999024e-01 8.92112596e-04 -8.66875191e-03] [-5.51567462e-04 -8.91519762e-04 9.99999450e-01 8.40840128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.202557844 meters 0.2878294983769262 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:0.84 [[ 9.99999539e-01 -6.25452033e-04 7.28247866e-04 2.71811216e+00] [ 6.23860344e-04 9.99997421e-01 2.18382232e-03 -1.40042256e-02] [-7.29611864e-04 -2.18336699e-03 9.99997350e-01 8.41542693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.262557844 meters 0.2898087792021279 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.84 [[ 9.99999676e-01 -4.03235210e-04 6.97052508e-04 2.71807233e+00] [ 4.01337290e-04 9.99996218e-01 2.72077678e-03 -1.62469450e-02] [-6.98146985e-04 -2.72049615e-03 9.99996056e-01 8.41854818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.322557844 meters 0.2896717673087906 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.84 [[ 9.99999615e-01 -1.18266917e-04 8.69230786e-04 2.71764459e+00] [ 1.15363576e-04 9.99994417e-01 3.33941752e-03 -1.88356283e-02] [-8.69620876e-04 -3.33931596e-03 9.99994046e-01 8.41857720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.382557844 meters 0.28873058364114934 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.02, Z:0.84 [[ 9.99999577e-01 4.64252984e-05 9.18789510e-04 2.71749431e+00] [-4.98731651e-05 9.99992956e-01 3.75295161e-03 -2.05578173e-02] [-9.18608807e-04 -3.75299584e-03 9.99992536e-01 8.41936044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442557844 meters 0.28715800865336694 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.02, Z:0.84 [[ 9.99992549e-01 3.07948685e-03 -2.32762291e-03 2.69445233e+00] [-3.08270988e-03 9.99994293e-01 -1.38237192e-03 -2.08589687e-02] [ 2.32335263e-03 1.38953701e-03 9.99996336e-01 8.44986216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters 0.28905393049404554 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:0.84 [[ 9.99994425e-01 -3.33906932e-03 -2.16217148e-05 2.71785328e+00] [ 3.33909900e-03 9.99993208e-01 1.56039280e-03 -2.58938816e-02] [ 1.64113083e-05 -1.56045630e-03 9.99998782e-01 8.42560914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters 0.289131868317453 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:0.84 [[ 9.99995223e-01 -3.08654546e-03 -1.63841894e-04 2.71816514e+00] [ 3.08692141e-03 9.99992483e-01 2.34618171e-03 -2.90518880e-02] [ 1.56599066e-04 -2.34667627e-03 9.99997234e-01 8.42690956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters 0.2886464060442188 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:0.84 [[ 9.99996337e-01 -2.67174434e-03 -4.32719180e-04 2.71865452e+00] [ 2.67339650e-03 9.99988963e-01 3.86360041e-03 -3.49325360e-02] [ 4.22391851e-04 -3.86474308e-03 9.99992443e-01 8.43114173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters 0.28700850637835473 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:0.84 [[ 9.99996445e-01 2.60577383e-03 -5.65722634e-04 2.69481904e+00] [-2.60524012e-03 9.99996163e-01 9.42099155e-04 -4.19895686e-02] [ 5.68175360e-04 -9.40621963e-04 9.99999396e-01 8.44570063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters 0.2872257063642717 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:0.84 [[ 9.99995301e-01 2.97103212e-03 -7.55314877e-04 2.69532734e+00] [-2.96942773e-03 9.99993352e-01 2.11645821e-03 -4.67371673e-02] [ 7.61597921e-04 -2.11420541e-03 9.99997475e-01 8.44440756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80255784400003 meters 0.2876484773184636 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:0.84 [[ 9.99996984e-01 1.55903629e-03 -1.89776007e-03 2.70080085e+00] [-1.55755511e-03 9.99998481e-01 7.81718604e-04 -4.67119506e-02] [ 1.89897592e-03 -7.78760381e-04 9.99997894e-01 8.40669790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86255784400004 meters 0.2878391216411034 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:0.84 [[ 9.99995999e-01 1.75202167e-03 -2.22080516e-03 2.70182298e+00] [-1.74887303e-03 9.99997464e-01 1.41894300e-03 -4.94388312e-02] [ 2.22328555e-03 -1.41505342e-03 9.99996527e-01 8.40006947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.922557844 meters 0.2900267813107886 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:0.84 [[ 9.99990325e-01 -4.34772227e-03 6.68830005e-04 2.72444505e+00] [ 4.34487189e-03 9.99981717e-01 4.20573306e-03 -5.25401463e-02] [-6.87103136e-04 -4.20278639e-03 9.99990932e-01 8.37999018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.982557844 meters 0.28725641737743424 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.06, Z:0.84 [[ 0.99998759 0.0039546 0.00302995 2.70195888] [-0.00396709 0.99998362 0.00412614 -0.06132928] [-0.00301358 -0.00413811 0.9999869 0.83754902] [ 0. 0. 0. 1. ]] SLAMing on 350.042557844 meters 0.28900820032735364 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:0.84 [[ 0.99996815 -0.00556232 0.00572411 2.72198952] [ 0.00553903 0.99997635 0.00407697 -0.06406416] [-0.00574665 -0.00404514 0.99997531 0.83774357] [ 0. 0. 0. 1. ]] SLAMing on 350.102557844 meters 0.2902898666983142 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:0.84 [[ 0.99996942 -0.00531602 0.00573604 2.72198967] [ 0.00528722 0.9999734 0.00502377 -0.06767132] [-0.0057626 -0.00499329 0.99997093 0.83766874] [ 0. 0. 0. 1. ]] SLAMing on 350.162557844 meters 0.2890216356713304 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.84 [[ 9.99983876e-01 -2.38103324e-04 5.67368080e-03 2.69855411e+00] [ 2.29664420e-04 9.99998867e-01 1.48798226e-03 -7.19518134e-02] [-5.67402866e-03 -1.48665522e-03 9.99982797e-01 8.38458907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.222557844 meters 0.2880556176469953 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.84 [[ 9.99984383e-01 -1.64401295e-04 5.58628701e-03 2.69866355e+00] [ 1.54998353e-04 9.99998571e-01 1.68360972e-03 -7.27590817e-02] [-5.58655582e-03 -1.68271756e-03 9.99982979e-01 8.38714195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.282557844 meters 0.2883118719219615 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.84 [[ 9.99984157e-01 -8.18630347e-05 5.62848999e-03 2.69848108e+00] [ 7.11909579e-05 9.99998200e-01 1.89625589e-03 -7.36345749e-02] [-5.62863509e-03 -1.89582515e-03 9.99982362e-01 8.38875795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.342557844 meters 0.28968311349318465 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:0.84 [[ 9.99991477e-01 -9.49727359e-05 4.12748296e-03 2.73828299e+00] [ 9.11701833e-05 9.99999571e-01 9.21454765e-04 -7.46382258e-02] [-4.12756870e-03 -9.21070609e-04 9.99991057e-01 8.41808556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.402557844 meters 0.28921375706717295 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99992058e-01 1.10467544e-05 3.98555704e-03 2.73874468e+00] [-1.59093551e-05 9.99999256e-01 1.22002586e-03 -7.58985506e-02] [-3.98554059e-03 -1.22007958e-03 9.99991313e-01 8.41530088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.462557844 meters 0.29015140923199095 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99992174e-01 1.15940755e-04 3.95454704e-03 2.73859097e+00] [-1.21821680e-04 9.99998887e-01 1.48692133e-03 -7.70206634e-02] [-3.95437024e-03 -1.48739144e-03 9.99991075e-01 8.42035539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.522557844 meters 0.2888031986777039 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991931e-01 -4.49996917e-05 4.01701199e-03 2.73856426e+00] [ 4.06503211e-05 9.99999413e-01 1.08281286e-03 -7.53084961e-02] [-4.01705836e-03 -1.08264083e-03 9.99991346e-01 8.41727036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.582557844 meters 0.2889027274365316 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:0.84 [[ 9.99992509e-01 -8.15084673e-05 3.86982730e-03 2.73913921e+00] [ 7.76965662e-05 9.99999512e-01 9.85171458e-04 -7.49462650e-02] [-3.86990571e-03 -9.84863406e-04 9.99992027e-01 8.41205001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.642557844 meters 0.28926618568530266 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:0.84 [[ 9.99992983e-01 -9.21978442e-05 3.74496751e-03 2.73957541e+00] [ 8.86153765e-05 9.99999538e-01 9.56763152e-04 -7.48405247e-02] [-3.74505400e-03 -9.56424577e-04 9.99992530e-01 8.40900164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.702557844 meters 0.2903618881232558 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99993059e-01 6.24890613e-05 3.72522750e-03 2.73956771e+00] [-6.76337984e-05 9.99999044e-01 1.38094315e-03 -7.65855343e-02] [-3.72513765e-03 -1.38118551e-03 9.99992108e-01 8.41034730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.762557844 meters 0.28972832153115924 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99993582e-01 3.17475536e-04 3.56850944e-03 2.73985007e+00] [-3.24732684e-04 9.99997880e-01 2.03326835e-03 -7.92843648e-02] [-3.56785636e-03 -2.03441412e-03 9.99991566e-01 8.41281584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.822557844 meters 0.2917832215495083 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99993379e-01 3.58385134e-04 3.62122085e-03 2.73969495e+00] [-3.66189387e-04 9.99997612e-01 2.15471108e-03 -7.97697546e-02] [-3.62043998e-03 -2.15602287e-03 9.99991122e-01 8.41347084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.882557844 meters 0.29037858426814467 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991249e-01 4.28623865e-04 4.16140472e-03 2.73809404e+00] [-4.38171293e-04 9.99997274e-01 2.29363933e-03 -8.03099148e-02] [-4.16041027e-03 -2.29544267e-03 9.99988711e-01 8.42204071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942557844 meters 0.2897540377133421 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991303e-01 3.88497531e-04 4.15250471e-03 2.73806724e+00] [-3.97559371e-04 9.99997541e-01 2.18165616e-03 -7.98422358e-02] [-4.15164693e-03 -2.18328805e-03 9.99988998e-01 8.42320832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters 0.2900168358758363 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991471e-01 2.97936028e-04 4.11929455e-03 2.73838792e+00] [-3.05889065e-04 9.99998090e-01 1.93018420e-03 -7.88130504e-02] [-4.11871162e-03 -1.93142779e-03 9.99989653e-01 8.41750613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters 0.28868500726696594 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991761e-01 3.40480932e-04 4.04502838e-03 2.73863188e+00] [-3.48784950e-04 9.99997833e-01 2.05236680e-03 -7.93209246e-02] [-4.04432083e-03 -2.05376073e-03 9.99989713e-01 8.41596931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters 0.28809771615540447 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991341e-01 4.39002510e-04 4.13825289e-03 2.73818517e+00] [-4.48632112e-04 9.99997193e-01 2.32633180e-03 -8.04408387e-02] [-4.13722001e-03 -2.32816821e-03 9.99988731e-01 8.42126097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18255784400003 meters 0.29129465437142005 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99991604e-01 5.65780151e-04 4.05858502e-03 2.73836836e+00] [-5.76507653e-04 9.99996342e-01 2.64248028e-03 -8.17638976e-02] [-4.05707512e-03 -2.64479790e-03 9.99988273e-01 8.42180298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters 0.2891547427878375 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:0.84 [[ 9.99981353e-01 5.99940676e-03 1.14039874e-03 2.71707922e+00] [-5.99890508e-03 9.99981908e-01 -4.42827761e-04 -8.26325989e-02] [-1.14303481e-03 4.35978360e-04 9.99999252e-01 8.43354997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30255784400003 meters 0.29066911984968985 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99994434e-01 -2.38616510e-03 2.33194770e-03 2.73772393e+00] [ 2.38553584e-03 9.99997117e-01 2.72588070e-04 -8.12187605e-02] [-2.33259142e-03 -2.67023608e-04 9.99997244e-01 8.43523057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters 0.29057687051232034 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99995404e-01 -2.17412676e-03 2.11326738e-03 2.73843483e+00] [ 2.17252353e-03 9.99997351e-01 7.60647339e-04 -8.33177164e-02] [-2.11491553e-03 -7.56052719e-04 9.99997478e-01 8.43218878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.422557844 meters 0.29107138730206644 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99995938e-01 -2.02540578e-03 2.00540160e-03 2.73867076e+00] [ 2.02313113e-03 9.99997309e-01 1.13564173e-03 -8.48719484e-02] [-2.00769634e-03 -1.13157992e-03 9.99997344e-01 8.43327505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.482557844 meters 0.2895737285761728 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:0.85 [[ 9.99990847e-01 4.27821241e-03 4.58220881e-05 2.71631215e+00] [-4.27815535e-03 9.99990152e-01 -1.18029544e-03 -8.67059701e-02] [-5.08711914e-05 1.18008860e-03 9.99999302e-01 8.45219995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.542557844 meters 0.2910455756801631 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.85 [[ 9.99992213e-01 -3.91715385e-03 4.78555665e-04 2.73661911e+00] [ 3.91715376e-03 9.99992328e-01 1.13041396e-06 -8.48641762e-02] [-4.78556422e-04 7.44170967e-07 9.99999885e-01 8.45430579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.602557844 meters 0.2899053820238665 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:0.85 [[ 9.99995907e-01 1.33255873e-03 -2.53203275e-03 2.71523021e+00] [-1.33969872e-03 9.99995126e-01 -2.82026143e-03 -8.77129952e-02] [ 2.52826224e-03 2.82364205e-03 9.99992817e-01 8.46794658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.662557844 meters 0.29103171570706177 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:0.85 [[ 9.99990913e-01 -4.07087923e-03 1.26553659e-03 2.73598300e+00] [ 4.06994641e-03 9.99991445e-01 7.38800535e-04 -9.66390978e-02] [-1.26853333e-03 -7.33643156e-04 9.99998926e-01 8.45755136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.722557844 meters 0.29200496318916175 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:0.85 [[ 9.99992520e-01 -3.68291989e-03 1.18184728e-03 2.73594746e+00] [ 3.68106863e-03 9.99992001e-01 1.56478202e-03 -1.00150734e-01] [-1.18760079e-03 -1.56041985e-03 9.99998077e-01 8.46256863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.782557844 meters 0.29004168889745646 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:0.85 [[ 9.99997286e-01 2.20810610e-03 -7.42987728e-04 2.71437555e+00] [-2.20876985e-03 9.99997161e-01 -8.93710033e-04 -1.04927457e-01] [ 7.41012212e-04 8.95348697e-04 9.99999325e-01 8.46607442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.842557844 meters 0.2898077947302005 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:0.85 [[ 9.99996688e-01 2.35549021e-03 -1.03737233e-03 2.71542881e+00] [-2.35590411e-03 9.99997146e-01 -3.97945405e-04 -1.06878543e-01] [ 1.03643201e-03 4.00388037e-04 9.99999383e-01 8.45677837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.902557844 meters 0.29165721365572683 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:0.85 [[ 9.99983424e-01 -5.75766272e-03 8.78150828e-06 2.73610709e+00] [ 5.75765766e-03 9.99983302e-01 4.95073336e-04 -1.04724765e-01] [-1.16318269e-05 -4.95014569e-04 9.99999877e-01 8.45745262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.962557844 meters 0.2910249493544332 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.85 [[ 9.99994270e-01 3.01832835e-03 1.53263149e-03 2.75387307e+00] [-3.01747262e-03 9.99995290e-01 -5.60347783e-04 -1.12037925e-01] [-1.53431558e-03 5.55719899e-04 9.99998669e-01 8.47948654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.022557844 meters 0.2903948230835432 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:0.85 [[ 9.99998190e-01 -1.02578195e-03 1.60269923e-03 2.75345384e+00] [ 1.03250111e-03 9.99990659e-01 -4.19721837e-03 -1.14918921e-01] [-1.59837883e-03 4.19886556e-03 9.99989907e-01 8.48556800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.082557844 meters 0.290729313475522 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.12, Z:0.85 [[ 9.99998190e-01 -9.31647085e-04 1.65896975e-03 2.75317536e+00] [ 9.38200445e-04 9.99991743e-01 -3.95387235e-03 -1.15910590e-01] [-1.65527244e-03 3.95542164e-03 9.99990807e-01 8.48882485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.142557844 meters 0.28998028120982194 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:0.85 [[ 9.99978191e-01 -5.00065707e-03 -4.31399135e-03 2.73645668e+00] [ 5.00312740e-03 9.99987326e-01 5.62030759e-04 -1.17574369e-01] [ 4.31112615e-03 -5.83601950e-04 9.99990537e-01 8.49119403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.202557844 meters 0.29229623716519115 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.85 [[ 9.99997066e-01 2.30458144e-03 -7.46326497e-04 2.75714969e+00] [-2.30621062e-03 9.99994944e-01 -2.18947621e-03 -1.12452752e-01] [ 7.41276897e-04 2.19119097e-03 9.99997325e-01 8.47531142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.262557844 meters 0.29121305132109243 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.85 [[ 9.99997474e-01 2.16476182e-03 -6.04280821e-04 2.75651223e+00] [-2.16629998e-03 9.99994386e-01 -2.55649506e-03 -1.10812432e-01] [ 5.98743226e-04 2.55779765e-03 9.99996550e-01 8.48115920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.322557844 meters 0.2905423801638997 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:0.85 [[ 9.99978640e-01 -5.44465793e-03 -3.61585244e-03 2.73590709e+00] [ 5.44412601e-03 9.99985168e-01 -1.56932834e-04 -1.12743837e-01] [ 3.61665326e-03 1.37244326e-04 9.99993450e-01 8.49567394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.382557844 meters 0.29066467433848203 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.85 [[ 9.99990503e-01 4.12696335e-03 -1.40098922e-03 2.75513809e+00] [-4.12810994e-03 9.99991146e-01 -8.16507290e-04 -1.14504874e-01] [ 1.39760712e-03 8.22282973e-04 9.99998685e-01 8.49507894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442557844 meters 0.2891051825459815 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99980519e-01 -5.95386251e-03 -1.87442856e-03 2.73322099e+00] [ 5.95291430e-03 9.99982151e-01 -5.11038181e-04 -1.13127632e-01] [ 1.87743776e-03 4.99869913e-04 9.99998113e-01 8.49894139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters 0.28961068609389246 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99980110e-01 -5.95876516e-03 -2.06682268e-03 2.73403128e+00] [ 5.95770862e-03 9.99982119e-01 -5.16970344e-04 -1.13232436e-01] [ 2.06986623e-03 5.04646535e-04 9.99997730e-01 8.48969989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters 0.28907414190121433 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99980562e-01 -5.87447222e-03 -2.08949057e-03 2.73407374e+00] [ 5.87386858e-03 9.99982705e-01 -2.94910301e-04 -1.14154667e-01] [ 2.09118688e-03 2.82631175e-04 9.99997774e-01 8.49011317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622557844 meters 0.2894740899238576 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:0.85 [[ 9.99981319e-01 -5.75598165e-03 -2.05693479e-03 2.73374768e+00] [ 5.75604141e-03 9.99983434e-01 2.31366322e-05 -1.15430878e-01] [ 2.05676754e-03 -3.49760019e-05 9.99997884e-01 8.49618935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters 0.2904380599474609 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99987730e-01 3.99199471e-03 -2.93316222e-03 2.75721166e+00] [-3.99352104e-03 9.99991893e-01 -5.14698827e-04 -1.18271474e-01] [ 2.93108377e-03 5.26406156e-04 9.99995566e-01 8.48950528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters 0.2895637162415516 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99987881e-01 3.93031190e-03 -2.96484103e-03 2.75745598e+00] [-3.93236401e-03 9.99992032e-01 -6.86636793e-04 -1.17602253e-01] [ 2.96211871e-03 6.98287306e-04 9.99995369e-01 8.48540595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters 0.2901581051602661 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99988158e-01 3.89967252e-03 -2.91128135e-03 2.75724825e+00] [-3.90192160e-03 9.99992093e-01 -7.67261899e-04 -1.17245179e-01] [ 2.90826626e-03 7.78612405e-04 9.99995468e-01 8.48700951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters 0.2888402864071196 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99988127e-01 3.94869682e-03 -2.85558678e-03 2.75696673e+00] [-3.95055330e-03 9.99991989e-01 -6.44772213e-04 -1.17730237e-01] [ 2.85301789e-03 6.56045705e-04 9.99995715e-01 8.49010490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.922557844 meters 0.2902154461967894 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.11, Z:0.85 [[ 9.99993357e-01 -3.42321156e-03 -1.25234074e-03 2.77622091e+00] [ 3.42393082e-03 9.99993974e-01 5.72638157e-04 -1.14091477e-01] [ 1.25037293e-03 -5.76922280e-04 9.99999052e-01 8.50359037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.982557844 meters 0.2892969125983783 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99989350e-01 4.25673675e-03 -1.78334506e-03 2.75616272e+00] [-4.25756764e-03 9.99990830e-01 -4.62374210e-04 -1.17610493e-01] [ 1.78136050e-03 4.69961998e-04 9.99998303e-01 8.49149980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.042557844 meters 0.289725228254904 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.12, Z:0.85 [[ 9.99990125e-01 4.11172594e-03 -1.68608749e-03 2.75586183e+00] [-4.11313845e-03 9.99991192e-01 -8.35130841e-04 -1.16025607e-01] [ 1.68263881e-03 8.42057706e-04 9.99998230e-01 8.49232071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.102557844 meters 0.28830570233917735 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.85 [[ 9.99990971e-01 3.91281006e-03 -1.65783103e-03 2.75573342e+00] [-3.91505558e-03 9.99991420e-01 -1.35341894e-03 -1.13852965e-01] [ 1.65252114e-03 1.35989722e-03 9.99997710e-01 8.49344203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.162557844 meters 0.2891774401854635 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.11, Z:0.85 [[ 9.99991444e-01 3.82960021e-03 -1.56396841e-03 2.75537587e+00] [-3.83206138e-03 9.99991419e-01 -1.57371523e-03 -1.12900868e-01] [ 1.55792829e-03 1.57969498e-03 9.99997539e-01 8.49597952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.222557844 meters 0.2877223129068773 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99987221e-01 -2.83191253e-03 -4.18790974e-03 2.73350174e+00] [ 2.83670009e-03 9.99995329e-01 1.13768646e-03 -1.10999167e-01] [ 4.18466835e-03 -1.14955177e-03 9.99990583e-01 8.50823640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.282557844 meters 0.28893711738604 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99986516e-01 -3.02780797e-03 -4.21902355e-03 2.73389008e+00] [ 3.03045019e-03 9.99995216e-01 6.20012743e-04 -1.08904787e-01] [ 4.21712608e-03 -6.32789923e-04 9.99990908e-01 8.50069593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.342557844 meters 0.2889107262806128 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99986423e-01 -3.27197136e-03 -4.05551277e-03 2.73337933e+00] [ 3.27204873e-03 9.99994647e-01 1.24427028e-05 -1.06351879e-01] [ 4.05545035e-03 -2.57123693e-05 9.99991776e-01 8.50183913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.402557844 meters 0.2878628457921264 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.11, Z:0.85 [[ 9.99986087e-01 -3.36330271e-03 -4.06381120e-03 2.73335241e+00] [ 3.36240874e-03 9.99994321e-01 -2.26794960e-04 -1.05353796e-01] [ 4.06455091e-03 2.13127610e-04 9.99991717e-01 8.50279508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.462557844 meters 0.28723886375269275 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99985022e-01 -3.64160273e-03 -4.08586260e-03 2.73379508e+00] [ 3.63796359e-03 9.99992980e-01 -8.97744473e-04 -1.02572303e-01] [ 4.08910314e-03 8.82866808e-04 9.99991250e-01 8.49404569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.522557844 meters 0.2872938330397235 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99984980e-01 -3.73113770e-03 -4.01467185e-03 2.73358486e+00] [ 3.72660189e-03 9.99992410e-01 -1.13669727e-03 -1.01573380e-01] [ 4.01888256e-03 1.12171912e-03 9.99991295e-01 8.49464774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.582557844 meters 0.28576446184842913 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:0.85 [[ 9.99974874e-01 4.39820740e-03 -5.55944094e-03 2.71261309e+00] [-4.40845451e-03 9.99988604e-01 -1.83228280e-03 -1.03448314e-01] [ 5.55131882e-03 1.85674530e-03 9.99982868e-01 8.49499841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.642557844 meters 0.2889460576313962 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:0.85 [[ 9.99979296e-01 5.61801255e-03 -3.13791284e-03 2.75664412e+00] [-5.62600804e-03 9.99980935e-01 -2.54503950e-03 -9.34415806e-02] [ 3.12355495e-03 2.56264073e-03 9.99991838e-01 8.47964772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.702557844 meters 0.28642790975868965 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995817e-01 -1.11942798e-03 -2.66683321e-03 2.73221363e+00] [ 1.12059988e-03 9.99999276e-01 4.37983003e-04 -8.95613322e-02] [ 2.66634099e-03 -4.40969624e-04 9.99996348e-01 8.49238960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.762557844 meters 0.28735016939991664 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995661e-01 -1.25643496e-03 -2.66434915e-03 2.73230755e+00] [ 1.25667199e-03 9.99999207e-01 8.72933519e-05 -8.81202431e-02] [ 2.66423736e-03 -9.06411862e-05 9.99996447e-01 8.48991848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.822557844 meters 0.28897297028160573 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995101e-01 -1.31088368e-03 -2.84245717e-03 2.73297377e+00] [ 1.31074492e-03 9.99999140e-01 -5.06804892e-05 -8.76175096e-02] [ 2.84252116e-03 4.69545047e-05 9.99995959e-01 8.48477270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.882557844 meters 0.2879044017925253 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995122e-01 -1.19873524e-03 -2.88416142e-03 2.73291504e+00] [ 1.19948666e-03 9.99999247e-01 2.58817830e-04 -8.88647138e-02] [ 2.88384899e-03 -2.62276080e-04 9.99995807e-01 8.48875643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942557844 meters 0.2868235057365762 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995401e-01 -9.72367029e-04 -2.87271667e-03 2.73262921e+00] [ 9.74688421e-04 9.99999200e-01 8.06793040e-04 -9.11479645e-02] [ 2.87192987e-03 -8.09589333e-04 9.99995548e-01 8.49416599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters 0.286548317066024 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995784e-01 -8.64500359e-04 -2.77207773e-03 2.73244407e+00] [ 8.67514402e-04 9.99999034e-01 1.08626872e-03 -9.23070639e-02] [ 2.77113597e-03 -1.08866895e-03 9.99995568e-01 8.49271966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters 0.28670039059312574 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99995470e-01 -7.07508765e-04 -2.92561826e-03 2.73287678e+00] [ 7.11678363e-04 9.99998732e-01 1.42440699e-03 -9.37759674e-02] [ 2.92460677e-03 -1.42648264e-03 9.99994706e-01 8.49265201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters 0.28644030138378895 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99995296e-01 -5.75514837e-04 -3.01268882e-03 2.73334365e+00] [ 5.80889119e-04 9.99998241e-01 1.78331104e-03 -9.52939136e-02] [ 3.01165720e-03 -1.78505269e-03 9.99993872e-01 8.48677368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters 0.2856595751075716 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99995649e-01 -4.47730012e-04 -2.91565862e-03 2.73279367e+00] [ 4.53850919e-04 9.99997694e-01 2.09899919e-03 -9.65570031e-02] [ 2.91471211e-03 -2.10031333e-03 9.99993547e-01 8.49386848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters 0.2876842190461223 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:0.85 [[ 9.99979878e-01 6.34031103e-03 2.09951721e-04 2.75385078e+00] [-6.34011524e-03 9.99979478e-01 -9.20465408e-04 -9.47894778e-02] [-2.15783449e-04 9.19115769e-04 9.99999554e-01 8.47858063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters 0.2859175081221421 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99996103e-01 -2.56254970e-03 -1.10817164e-03 2.73406471e+00] [ 2.56350627e-03 9.99996342e-01 8.62639842e-04 -9.62050551e-02] [ 1.10595703e-03 -8.65477285e-04 9.99999014e-01 8.47161771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters 0.2858642454149407 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99996393e-01 -2.42580676e-03 -1.15340844e-03 2.73398229e+00] [ 2.42727237e-03 9.99996246e-01 1.27098113e-03 -9.78485222e-02] [ 1.15032095e-03 -1.27377618e-03 9.99998527e-01 8.47630801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.422557844 meters 0.28480103718619365 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.10, Z:0.85 [[ 9.99996285e-01 -2.42616134e-03 -1.24270605e-03 2.73441264e+00] [ 2.42774392e-03 9.99996242e-01 1.27357457e-03 -9.78863388e-02] [ 1.23961148e-03 -1.27658681e-03 9.99998417e-01 8.47158355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.482557844 meters 0.2852384041052486 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.10, Z:0.85 [[ 9.99979817e-01 5.40782457e-03 -3.33467909e-03 2.71444388e+00] [-5.40735663e-03 9.99985369e-01 1.49323522e-04 -9.79827300e-02] [ 3.33543782e-03 -1.31288710e-04 9.99994429e-01 8.46203916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.542557844 meters 0.2854658497944219 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99997746e-01 -2.09326714e-03 -3.56204157e-04 2.73140912e+00] [ 2.09353181e-03 9.99997532e-01 7.44279039e-04 -9.01132907e-02] [ 3.54645303e-04 -7.45023086e-04 9.99999660e-01 8.47754017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.602557844 meters 0.2855350678644171 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.09, Z:0.85 [[ 9.99997567e-01 -2.18871766e-03 -2.74573131e-04 2.73131205e+00] [ 2.18885289e-03 9.99997483e-01 4.93155576e-04 -8.90873467e-02] [ 2.73493062e-04 -4.93755377e-04 9.99999841e-01 8.47486583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.662557844 meters 0.28494302212916195 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.09, Z:0.85 [[ 9.99984678e-01 5.03989488e-03 -2.28963013e-03 2.71237148e+00] [-5.04240523e-03 9.99986691e-01 -1.09195171e-03 -9.05651967e-02] [ 2.28409634e-03 1.10348022e-03 9.99996783e-01 8.45315281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.722557844 meters 0.28582425622813684 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:0.84 [[ 9.99997363e-01 -2.34883831e-04 -2.28456509e-03 2.73633783e+00] [ 2.38387880e-04 9.99998796e-01 1.53364162e-03 -8.34285515e-02] [ 2.28420211e-03 -1.53418219e-03 9.99996214e-01 8.44043284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.782557844 meters 0.2853919041384102 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.08, Z:0.85 [[ 9.99972257e-01 5.72761428e-03 -4.76225198e-03 2.71238848e+00] [-5.73391408e-03 9.99982703e-01 -1.31026329e-03 -7.83098376e-02] [ 4.75466492e-03 1.33753329e-03 9.99987802e-01 8.46742245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.842557844 meters 0.28618236028869526 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:0.85 [[ 9.99993702e-01 1.17483956e-03 -3.34905646e-03 2.73506935e+00] [-1.16961633e-03 9.99998097e-01 1.56114693e-03 -6.93432888e-02] [ 3.35088418e-03 -1.55721999e-03 9.99993173e-01 8.45755509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.902557844 meters 0.28436129368478585 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.84 [[ 9.99996700e-01 -6.17861172e-04 -2.49370161e-03 2.69591863e+00] [ 6.20624411e-04 9.99999194e-01 1.10746571e-03 -6.96128390e-02] [ 2.49301534e-03 -1.10900971e-03 9.99996277e-01 8.42760145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.962557844 meters 0.284152716953409 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:0.84 [[ 9.99997480e-01 -6.40623173e-04 -2.15177469e-03 2.69489712e+00] [ 6.42800386e-04 9.99999282e-01 1.01128279e-03 -6.91717019e-02] [ 2.15112530e-03 -1.01266341e-03 9.99997174e-01 8.43316667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.022557844 meters 0.28430450448206995 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.07, Z:0.84 [[ 9.99998249e-01 -5.24869460e-04 -1.79600037e-03 2.69379906e+00] [ 5.27340446e-04 9.99998915e-01 1.37563046e-03 -7.05701249e-02] [ 1.79527640e-03 -1.37657516e-03 9.99997441e-01 8.43967889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.082557844 meters 0.2855530393214871 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.84 [[ 9.99997283e-01 -4.29162921e-04 -2.29120997e-03 2.69515537e+00] [ 4.33073466e-04 9.99998450e-01 1.70653631e-03 -7.20421650e-02] [ 2.29047403e-03 -1.70752394e-03 9.99995919e-01 8.43675227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.142557844 meters 0.2833380965774222 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:0.85 [[ 9.99982019e-01 4.27387444e-03 -4.20667199e-03 2.67158338e+00] [-4.28102397e-03 9.99989405e-01 -1.69203464e-03 -7.40737426e-02] [ 4.19939588e-03 1.71001308e-03 9.99989720e-01 8.45465236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.202557844 meters 0.28419828603571395 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.85 [[ 9.99981565e-01 4.52301634e-03 -4.05109990e-03 2.67093950e+00] [-4.52738050e-03 9.99989180e-01 -1.06875603e-03 -7.66865278e-02] [ 4.04622206e-03 1.08707720e-03 9.99991223e-01 8.46044491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.262557844 meters 0.282785250947702 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.85 [[ 9.99980554e-01 4.62847019e-03 -4.17949185e-03 2.67167917e+00] [-4.63178640e-03 9.99988966e-01 -7.84118910e-04 -7.80549755e-02] [ 4.17581646e-03 8.03462175e-04 9.99990958e-01 8.45068712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.322557844 meters 0.2839186295481553 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.85 [[ 9.99978762e-01 4.79415648e-03 -4.41495735e-03 2.67229256e+00] [-4.79563919e-03 9.99988448e-01 -3.25312797e-04 -7.99896713e-02] [ 4.41334675e-03 3.46478431e-04 9.99990201e-01 8.45070037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.382557844 meters 0.28298917790185124 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.08, Z:0.85 [[ 9.99978650e-01 4.90201590e-03 -4.32088086e-03 2.67182474e+00] [-4.90216861e-03 9.99987984e-01 -2.47515450e-05 -8.12024948e-02] [ 4.32070761e-03 4.59327030e-05 9.99990665e-01 8.45655781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442557844 meters 0.2837188311680042 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.84 [[ 9.99980851e-01 3.00030519e-03 -5.41253720e-03 2.67792879e+00] [-3.01204831e-03 9.99993125e-01 -2.16276827e-03 -7.87834159e-02] [ 5.40601102e-03 2.17902968e-03 9.99983013e-01 8.40597825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters 0.283708616558719 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.08, Z:0.84 [[ 9.99980896e-01 2.99754254e-03 -5.40570770e-03 2.67778358e+00] [-3.00931693e-03 9.99993115e-01 -2.17132376e-03 -7.87188423e-02] [ 5.39916184e-03 2.18754977e-03 9.99983032e-01 8.40887244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters 0.2824830426909975 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.08, Z:0.84 [[ 9.99955502e-01 -7.21523424e-03 -6.07728927e-03 2.65516012e+00] [ 7.20460313e-03 9.99972481e-01 -1.76939739e-03 -8.08838271e-02] [ 6.08988864e-03 1.72553420e-03 9.99979968e-01 8.41779468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters 0.2829878502544866 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.08, Z:0.84 [[ 9.99956202e-01 -6.96263700e-03 -6.25425450e-03 2.65557946e+00] [ 6.95650322e-03 9.99975301e-01 -1.00195803e-03 -8.40364548e-02] [ 6.26107630e-03 9.58406403e-04 9.99979940e-01 8.41863452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters 0.28258739747125233 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.84 [[ 9.99957695e-01 -6.53735974e-03 -6.47077761e-03 2.65584029e+00] [ 6.53924132e-03 9.99978583e-01 2.69665365e-04 -8.91852715e-02] [ 6.46887612e-03 -3.11967933e-04 9.99979028e-01 8.42450458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters 0.2815179727926758 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.09, Z:0.84 [[ 9.99959133e-01 -6.31292089e-03 -6.47147053e-03 2.65559675e+00] [ 6.31845812e-03 9.99979689e-01 8.35549245e-04 -9.15407023e-02] [ 6.46606434e-03 -8.76404814e-04 9.99978711e-01 8.43013802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters 0.2818714180947589 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.10, Z:0.84 [[ 9.99986252e-01 2.81519836e-03 -4.42392413e-03 2.67410561e+00] [-2.81517473e-03 9.99996037e-01 1.15688888e-05 -9.57185411e-02] [ 4.42393917e-03 8.85389680e-07 9.99990214e-01 8.44632974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters 0.2828833211256119 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.10, Z:0.85 [[ 9.99985695e-01 2.92082518e-03 -4.48101152e-03 2.67407881e+00] [-2.91960008e-03 9.99995699e-01 2.79915683e-04 -9.68126351e-02] [ 4.48180983e-03 -2.66828917e-04 9.99989921e-01 8.45026526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.922557844 meters 0.28080445223790623 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.10, Z:0.85 [[ 9.99985028e-01 3.31511349e-03 -4.35354424e-03 2.67344637e+00] [-3.30895716e-03 9.99993516e-01 1.42053852e-03 -1.01415490e-01] [ 4.35822526e-03 -1.40611156e-03 9.99989514e-01 8.45820954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.982557844 meters 0.2812210865276688 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:0.85 [[ 9.99982392e-01 3.63672156e-03 -4.68936340e-03 2.67420870e+00] [-3.62458549e-03 9.99990067e-01 2.59390728e-03 -1.06089170e-01] [ 4.69875014e-03 -2.57686461e-03 9.99985641e-01 8.45968600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.042557844 meters 0.281442668611977 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.84 [[ 9.99982642e-01 1.45416427e-03 -5.70974114e-03 2.67830508e+00] [-1.44315567e-03 9.99997093e-01 1.93168495e-03 -1.16133238e-01] [ 5.71253353e-03 -1.92341137e-03 9.99981834e-01 8.43534862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.102557844 meters 0.2818122605216917 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.84 [[ 9.99978289e-01 -2.53399342e-03 -6.08282275e-03 2.67938585e+00] [ 2.52614933e-03 9.99995968e-01 -1.29688537e-03 -1.20478252e-01] [ 6.08608453e-03 1.28149109e-03 9.99980658e-01 8.43057660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.162557844 meters 0.28179281518505817 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.84 [[ 9.99977514e-01 -2.35556389e-03 -6.27876462e-03 2.68009288e+00] [ 2.35036129e-03 9.99996889e-01 -8.35853314e-04 -1.22469208e-01] [ 6.28071399e-03 8.21077154e-04 9.99979939e-01 8.42545028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.222557844 meters 0.2820435486947744 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:0.84 [[ 9.99980283e-01 -1.87716025e-03 -5.99243476e-03 2.67873907e+00] [ 1.88142819e-03 9.99997980e-01 7.06664666e-04 -1.28570795e-01] [ 5.99109613e-03 -7.17925069e-04 9.99981796e-01 8.44035222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.282557844 meters 0.28165807585165914 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.13, Z:0.85 [[ 9.99981303e-01 -1.51478148e-03 -5.92436927e-03 2.67795376e+00] [ 1.52659006e-03 9.99996856e-01 1.98920737e-03 -1.33784998e-01] [ 5.92133743e-03 -1.99821426e-03 9.99980472e-01 8.45373044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.342557844 meters 0.28227867215001956 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99979698e-01 -1.21949117e-03 -6.25431491e-03 2.67885669e+00] [ 1.23740779e-03 9.99995140e-01 2.86161244e-03 -1.37468225e-01] [ 6.25079481e-03 -2.86929348e-03 9.99976347e-01 8.45157280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.402557844 meters 0.28269282027468107 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99978737e-01 -9.42715697e-04 -6.45260286e-03 2.67928290e+00] [ 9.65471606e-04 9.99993323e-01 3.52441882e-03 -1.40252069e-01] [ 6.44923726e-03 -3.53057368e-03 9.99972971e-01 8.45363446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.462557844 meters 0.28304087374569614 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99977881e-01 -8.26712149e-04 -6.59950808e-03 2.67931568e+00] [ 8.51924945e-04 9.99992347e-01 3.81850878e-03 -1.41431862e-01] [ 6.59630076e-03 -3.82404661e-03 9.99970932e-01 8.46132444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.522557844 meters 0.2819351265258381 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.14, Z:0.85 [[ 9.99948792e-01 4.86377579e-03 -8.87457322e-03 2.65612378e+00] [-4.85125698e-03 9.99987208e-01 1.43161967e-03 -1.43385202e-01] [ 8.88142277e-03 -1.38849352e-03 9.99959595e-01 8.48590471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.582557844 meters 0.28285863220292257 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.15, Z:0.85 [[ 9.99949304e-01 5.03131433e-03 -8.72211806e-03 2.65545788e+00] [-5.01528304e-03 9.99985696e-01 1.85890243e-03 -1.45106080e-01] [ 8.73134601e-03 -1.81506430e-03 9.99960234e-01 8.49307549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.642557844 meters 0.28239168155329164 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.15, Z:0.85 [[ 9.99948097e-01 5.11410343e-03 -8.81191597e-03 2.65570321e+00] [-5.09600873e-03 9.99984863e-01 2.07466739e-03 -1.46015562e-01] [ 8.82239265e-03 -2.02965411e-03 9.99959022e-01 8.49275184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.702557844 meters 0.28300247430147507 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.15, Z:0.85 [[ 9.99946479e-01 5.18949384e-03 -8.95035466e-03 2.65618205e+00] [-5.16935535e-03 9.99984058e-01 2.27169066e-03 -1.46893769e-01] [ 8.96200091e-03 -2.22530152e-03 9.99957364e-01 8.48979825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.762557844 meters 0.28294700676558 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99970157e-01 -2.86099441e-03 -7.17636336e-03 2.67671160e+00] [ 2.87958927e-03 9.99992520e-01 2.58213318e-03 -1.43536965e-01] [ 7.16892221e-03 -2.60272110e-03 9.99970916e-01 8.48851982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.822557844 meters 0.2830123379763951 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99969644e-01 -2.87865144e-03 -7.24044781e-03 2.67690717e+00] [ 2.89710821e-03 9.99992578e-01 2.53992553e-03 -1.43369128e-01] [ 7.23308251e-03 -2.56082479e-03 9.99970562e-01 8.48760502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.882557844 meters 0.2838203126627131 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99969196e-01 -2.93324430e-03 -7.28031227e-03 2.67711993e+00] [ 2.95080296e-03 9.99992761e-01 2.40223289e-03 -1.42813609e-01] [ 7.27321323e-03 -2.42364166e-03 9.99970613e-01 8.48499382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942557844 meters 0.28409722009501376 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99969514e-01 -2.99646330e-03 -7.21060371e-03 2.67663854e+00] [ 3.01266060e-03 9.99992961e-01 2.23650466e-03 -1.42042509e-01] [ 7.20385135e-03 -2.25815958e-03 9.99971502e-01 8.49174586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters 0.2838406195294224 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.85 [[ 9.99969479e-01 -3.04698571e-03 -7.19419314e-03 2.67661108e+00] [ 3.06222366e-03 9.99993089e-01 2.10802598e-03 -1.41506669e-01] [ 7.18772030e-03 -2.12999187e-03 9.99971900e-01 8.49136080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters 0.2841739347680301 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:0.85 [[ 9.99948931e-01 7.18722090e-03 -7.10486227e-03 2.69849794e+00] [-7.17837550e-03 9.99973429e-01 1.26969706e-03 -1.40761091e-01] [ 7.11379908e-03 -1.21863085e-03 9.99973954e-01 8.48658387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters 0.2855897675010444 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:0.85 [[ 9.99949266e-01 7.02026725e-03 -7.22366756e-03 2.69870756e+00] [-7.01419014e-03 9.99975025e-01 8.66269712e-04 -1.39041088e-01] [ 7.22956859e-03 -8.15557585e-04 9.99973534e-01 8.48852525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters 0.28440829125313694 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:0.85 [[ 9.99949760e-01 6.80655777e-03 -7.35849118e-03 2.69900490e+00] [-6.80419677e-03 9.99976791e-01 3.45841277e-04 -1.36829600e-01] [ 7.36067439e-03 -2.95755280e-04 9.99972866e-01 8.48939208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters 0.2844120907353583 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.85 [[ 9.99952587e-01 6.41843130e-03 -7.32312290e-03 2.69874631e+00] [-6.42218667e-03 9.99979258e-01 -4.89408754e-04 -1.33182323e-01] [ 7.31982976e-03 5.36416012e-04 9.99973066e-01 8.49178619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters 0.28484064040142165 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.85 [[ 9.99953636e-01 6.18345637e-03 -7.38183462e-03 2.69874741e+00] [-6.19150842e-03 9.99980262e-01 -1.06843800e-03 -1.30710010e-01] [ 7.37508227e-03 1.11409315e-03 9.99972183e-01 8.49489330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters 0.28398509777746683 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.85 [[ 9.99980333e-01 -1.02821202e-03 -6.18683520e-03 2.71796950e+00] [ 1.02731182e-03 9.99999461e-01 -1.48679660e-04 -1.23634082e-01] [ 6.18698474e-03 1.42320927e-04 9.99980850e-01 8.51812695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.422557844 meters 0.28329777245360255 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.85 [[ 9.99979894e-01 -1.17805591e-03 -6.23079941e-03 2.71773226e+00] [ 1.17477813e-03 9.99999170e-01 -5.29693997e-04 -1.21935961e-01] [ 6.23141824e-03 5.22363540e-04 9.99980448e-01 8.52569321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.482557844 meters 0.28346394321089696 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.85 [[ 9.99980060e-01 -1.37786269e-03 -6.16281072e-03 2.71741712e+00] [ 1.37116506e-03 9.99998465e-01 -1.09087415e-03 -1.19555808e-01] [ 6.16430433e-03 1.08240217e-03 9.99980415e-01 8.52865277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.542557844 meters 0.28336163964102595 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.85 [[ 9.99977961e-01 2.58125489e-03 -6.11679666e-03 2.71728490e+00] [-2.56743783e-03 9.99994138e-01 2.26564971e-03 -1.15351357e-01] [ 6.12260902e-03 -2.24989528e-03 9.99978726e-01 8.52872781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.602557844 meters 0.28432495904262467 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:0.85 [[ 9.99978289e-01 2.29979154e-03 -6.17518521e-03 2.71752746e+00] [-2.29018081e-03 9.99996156e-01 1.56296677e-03 -1.12405917e-01] [ 6.17875597e-03 -1.54879054e-03 9.99979712e-01 8.52647925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.662557844 meters 0.2830660372120696 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:0.85 [[ 9.99984338e-01 2.87278866e-06 -5.59677071e-03 2.67818557e+00] [ 3.79273352e-06 9.99999291e-01 1.19094762e-03 -1.12119876e-01] [ 5.59677017e-03 -1.19095019e-03 9.99983629e-01 8.50468120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.722557844 meters 0.2847036069615766 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:0.85 [[ 9.99982569e-01 -1.04298670e-04 -5.90351939e-03 2.67883486e+00] [ 1.09750986e-04 9.99999568e-01 9.23253985e-04 -1.11231664e-01] [ 5.90342054e-03 -9.23885808e-04 9.99982148e-01 8.50640346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.782557844 meters 0.28649236559154445 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:0.85 [[ 9.99983516e-01 -1.52004450e-05 -5.74171935e-03 2.67819137e+00] [ 2.20568334e-05 9.99999287e-01 1.19407362e-03 -1.12257010e-01] [ 5.74169711e-03 -1.19418058e-03 9.99982803e-01 8.51276225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.842557844 meters 0.28371265859293116 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:0.85 [[ 9.99982413e-01 1.12826527e-04 -5.92958699e-03 2.67837454e+00] [-1.02799897e-04 9.99998565e-01 1.69122672e-03 -1.14151374e-01] [ 5.92976929e-03 -1.69058742e-03 9.99980990e-01 8.51837331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.902557844 meters 0.28381686405596557 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.85 [[ 9.99980551e-01 2.60859770e-04 -6.23135854e-03 2.67910133e+00] [-2.47439522e-04 9.99997649e-01 2.15433708e-03 -1.16068140e-01] [ 6.23190587e-03 -2.15275329e-03 9.99978264e-01 8.51848847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.962557844 meters 0.28299828238469915 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.12, Z:0.85 [[ 9.99980761e-01 4.28667607e-04 -6.18812636e-03 2.67876203e+00] [-4.12360781e-04 9.99996440e-01 2.63621539e-03 -1.18010298e-01] [ 6.18923439e-03 -2.63361293e-03 9.99977378e-01 8.52403500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.022557844 meters 0.28484911949774266 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:0.86 [[ 9.99984980e-01 6.46412831e-04 -5.44268826e-03 2.71353246e+00] [-6.38515880e-04 9.99998741e-01 1.45254105e-03 -1.18462735e-01] [ 5.44362035e-03 -1.44904399e-03 9.99984134e-01 8.57401199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.082557844 meters 0.283747332051514 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.12, Z:0.86 [[ 9.99990108e-01 -2.06758109e-03 -3.93808221e-03 2.67336431e+00] [ 2.07450200e-03 9.99996310e-01 1.75415870e-03 -1.23862935e-01] [ 3.93444081e-03 -1.76231090e-03 9.99990707e-01 8.55686719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.142557844 meters 0.28354591399874085 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:0.85 [[ 9.99986859e-01 4.70803801e-03 -2.02869235e-03 2.69495601e+00] [-4.70995307e-03 9.99988466e-01 -9.40248633e-04 -1.28783450e-01] [ 2.02424222e-03 9.49791324e-04 9.99997500e-01 8.54102838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.202557844 meters 0.2850951178095533 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.13, Z:0.86 [[ 9.99986223e-01 4.93434511e-03 -1.79072438e-03 2.69364225e+00] [-4.93434849e-03 9.99987826e-01 2.53004449e-06 -1.32423158e-01] [ 1.79071506e-03 6.30604850e-06 9.99998397e-01 8.55763084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.262557844 meters 0.2843399811588824 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.14, Z:0.86 [[ 9.99984767e-01 5.15725156e-03 -1.96660658e-03 2.69392315e+00] [-5.15570379e-03 9.99986396e-01 7.91281581e-04 -1.35476399e-01] [ 1.97066066e-03 -7.81130286e-04 9.99997753e-01 8.55999604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.322557844 meters 0.2845636539123943 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.14, Z:0.86 [[ 9.99983786e-01 5.42765835e-03 -1.72312744e-03 2.69285300e+00] [-5.42436947e-03 9.99983468e-01 1.90763683e-03 -1.39811591e-01] [ 1.73345295e-03 -1.89825902e-03 9.99996696e-01 8.57091522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.382557844 meters 0.2841761067741614 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.14, Z:0.86 [[ 9.99982331e-01 5.67309101e-03 -1.77580499e-03 2.69285260e+00] [-5.66830191e-03 9.99980316e-01 2.69037961e-03 -1.42904073e-01] [ 1.79103280e-03 -2.68026627e-03 9.99994804e-01 8.57325063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442557844 meters 0.2838819042105736 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:0.86 [[ 9.99980807e-01 5.92310050e-03 -1.81751901e-03 2.69283262e+00] [-5.91699452e-03 9.99976894e-01 3.34670298e-03 -1.45603921e-01] [ 1.83729987e-03 -3.33588449e-03 9.99992748e-01 8.57528058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502557844 meters 0.2830113248243938 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:0.86 [[ 9.99980586e-01 5.96231897e-03 -1.81035635e-03 2.69260357e+00] [-5.95604833e-03 9.99976313e-01 3.44961862e-03 -1.45993617e-01] [ 1.83088119e-03 -3.43876908e-03 9.99992411e-01 8.57995662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters 0.2836637633325108 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:0.86 [[ 9.99980367e-01 5.90592771e-03 -2.09406987e-03 2.69342352e+00] [-5.89904509e-03 9.99977228e-01 3.27780379e-03 -1.45307925e-01] [ 2.11338066e-03 -3.26538642e-03 9.99992435e-01 8.57602162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters 0.28514781951171625 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:0.86 [[ 9.99996938e-01 -2.27489391e-03 -9.73624217e-04 2.71468163e+00] [ 2.27827189e-03 9.99991341e-01 3.48256183e-03 -1.41927110e-01] [ 9.65693327e-04 -3.48476935e-03 9.99993462e-01 8.57683793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters 0.2846967931850343 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:0.86 [[ 9.99997268e-01 -2.20815590e-03 -7.66603989e-04 2.71397337e+00] [ 2.21095801e-03 9.99990807e-01 3.67382437e-03 -1.42646642e-01] [ 7.58484565e-04 -3.67550927e-03 9.99992958e-01 8.58207229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters 0.2846812800135257 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:0.86 [[ 9.99997448e-01 -2.11674513e-03 -7.89587204e-04 2.71404419e+00] [ 2.11983398e-03 9.99990023e-01 3.93187843e-03 -1.43707610e-01] [ 7.81256542e-04 -3.93354219e-03 9.99991958e-01 8.58149416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80255784400003 meters 0.2828717166261212 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.15, Z:0.86 [[ 9.99995021e-01 2.48334249e-03 -1.94692906e-03 2.69013944e+00] [-2.48235470e-03 9.99996789e-01 5.09607168e-04 -1.45083715e-01] [ 1.94818834e-03 -5.04771662e-04 9.99997975e-01 8.59894723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86255784400004 meters 0.2833802726198 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:0.86 [[ 9.99987567e-01 -4.97198012e-03 3.79932383e-04 2.70947813e+00] [ 4.97145163e-03 9.99986691e-01 1.37952403e-03 -1.43145336e-01] [-3.86786292e-04 -1.37761806e-03 9.99998976e-01 8.60783116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.922557844 meters 0.28428097091893983 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:0.86 [[ 9.99990977e-01 3.88921828e-03 1.70873487e-03 2.72772888e+00] [-3.88879850e-03 9.99992408e-01 -2.48921267e-04 -1.46286528e-01] [-1.70969001e-03 2.42274096e-04 9.99998509e-01 8.61916607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.982557844 meters 0.2855418029273012 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:0.86 [[ 9.99991558e-01 3.67181685e-03 1.84463621e-03 2.72725550e+00] [-3.67024707e-03 9.99992900e-01 -8.53662003e-04 -1.43703236e-01] [-1.84775760e-03 8.46884526e-04 9.99997934e-01 8.62278401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.042557844 meters 0.28412669695262055 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:0.86 [[ 9.99994062e-01 -3.44597848e-03 4.00588633e-05 2.70652835e+00] [ 3.44589984e-03 9.99992406e-01 1.82057792e-03 -1.38963486e-01] [-4.63322314e-05 -1.82042907e-03 9.99998342e-01 8.63069214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.102557844 meters 0.2836593396610899 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.87 [[ 9.99998682e-01 -1.38131520e-03 8.53024543e-04 2.70226925e+00] [ 1.37878722e-03 9.99994677e-01 2.95706997e-03 -1.31700526e-01] [-8.57104649e-04 -2.95588993e-03 9.99995264e-01 8.66000334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.162557844 meters 0.28506363367537374 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.87 [[ 9.99998299e-01 -1.55650117e-03 9.89430796e-04 2.70197829e+00] [ 1.55401815e-03 9.99995654e-01 2.50538268e-03 -1.29826674e-01] [-9.93326127e-04 -2.50384082e-03 9.99996372e-01 8.65926914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.222557844 meters 0.2848538072587535 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.86 [[ 9.99997931e-01 -1.83913167e-03 8.69355897e-04 2.70275309e+00] [ 1.83756288e-03 9.99996688e-01 1.80190696e-03 -1.27012210e-01] [-8.72666962e-04 -1.80030574e-03 9.99997999e-01 8.64892620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.282557844 meters 0.28440275480751365 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.13, Z:0.87 [[ 9.99997605e-01 -1.97732201e-03 9.38161983e-04 2.70253215e+00] [ 1.97595338e-03 9.99996986e-01 1.45753800e-03 -1.25579213e-01] [-9.41041177e-04 -1.45568075e-03 9.99998498e-01 8.65028651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.342557844 meters 0.2873921453501537 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:0.87 [[ 9.99968158e-01 6.11332851e-03 5.12939287e-03 2.71909918e+00] [-6.11033069e-03 9.99981152e-01 -5.99907968e-04 -1.23513690e-01] [-5.13296363e-03 5.68546579e-04 9.99986665e-01 8.66134752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.402557844 meters 0.2853643497476449 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:0.86 [[ 9.99985768e-01 -3.00574753e-03 4.40775808e-03 2.70077982e+00] [ 3.00493721e-03 9.99995467e-01 1.90449377e-04 -1.15891606e-01] [-4.40831054e-03 -1.77201631e-04 9.99990268e-01 8.64803428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.462557844 meters 0.28520258968174245 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:0.86 [[ 9.99984864e-01 -3.27509682e-03 4.42096279e-03 2.70079862e+00] [ 3.27805949e-03 9.99994407e-01 -6.63063107e-04 -1.12475860e-01] [-4.41876647e-03 6.77545250e-04 9.99990008e-01 8.64736535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.522557844 meters 0.28545943686828856 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:0.86 [[ 9.99942067e-01 7.78946831e-03 7.42882978e-03 2.72080780e+00] [-7.78579430e-03 9.99969553e-01 -5.23352625e-04 -1.03262692e-01] [-7.43268023e-03 4.65482965e-04 9.99972269e-01 8.64020184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.582557844 meters 0.28361887918710305 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.09, Z:0.86 [[ 9.99968705e-01 -9.05180072e-04 7.85932629e-03 2.69956161e+00] [ 9.12001138e-04 9.99999211e-01 -8.64354063e-04 -8.81990345e-02] [-7.85853769e-03 8.71494728e-04 9.99968741e-01 8.63882844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.642557844 meters 0.2851208352436106 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.86 [[ 9.99970037e-01 -1.36637819e-03 7.61954681e-03 2.70081292e+00] [ 1.38436004e-03 9.99996268e-01 -2.35518801e-03 -8.23324050e-02] [-7.61630030e-03 2.36566564e-03 9.99968197e-01 8.62543924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.702557844 meters 0.28426522806326515 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.08, Z:0.86 [[ 9.99970930e-01 -1.77548864e-03 7.41527219e-03 2.70156629e+00] [ 1.80159118e-03 9.99992200e-01 -3.51491063e-03 -7.76641442e-02] [-7.40897366e-03 3.52816774e-03 9.99966329e-01 8.62079462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.762557844 meters 0.2849746929088454 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.07, Z:0.86 [[ 9.99971445e-01 2.13186664e-03 7.25018717e-03 2.70213160e+00] [-2.12936200e-03 9.99997671e-01 -3.53159535e-04 -7.31537062e-02] [-7.25092317e-03 3.37711178e-04 9.99973655e-01 8.61686526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.822557844 meters 0.2861451662372564 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:0.87 [[ 9.99981037e-01 1.83968556e-03 5.87710990e-03 2.74029083e+00] [-1.82627539e-03 9.99995719e-01 -2.28631414e-03 -7.07222258e-02] [-5.88129084e-03 2.27553756e-03 9.99980116e-01 8.65510086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.882557844 meters 0.2846903751583184 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.07, Z:0.87 [[ 9.99979171e-01 -4.14529742e-03 4.94718334e-03 2.71865706e+00] [ 4.13855169e-03 9.99990494e-01 1.37300894e-03 -6.62040784e-02] [-4.95282784e-03 -1.35250616e-03 9.99986820e-01 8.66578209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942557844 meters 0.28565643199978025 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:0.87 [[ 9.99974409e-01 -4.29124298e-03 5.72417941e-03 2.71672698e+00] [ 4.28841294e-03 9.99990676e-01 5.06584714e-04 -6.27215119e-02] [-5.72629991e-03 -4.82024105e-04 9.99983488e-01 8.67232629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002557844 meters 0.2843667941625304 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:0.87 [[ 9.99972555e-01 -4.52129905e-03 5.86919851e-03 2.71647119e+00] [ 4.52380903e-03 9.99989682e-01 -4.14448980e-04 -5.91893312e-02] [-5.86726410e-03 4.40988738e-04 9.99982690e-01 8.67030139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062557844 meters 0.28641848762967476 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:0.87 [[ 9.99949441e-01 6.40991068e-03 7.74774529e-03 2.73809089e+00] [-6.40547000e-03 9.99979306e-01 -5.97836944e-04 -4.99849082e-02] [-7.75141704e-03 5.48178768e-04 9.99969807e-01 8.65653909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters 0.2847599502869015 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.05, Z:0.87 [[ 9.99951380e-01 6.06745292e-03 7.77324652e-03 2.73823639e+00] [-6.05498551e-03 9.99980346e-01 -1.62641851e-03 -4.58096161e-02] [-7.78296196e-03 1.57927254e-03 9.99968465e-01 8.65240531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters 0.28672902593237654 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.04, Z:0.86 [[ 9.99970503e-01 8.16637590e-04 7.63720056e-03 2.76236968e+00] [-8.23374728e-04 9.99999275e-01 8.79044958e-04 -3.70696008e-02] [-7.63647716e-03 -8.85307306e-04 9.99970450e-01 8.63932302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters 0.2854837582491648 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.03, Z:0.87 [[ 9.99970151e-01 6.49613887e-03 4.18293921e-03 2.74023232e+00] [-6.48661126e-03 9.99976346e-01 -2.28728407e-03 -2.94289214e-02] [-4.19769878e-03 2.26008270e-03 9.99988636e-01 8.66227630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters 0.2857244288634473 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.87 [[ 9.99977772e-01 1.63971741e-03 6.46273466e-03 2.76152472e+00] [-1.64244260e-03 9.99998564e-01 4.16392802e-04 -2.09269288e-02] [-6.46204261e-03 -4.26998217e-04 9.99979030e-01 8.65292653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters 0.2869079607455975 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.02, Z:0.86 [[ 9.99978334e-01 1.41961553e-03 6.42774220e-03 2.76186511e+00] [-1.41818025e-03 9.99998968e-01 -2.27846367e-04 -1.83203000e-02] [-6.42805903e-03 2.18725733e-04 9.99979316e-01 8.64706446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.422557844 meters 0.2848985706740259 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.01, Z:0.87 [[ 9.99984979e-01 -4.36227789e-03 3.31857111e-03 2.74076147e+00] [ 4.35375298e-03 9.99987215e-01 2.57175128e-03 -1.38206865e-02] [-3.32974738e-03 -2.55726441e-03 9.99991187e-01 8.66183421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.482557844 meters 0.2867254189168107 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.87 [[ 9.99976895e-01 5.58558248e-03 3.87437550e-03 2.76336929e+00] [-5.59367551e-03 9.99982190e-01 2.08117766e-03 -1.14112914e-02] [-3.86268191e-03 -2.10280157e-03 9.99990329e-01 8.65444829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.542557844 meters 0.28753680398799303 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.01, Z:0.86 [[ 9.99979048e-01 5.28134962e-03 3.74314827e-03 2.76399681e+00] [-5.28523592e-03 9.99985503e-01 1.02911395e-03 -7.25775265e-03] [-3.73765890e-03 -1.04887581e-03 9.99992465e-01 8.64627982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.602557844 meters 0.2857746442520847 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.86 [[ 9.99979179e-01 5.01979383e-03 4.05512472e-03 2.76317431e+00] [-5.02052906e-03 9.99987382e-01 1.71148084e-04 -3.74209300e-03] [-4.05421443e-03 -1.91503392e-04 9.99991763e-01 8.64789292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.662557844 meters 0.286866347906673 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.00, Z:0.86 [[ 9.99981211e-01 4.69194074e-03 3.94509288e-03 2.76372540e+00] [-4.68917533e-03 9.99988754e-01 -7.09933464e-04 -4.88108106e-05] [-3.94837948e-03 6.91420892e-04 9.99991966e-01 8.64103757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.722557844 meters 0.28642168498048864 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:0.86 [[ 9.99982081e-01 4.56712419e-03 3.87033294e-03 2.76393425e+00] [-4.56323659e-03 9.99989076e-01 -1.01269855e-03 1.22279398e-03] [-3.87491578e-03 9.95019160e-04 9.99991997e-01 8.64052375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.782557844 meters 0.286790894660672 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.87 [[ 9.99980841e-01 -3.08797474e-03 5.36486302e-03 2.78301496e+00] [ 3.08668564e-03 9.99995205e-01 2.48548950e-04 4.94909446e-03] [-5.36560481e-03 -2.31984543e-04 9.99985578e-01 8.65580568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.842557844 meters 0.2857145197019926 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.87 [[ 9.99980373e-01 -3.02174429e-03 5.48837733e-03 2.78239308e+00] [ 3.01945035e-03 9.99995351e-01 4.26201144e-04 4.17987460e-03] [-5.48963969e-03 -4.09620896e-04 9.99984848e-01 8.66395414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.902557844 meters 0.2871564803403051 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.87 [[ 9.99980916e-01 -3.02128529e-03 5.38879255e-03 2.78260314e+00] [ 3.01898088e-03 9.99995348e-01 4.35712019e-04 4.14684227e-03] [-5.39008389e-03 -4.19435042e-04 9.99985385e-01 8.66481191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.962557844 meters 0.28699773470742695 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.87 [[ 9.99978545e-01 -3.07406316e-03 5.78444483e-03 2.78150879e+00] [ 3.07263122e-03 9.99995247e-01 2.56420057e-04 4.87068731e-03] [-5.78520558e-03 -2.38641089e-04 9.99983237e-01 8.66872817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.022557844 meters 0.28626967663820885 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:0.87 [[ 9.99977735e-01 -3.15504002e-03 5.88000044e-03 2.78133049e+00] [ 3.15496008e-03 9.99995023e-01 2.28707653e-05 5.82261349e-03] [-5.88004334e-03 -4.31908945e-06 9.99982712e-01 8.66728339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.082557844 meters 0.2866074672317144 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:0.87 [[ 9.99977296e-01 -3.13064821e-03 5.96706234e-03 2.78108648e+00] [ 3.13020472e-03 9.99995097e-01 8.36606065e-05 5.57901785e-03] [-5.96729500e-03 -6.49805804e-05 9.99982193e-01 8.66780095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.142557844 meters 0.2870592537355471 Centerline is valid? [False, False] Translation: X:2.78, Y:0.00, Z:0.87 [[ 9.99978390e-01 -2.92023566e-03 5.88988717e-03 2.78119896e+00] [ 2.91581536e-03 9.99995461e-01 7.58936019e-04 2.86527398e-03] [-5.89207671e-03 -7.41745795e-04 9.99982366e-01 8.67017566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.202557844 meters 0.2865225658031341 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.87 [[ 9.99985746e-01 -3.02223117e-03 4.40165711e-03 2.78538865e+00] [ 3.01452926e-03 9.99993916e-01 1.75535964e-03 -3.06285838e-03] [-4.40693543e-03 -1.74206570e-03 9.99988772e-01 8.65316192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.262557844 meters 0.28586323651211465 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.87 [[ 9.99987094e-01 -2.60979023e-03 4.35899107e-03 2.78554879e+00] [ 2.59730136e-03 9.99992513e-01 2.86829080e-03 -7.66452826e-03] [-4.36644408e-03 -2.85693217e-03 9.99986386e-01 8.65187064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.322557844 meters 0.286724939753638 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.87 [[ 9.99987216e-01 -2.32137405e-03 4.49215377e-03 2.78511570e+00] [ 2.30529138e-03 9.99990927e-01 3.58204042e-03 -1.06001857e-02] [-4.50042827e-03 -3.57163890e-03 9.99983495e-01 8.65478588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.382557844 meters 0.28753297969826014 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.86 [[ 9.99991544e-01 -2.20368403e-03 3.47215941e-03 2.78804233e+00] [ 2.19026331e-03 9.99990135e-01 3.86431073e-03 -1.21354618e-02] [-3.48064088e-03 -3.85667311e-03 9.99986506e-01 8.64301026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.442557844 meters 0.2875016758462793 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.86 [[ 9.99991625e-01 -2.07753116e-03 3.52617095e-03 2.78823969e+00] [ 2.06233285e-03 9.99988592e-01 4.30832395e-03 -1.38399738e-02] [-3.53508140e-03 -4.30101573e-03 9.99984502e-01 8.63583049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.502557844 meters 0.28687518634324594 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:0.86 [[ 9.99990428e-01 -2.09643296e-03 3.84042546e-03 2.78730151e+00] [ 2.08013047e-03 9.99988830e-01 4.24405760e-03 -1.35022748e-02] [-3.84927995e-03 -4.23602839e-03 9.99983619e-01 8.64046879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters 0.28785731930568553 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.86 [[ 9.99957588e-01 5.35228020e-03 7.49507526e-03 2.80556099e+00] [-5.36618976e-03 9.99983915e-01 1.83694798e-03 -1.19567174e-02] [-7.48512284e-03 -1.87709006e-03 9.99970224e-01 8.64390604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters 0.28793719487517927 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:0.86 [[ 9.99956773e-01 5.22224038e-03 7.69283573e-03 2.80505722e+00] [-5.23369773e-03 9.99985224e-01 1.46997433e-03 -1.04036626e-02] [-7.68504550e-03 -1.51017277e-03 9.99969329e-01 8.64369275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters 0.2875393233029727 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.86 [[ 9.99982938e-01 -3.81918039e-03 4.42008579e-03 2.78655953e+00] [ 3.81295593e-03 9.99991728e-01 1.41579222e-03 -4.92455759e-03] [-4.42545640e-03 -1.39891447e-03 9.99989229e-01 8.64128324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters 0.28727880420087054 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.00, Z:0.86 [[ 9.99981797e-01 -4.05512601e-03 4.46793568e-03 2.78662456e+00] [ 4.05173956e-03 9.99991498e-01 7.66735085e-04 -2.28886810e-03] [-4.47100690e-03 -7.48618216e-04 9.99989725e-01 8.63651225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters 0.2875180787668186 Centerline is valid? [False, False] Translation: X:2.79, Y:0.00, Z:0.86 [[ 9.99979226e-01 -4.35325946e-03 4.75363059e-03 2.78586828e+00] [ 4.35342070e-03 9.99990524e-01 -2.35743040e-05 1.05473141e-03] [-4.75348292e-03 4.42683681e-05 9.99988701e-01 8.63602933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters 0.2873016302941213 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:0.86 [[ 9.99988842e-01 -4.22943180e-04 4.70489665e-03 2.78577761e+00] [ 4.07407132e-04 9.99994464e-01 3.30257045e-03 5.23507101e-03] [-4.70626740e-03 -3.30061680e-03 9.99983478e-01 8.63867212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.922557844 meters 0.28644123983580255 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:0.86 [[ 9.99988228e-01 -7.46399241e-04 4.79446214e-03 2.78568868e+00] [ 7.34322133e-04 9.99996555e-01 2.52023697e-03 8.45585473e-03] [-4.79632673e-03 -2.51668662e-03 9.99985331e-01 8.63496415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.982557844 meters 0.2865421524467412 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:0.86 [[ 9.99986626e-01 -1.08134806e-03 5.05756885e-03 2.78487891e+00] [ 1.07260429e-03 9.99997926e-01 1.73124119e-03 1.17511720e-02] [-5.05943043e-03 -1.72579327e-03 9.99985712e-01 8.63722516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.042557844 meters 0.2887683696667221 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:0.86 [[ 9.99952114e-01 4.95966514e-03 8.43630839e-03 2.80701989e+00] [-4.94618632e-03 9.99986459e-01 -1.61783020e-03 1.77934603e-02] [-8.44421805e-03 1.57602518e-03 9.99963105e-01 8.61520558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.102557844 meters 0.2877280418475116 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:0.86 [[ 9.99952782e-01 4.80542098e-03 8.44634584e-03 2.80710562e+00] [-4.78854893e-03 9.99986501e-01 -2.01664649e-03 1.94466084e-02] [-8.45592266e-03 1.97610553e-03 9.99962295e-01 8.61256814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.162557844 meters 0.2860523988677821 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.86 [[ 9.99985173e-01 -1.77173557e-03 5.14931380e-03 2.78735761e+00] [ 1.76694127e-03 9.99998001e-01 9.35456383e-04 1.85182923e-02] [-5.15096089e-03 -9.26343978e-04 9.99986305e-01 8.61873535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.222557844 meters 0.2873390347353958 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.86 [[ 9.99986286e-01 -1.73441196e-03 4.94168581e-03 2.78803194e+00] [ 1.72931704e-03 9.99997969e-01 1.03509483e-03 1.80417705e-02] [-4.94347106e-03 -1.02653490e-03 9.99987254e-01 8.61476192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.282557844 meters 0.2874306710700787 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.86 [[ 9.99987051e-01 -1.73985687e-03 4.78229866e-03 2.78861587e+00] [ 1.73497134e-03 9.99997969e-01 1.02554524e-03 1.80539931e-02] [-4.78407325e-03 -1.01723481e-03 9.99988039e-01 8.60968169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.342557844 meters 0.2873421829480227 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:0.86 [[ 9.99945153e-01 6.02835330e-03 8.56448700e-03 2.80659393e+00] [-6.02144089e-03 9.99981524e-01 -8.32658552e-04 1.84052381e-02] [-8.56934832e-03 7.81042331e-04 9.99962977e-01 8.61654130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.402557844 meters 0.2872931374332782 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:0.86 [[ 9.99944067e-01 5.93588471e-03 8.75377570e-03 2.80602491e+00] [-5.92651123e-03 9.99981837e-01 -1.09634554e-03 1.95321882e-02] [-8.76012449e-03 1.04440487e-03 9.99961084e-01 8.61878072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.462557844 meters 0.2886090412689636 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:0.86 [[ 9.99943769e-01 5.89402937e-03 8.81586802e-03 2.80588302e+00] [-5.88359957e-03 9.99981961e-01 -1.20853905e-03 2.00039911e-02] [-8.82283216e-03 1.15660206e-03 9.99960409e-01 8.61835509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.522557844 meters 0.28633686555035964 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.86 [[ 9.99954224e-01 -3.47549328e-03 8.91465841e-03 2.78361821e+00] [ 3.47960255e-03 9.99993847e-01 -4.45486984e-04 2.11781502e-02] [-8.91305527e-03 4.76486059e-04 9.99960164e-01 8.62131077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.582557844 meters 0.2871427299409791 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.86 [[ 9.99956336e-01 -3.51040568e-03 8.66044982e-03 2.78457959e+00] [ 3.51523169e-03 9.99993675e-01 -5.42087776e-04 2.14803304e-02] [-8.65849209e-03 5.72507594e-04 9.99962351e-01 8.61146103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.642557844 meters 0.28760640416631356 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.86 [[ 9.99955827e-01 -3.53751915e-03 8.70804824e-03 2.78454144e+00] [ 3.54304020e-03 9.99993532e-01 -6.18672034e-04 2.17887205e-02] [-8.70580335e-03 6.49497670e-04 9.99961893e-01 8.60943429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.702557844 meters 0.2865924186535223 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.86 [[ 9.99954322e-01 -3.52161812e-03 8.88547394e-03 2.78403923e+00] [ 3.52696555e-03 9.99993608e-01 -5.86219148e-04 2.16710611e-02] [-8.88335271e-03 6.17531131e-04 9.99960352e-01 8.61075177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.762557844 meters 0.2889849651953188 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:0.86 [[ 9.99955563e-01 -3.47491934e-03 8.76335976e-03 2.78446315e+00] [ 3.47906191e-03 9.99993843e-01 -4.57514748e-04 2.10988935e-02] [-8.76171598e-03 4.87982689e-04 9.99961496e-01 8.60820883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.822557844 meters 0.28784962336682707 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.86 [[ 9.99961215e-01 -3.37971776e-03 8.13301849e-03 2.78628195e+00] [ 3.38022408e-03 9.99994286e-01 -4.85101869e-05 1.92263688e-02] [-8.13280807e-03 7.59997304e-05 9.99966925e-01 8.59791255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.882557844 meters 0.2871120458364969 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:0.86 [[ 9.99961377e-01 -3.22908908e-03 8.17424493e-03 2.78595567e+00] [ 3.22575582e-03 9.99994709e-01 4.20927468e-04 1.73496259e-02] [-8.17556089e-03 -3.94543092e-04 9.99966502e-01 8.60447027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.942557844 meters 0.28616530375073423 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:0.86 [[ 9.99959847e-01 -3.02103283e-03 8.43663665e-03 2.78483573e+00] [ 3.01082404e-03 9.99994720e-01 1.22249283e-03 1.44444606e-02] [-8.44028530e-03 -1.19704251e-03 9.99963664e-01 8.61886056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.002557844 meters 0.28655759180273366 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:0.86 [[ 9.99929064e-01 3.29992574e-03 1.14444954e-02 2.80677904e+00] [-3.28702754e-03 9.99993941e-01 -1.14564817e-03 1.15790894e-02] [-1.14482066e-02 1.10794853e-03 9.99933853e-01 8.59847777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters 0.2852185822219548 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:0.86 [[ 9.99933198e-01 -7.13432314e-04 1.15365187e-02 2.80638627e+00] [ 7.68374452e-04 9.99988382e-01 -4.75872309e-03 8.57441995e-03] [-1.15329896e-02 4.76726956e-03 9.99922129e-01 8.60242407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters 0.28573084606245214 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:0.86 [[ 9.99935752e-01 -5.38924814e-04 1.13225808e-02 2.80711007e+00] [ 5.87010170e-04 9.99990822e-01 -4.24396070e-03 6.37909270e-03] [-1.13201897e-02 4.25033451e-03 9.99926891e-01 8.59766383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters 0.2862446912102739 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:0.86 [[ 9.99938494e-01 -3.32103319e-04 1.10859153e-02 2.80784910e+00] [ 3.72553238e-04 9.99993281e-01 -3.64690112e-03 3.82652571e-03] [-1.10846297e-02 3.65080691e-03 9.99931899e-01 8.59451082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters 0.28575647703965434 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:0.86 [[ 9.99937542e-01 -1.52541598e-04 1.11753302e-02 2.80737613e+00] [ 1.87553738e-04 9.99995078e-01 -3.13200373e-03 1.69394047e-03] [-1.11747974e-02 3.13390409e-03 9.99932649e-01 8.60057709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters 0.28673343943287605 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:0.86 [[ 9.99937738e-01 4.58261724e-05 1.11588040e-02 2.80743273e+00] [-1.93042559e-05 9.99997175e-01 -2.37686664e-03 -1.27522292e-03] [-1.11588814e-02 2.37650324e-03 9.99934914e-01 8.60023386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36255784400004 meters 0.2876851336338415 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:0.86 [[ 9.99945135e-01 1.62392955e-04 1.04738190e-02 2.80934292e+00] [-1.45008423e-04 9.99998611e-01 -1.66054640e-03 -4.40760840e-03] [-1.04740741e-02 1.65893650e-03 9.99943769e-01 8.59286652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.422557844 meters 0.28405783526372236 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.02, Z:0.86 [[ 9.99967143e-01 -2.24242142e-03 7.79006147e-03 2.76650479e+00] [ 2.25702460e-03 9.99995711e-01 -1.86630598e-03 -1.78859621e-02] [-7.78584302e-03 1.88382702e-03 9.99967915e-01 8.61048309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.482557844 meters 0.28581695834329535 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.02, Z:0.86 [[ 9.99975918e-01 -1.28175905e-03 6.82065335e-03 2.80523636e+00] [ 1.28910400e-03 9.99998594e-01 -1.07258061e-03 -2.27779140e-02] [-6.81926897e-03 1.08134732e-03 9.99976164e-01 8.64244145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.542557844 meters 0.28419067886743576 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.03, Z:0.86 [[ 9.99975768e-01 -1.01279352e-03 6.88747933e-03 2.80495139e+00] [ 1.01524762e-03 9.99999422e-01 -3.52825655e-04 -2.57843171e-02] [-6.88711802e-03 3.59809602e-04 9.99976219e-01 8.64499805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.602557844 meters 0.28695921131393726 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.87 [[ 9.99976204e-01 -5.75275507e-05 6.89837484e-03 2.84104097e+00] [ 6.02241430e-05 9.99999922e-01 -3.90695457e-04 -2.59916136e-02] [-6.89835182e-03 3.91101609e-04 9.99976130e-01 8.68833319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.662557844 meters 0.28681600620039155 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.87 [[ 9.99976130e-01 1.01131780e-04 6.90863347e-03 2.84109890e+00] [-1.01507310e-04 9.99999993e-01 5.40060757e-05 -2.78652819e-02] [-6.90862797e-03 -5.47060634e-05 9.99976134e-01 8.68655954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.722557844 meters 0.28678555801983097 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.87 [[ 9.99978030e-01 1.98729977e-04 6.62576240e-03 2.84194142e+00] [-2.01157397e-04 9.99999913e-01 3.65696399e-04 -2.91925248e-02] [-6.62568915e-03 -3.67021186e-04 9.99977983e-01 8.68152563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.782557844 meters 0.28619915044694333 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:0.87 [[ 9.99979859e-01 3.05491984e-04 6.33936041e-03 2.84258284e+00] [-3.10715175e-04 9.99999613e-01 8.22961855e-04 -3.10047455e-02] [-6.33910655e-03 -8.24915016e-04 9.99979567e-01 8.68200043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.842557844 meters 0.2868832694465997 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.87 [[ 9.99980969e-01 -3.56094176e-04 6.15920555e-03 2.87874769e+00] [ 3.58257773e-04 9.99999875e-01 -3.50178860e-04 -3.37529081e-02] [-6.15908008e-03 3.52378779e-04 9.99980971e-01 8.72214589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.902557844 meters 0.28674898415360256 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.04, Z:0.87 [[ 9.99979038e-01 -2.46887674e-04 6.47017651e-03 2.87805527e+00] [ 2.46832918e-04 9.99999969e-01 9.26148115e-06 -3.51477131e-02] [-6.47017860e-03 -7.66423446e-06 9.99979068e-01 8.72064977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.962557844 meters 0.2869669429002641 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.04, Z:0.87 [[ 9.99977863e-01 -2.05631346e-04 6.65061547e-03 2.87742993e+00] [ 2.04791640e-04 9.99999971e-01 1.26940575e-04 -3.56354490e-02] [-6.65064138e-03 -1.25575775e-04 9.99977876e-01 8.72516999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.022557844 meters 0.2854725374541808 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.87 [[ 9.99977160e-01 -2.96380742e-04 6.75213757e-03 2.87710339e+00] [ 2.97121610e-04 9.99999950e-01 -1.08720702e-04 -3.46409447e-02] [-6.75210501e-03 1.10724425e-04 9.99977198e-01 8.72702726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.082557844 meters 0.2869960325876887 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.87 [[ 9.99977908e-01 -3.96422115e-04 6.63523555e-03 2.87768734e+00] [ 3.98956596e-04 9.99999848e-01 -3.80653835e-04 -3.35339963e-02] [-6.63508365e-03 3.83292597e-04 9.99977914e-01 8.71991472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.142557844 meters 0.2868969134695014 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.87 [[ 9.99976631e-01 -6.75932235e-04 6.80294990e-03 2.87708200e+00] [ 6.84520229e-04 9.99998972e-01 -1.26014339e-03 -2.98691373e-02] [-6.80209113e-03 1.26477069e-03 9.99976066e-01 8.72426198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.202557844 meters 0.2866729648700431 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.03, Z:0.87 [[ 9.99977062e-01 -9.48504541e-04 6.70645242e-03 2.87742820e+00] [ 9.62960056e-04 9.99997220e-01 -2.15256330e-03 -2.63336515e-02] [-6.70439206e-03 2.15897197e-03 9.99975195e-01 8.72182860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.262557844 meters 0.28524368174262893 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:0.87 [[ 9.99967081e-01 7.73879284e-03 2.43882827e-03 2.85958369e+00] [-7.73174376e-03 9.99965943e-01 -2.88665064e-03 -1.59656611e-02] [-2.46108440e-03 2.86769922e-03 9.99992860e-01 8.70915768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.322557844 meters 0.285938472929492 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:0.87 [[ 9.99998627e-01 -4.49902769e-04 1.59495578e-03 2.87991969e+00] [ 4.54254574e-04 9.99996173e-01 -2.72916903e-03 -6.97355925e-03] [-1.59372181e-03 2.72988980e-03 9.99995004e-01 8.71912414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.382557844 meters 0.28631135924063367 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.87 [[ 9.99998806e-01 -8.11046501e-04 1.31549664e-03 2.88061859e+00] [ 8.16381107e-04 9.99991426e-01 -4.05974776e-03 -1.80492678e-03] [-1.31219272e-03 4.06081686e-03 9.99990894e-01 8.71883851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.442557844 meters 0.286823583861631 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.87 [[ 9.99998705e-01 -1.02370088e-03 1.24148775e-03 2.88093525e+00] [ 1.02954766e-03 9.99988340e-01 -4.71803043e-03 8.23053873e-04] [-1.23664342e-03 4.71930249e-03 9.99988099e-01 8.71574773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.502557844 meters 0.2857348986774308 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.88 [[ 9.99996870e-01 1.37842289e-03 2.08806334e-03 2.87610089e+00] [-1.37215522e-03 9.99994558e-01 -3.00013076e-03 5.88834148e-03] [-2.09218743e-03 2.99725623e-03 9.99993320e-01 8.75348994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters 0.2872185385820431 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.88 [[ 9.99996563e-01 1.50857844e-03 2.14417093e-03 2.87585496e+00] [-1.50285832e-03 9.99995315e-01 -2.66686747e-03 4.50264989e-03] [-2.14818406e-03 2.66363592e-03 9.99994145e-01 8.75558480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters 0.2857088968160816 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.88 [[ 9.99996531e-01 1.51274324e-03 2.15622379e-03 2.87583990e+00] [-1.50701642e-03 9.99995340e-01 -2.65510424e-03 4.45494616e-03] [-2.16023023e-03 2.65184557e-03 9.99994151e-01 8.75522671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters 0.2857554163867509 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.88 [[ 9.99996594e-01 1.43042283e-03 2.18305029e-03 2.87581506e+00] [-1.42406703e-03 9.99994751e-01 -2.91021792e-03 5.47762993e-03] [-2.18720168e-03 2.90709920e-03 9.99993382e-01 8.75419575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters 0.2871329259324511 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.87 [[ 9.99998154e-01 1.25186196e-03 1.45760224e-03 2.87783497e+00] [-1.24647320e-03 9.99992407e-01 -3.69205724e-03 8.62199218e-03] [-1.46221312e-03 3.69023356e-03 9.99992122e-01 8.74477258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters 0.2868137136713422 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.87 [[ 9.99998501e-01 1.02840717e-03 1.39315657e-03 2.87798583e+00] [-1.02227068e-03 9.99989805e-01 -4.39831548e-03 1.14383502e-02] [-1.39766563e-03 4.39688470e-03 9.99989357e-01 8.74493957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters 0.2873261442603758 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99989006e-01 -3.50443875e-03 3.11543724e-03 2.89895855e+00] [ 3.50608119e-03 9.99993717e-01 -5.21888618e-04 1.68726307e-02] [-3.11358874e-03 5.32805857e-04 9.99995011e-01 8.75001689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.922557844 meters 0.28705717866438474 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99988441e-01 -3.63083236e-03 3.15183776e-03 2.89880495e+00] [ 3.63358716e-03 9.99993021e-01 -8.68744217e-04 1.82960898e-02] [-3.14866149e-03 8.80186652e-04 9.99994656e-01 8.75149327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.982557844 meters 0.28812906883110073 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99988586e-01 -3.61872922e-03 3.11962643e-03 2.89881689e+00] [ 3.62136625e-03 9.99993090e-01 -8.40066572e-04 1.81796647e-02] [-3.11656490e-03 8.51354293e-04 9.99994781e-01 8.75302079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.042557844 meters 0.28668382183643876 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99987968e-01 -3.56515688e-03 3.36939715e-03 2.89800736e+00] [ 3.56744046e-03 9.99993411e-01 -6.71973032e-04 1.75031014e-02] [-3.36697926e-03 6.83985070e-04 9.99994098e-01 8.75893137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.102557844 meters 0.28471551172298143 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:0.88 [[ 9.99997113e-01 2.19280504e-03 9.82683895e-04 2.87517412e+00] [-2.18933454e-03 9.99991412e-01 -3.51892259e-03 1.78615682e-02] [-9.90391766e-04 3.51676101e-03 9.99993326e-01 8.77679212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.162557844 meters 0.2861870645954597 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99991271e-01 -2.93386287e-03 2.97484206e-03 2.89830603e+00] [ 2.93361656e-03 9.99995693e-01 8.71563018e-05 1.67759604e-02] [-2.97508495e-03 -7.84284951e-05 9.99995571e-01 8.75872143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.222557844 meters 0.28897179202152595 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99991764e-01 -2.88308232e-03 2.85641132e-03 2.89852692e+00] [ 2.88247160e-03 9.99995822e-01 2.17899633e-04 1.62354882e-02] [-2.85702761e-03 -2.09664314e-04 9.99995897e-01 8.76046964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.282557844 meters 0.2872916267461615 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99992325e-01 -2.77686866e-03 2.76401234e-03 2.89892457e+00] [ 2.77549941e-03 9.99996024e-01 4.99095790e-04 1.50473897e-02] [-2.76538727e-03 -4.91420444e-04 9.99996056e-01 8.75648995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.342557844 meters 0.2874365864521255 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.88 [[ 9.99993041e-01 -2.59570323e-03 2.67968071e-03 2.89888224e+00] [ 2.59322336e-03 9.99996207e-01 9.28495892e-04 1.32546346e-02] [-2.68208065e-03 -9.21540420e-04 9.99995979e-01 8.76209032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.402557844 meters 0.2864037655183785 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.88 [[ 9.99993069e-01 -2.46345382e-03 2.79181695e-03 2.89842785e+00] [ 2.45992105e-03 9.99996170e-01 1.26813043e-03 1.18589068e-02] [-2.79493023e-03 -1.26125399e-03 9.99995299e-01 8.76617232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.462557844 meters 0.286498471102353 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.88 [[ 9.99993842e-01 -2.21043205e-03 2.72567886e-03 2.89866579e+00] [ 2.20523007e-03 9.99995744e-01 1.91003949e-03 9.18266697e-03] [-2.72988928e-03 -1.90401698e-03 9.99994461e-01 8.76517250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.522557844 meters 0.28633229629477785 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.87 [[ 9.99986393e-01 5.17522675e-03 6.55811530e-04 2.88147784e+00] [-5.17562964e-03 9.99986418e-01 6.14137916e-04 2.87572294e-03] [-6.52624320e-04 -6.17523797e-04 9.99999596e-01 8.73989062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.582557844 meters 0.28648379944458496 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.87 [[ 9.99985639e-01 5.31974710e-03 6.50127128e-04 2.88125178e+00] [-5.32038592e-03 9.99985362e-01 9.84855846e-04 1.35527270e-03] [-6.44878427e-04 -9.88300630e-04 9.99999304e-01 8.74548402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.642557844 meters 0.28599293077400495 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:0.87 [[ 9.99985129e-01 5.40071952e-03 7.57166749e-04 2.88092743e+00] [-5.40161698e-03 9.99984705e-01 1.18830819e-03 5.15006081e-04] [-7.50737449e-04 -1.19238045e-03 9.99999007e-01 8.74670156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.702557844 meters 0.2866129073890807 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.87 [[ 9.99983857e-01 5.64471898e-03 6.50277858e-04 2.88161032e+00] [-5.64589960e-03 9.99982390e-01 1.82826354e-03 -2.30465305e-03] [-6.39946373e-04 -1.83190543e-03 9.99998117e-01 8.73676031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.762557844 meters 0.28607686494623985 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:0.87 [[ 9.99983436e-01 5.70723829e-03 7.45006019e-04 2.88126700e+00] [-5.70871406e-03 9.99981717e-01 1.99401717e-03 -2.95685249e-03] [-7.33612067e-04 -1.99823717e-03 9.99997734e-01 8.73941436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.822557844 meters 0.2877695896512315 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.87 [[ 9.99991160e-01 -2.66116490e-03 3.25543814e-03 2.89942862e+00] [ 2.65257122e-03 9.99992994e-01 2.64126911e-03 6.71318633e-04] [-3.26244419e-03 -2.63261048e-03 9.99991213e-01 8.74410131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.882557844 meters 0.28713787167942745 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.87 [[ 9.99991717e-01 -2.73543921e-03 3.01391630e-03 2.90032275e+00] [ 2.72820993e-03 9.99993398e-01 2.40014031e-03 1.64001570e-03] [-3.02046184e-03 -2.39189783e-03 9.99992578e-01 8.73547099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.942557844 meters 0.2867080480699938 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.87 [[ 9.99990160e-01 -2.91549423e-03 3.34349126e-03 2.89942510e+00] [ 2.90978010e-03 9.99994300e-01 1.71262349e-03 4.27463848e-03] [-3.34846535e-03 -1.70287782e-03 9.99992944e-01 8.73857887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.002557844 meters 0.2869827490693233 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99990055e-01 -3.13310414e-03 3.17378874e-03 2.90011849e+00] [ 3.12994862e-03 9.99994603e-01 9.98724782e-04 7.10718523e-03] [-3.17690072e-03 -9.88781055e-04 9.99994465e-01 8.73111898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.062557844 meters 0.2885515314786107 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99989772e-01 -3.26203842e-03 3.13298679e-03 2.90064562e+00] [ 3.26004172e-03 9.99994480e-01 6.42209683e-04 8.56656214e-03] [-3.13506441e-03 -6.31989447e-04 9.99994886e-01 8.72036072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters 0.2874058935862594 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99990226e-01 -3.19031908e-03 3.06114745e-03 2.90072416e+00] [ 3.18777636e-03 9.99994570e-01 8.35164655e-04 7.76098032e-03] [-3.06379527e-03 -8.25398239e-04 9.99994966e-01 8.72287069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters 0.2887788123921773 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.87 [[ 9.99996327e-01 2.42817954e-03 1.20453391e-03 2.87769965e+00] [-2.42571261e-03 9.99994966e-01 -2.04528802e-03 6.77410603e-03] [-1.20949417e-03 2.04235865e-03 9.99997183e-01 8.74117268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters 0.2873568358588142 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.87 [[ 9.99989487e-01 -2.68368411e-03 3.71805335e-03 2.90080584e+00] [ 2.67830880e-03 9.99995362e-01 1.44995625e-03 4.38792706e-03] [-3.72192733e-03 -1.43998291e-03 9.99992037e-01 8.71974138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters 0.28835260645772304 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.87 [[ 9.99973614e-01 5.87437209e-03 4.27358336e-03 2.92087101e+00] [-5.87529002e-03 9.99982720e-01 2.02268154e-04 3.93989419e-04] [-4.27232132e-03 -2.27371359e-04 9.99990848e-01 8.73641781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters 0.287629568619444 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.87 [[ 9.99994708e-01 -2.89892577e-03 1.47670771e-03 2.90259269e+00] [ 2.89716558e-03 9.99995092e-01 1.19271839e-03 2.32610031e-03] [-1.48015806e-03 -1.18843381e-03 9.99998198e-01 8.72878797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.422557844 meters 0.28792104456051937 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:0.87 [[ 9.99963865e-01 6.29708339e-03 5.71105515e-03 2.91948098e+00] [-6.30046757e-03 9.99979987e-01 5.74768916e-04 4.48566532e-03] [-5.70732149e-03 -6.10730464e-04 9.99983527e-01 8.73874249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.482557844 meters 0.2865949656260228 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99979874e-01 -3.07782101e-03 5.54777887e-03 2.89837936e+00] [ 3.07112055e-03 9.99994545e-01 1.21588880e-03 8.13878260e-03] [-5.55149089e-03 -1.19882644e-03 9.99983872e-01 8.73471564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.542557844 meters 0.28812160069558 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:0.87 [[ 9.99957487e-01 5.66620702e-03 7.27453728e-03 2.91852741e+00] [-5.66488058e-03 9.99983934e-01 -2.02932591e-04 8.45043995e-03] [-7.27557026e-03 1.61714579e-04 9.99973520e-01 8.73662832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.602557844 meters 0.2861057739386896 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99975369e-01 -3.27463017e-03 6.20784272e-03 2.89847439e+00] [ 3.27077891e-03 9.99994452e-01 6.30436871e-04 1.25231197e-02] [-6.20987273e-03 -6.10116862e-04 9.99980532e-01 8.72982438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.662557844 meters 0.28674328093985824 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99974066e-01 -3.34804617e-03 6.37633884e-03 2.89808308e+00] [ 3.34534229e-03 9.99994310e-01 4.34666779e-04 1.33553237e-02] [-6.37775784e-03 -4.13324471e-04 9.99979576e-01 8.72888519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.722557844 meters 0.2888362086502256 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.87 [[ 9.99975055e-01 -3.39271047e-03 6.19499909e-03 2.89875647e+00] [ 3.39081339e-03 9.99994201e-01 3.16705270e-04 1.37781010e-02] [-6.19603765e-03 -2.95691284e-04 9.99980761e-01 8.72285240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.782557844 meters 0.28687333872628545 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.87 [[ 9.99973948e-01 -3.53145229e-03 6.29540795e-03 2.89835003e+00] [ 3.53172079e-03 9.99993763e-01 -3.15331368e-05 1.52928181e-02] [-6.29525732e-03 5.37659384e-05 9.99980183e-01 8.72574409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.842557844 meters 0.2870188844153459 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.87 [[ 9.99973308e-01 -3.54279625e-03 6.38994251e-03 2.89785113e+00] [ 3.54331282e-03 9.99993720e-01 -6.95224394e-05 1.54609949e-02] [-6.38965608e-03 9.21621490e-05 9.99979582e-01 8.73224690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.902557844 meters 0.28724616065354425 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.87 [[ 9.99988436e-01 3.73900852e-03 3.02462641e-03 2.88021819e+00] [-3.73419233e-03 9.99991754e-01 -1.59640930e-03 1.42086993e-02] [-3.03057046e-03 1.58509631e-03 9.99994152e-01 8.71662648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.962557844 meters 0.288526404757466 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:0.87 [[ 9.99989287e-01 4.32338788e-03 1.65364309e-03 2.92028388e+00] [-4.31970248e-03 9.99988193e-01 -2.22576785e-03 1.84368693e-02] [-1.66324643e-03 2.21860076e-03 9.99996156e-01 8.74258829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.022557844 meters 0.28634307100083906 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99997475e-01 -2.23215246e-03 -2.58006642e-04 2.89762489e+00] [ 2.23238495e-03 9.99997099e-01 9.04329342e-04 1.76165629e-02] [ 2.55987292e-04 -9.04903030e-04 9.99999558e-01 8.75935948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.082557844 meters 0.28679229537411205 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99997183e-01 -2.35058256e-03 -3.30871006e-04 2.89800581e+00] [ 2.35077360e-03 9.99997070e-01 5.78178263e-04 1.89310403e-02] [ 3.29510981e-04 -5.78954437e-04 9.99999778e-01 8.75389108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.142557844 meters 0.28854638658646264 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.88 [[ 9.99998519e-01 1.69617367e-03 -2.91198375e-04 2.89802600e+00] [-1.69495171e-03 9.99989967e-01 4.14649765e-03 2.21313260e-02] [ 2.98228633e-04 -4.14599794e-03 9.99991361e-01 8.75033072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.202557844 meters 0.2869925059822106 Centerline is valid? [False, False] Translation: X:2.90, Y:0.03, Z:0.88 [[ 9.99998936e-01 1.45820539e-03 3.61559968e-05 2.89702944e+00] [-1.45831958e-03 9.99993191e-01 3.38983642e-03 2.53033657e-02] [-3.12126729e-05 -3.38988554e-03 9.99994254e-01 8.75485714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.262557844 meters 0.28879229202731194 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99997107e-01 2.26241301e-03 -8.17052899e-04 2.93595008e+00] [-2.26039135e-03 9.99994403e-01 2.46683711e-03 3.37159038e-02] [ 8.22629330e-04 -2.46498311e-03 9.99996624e-01 8.78373423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.322557844 meters 0.2870378394679634 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99997909e-01 1.95267144e-03 -6.08086104e-04 2.93526900e+00] [-1.95163484e-03 9.99996649e-01 1.70063668e-03 3.70042719e-02] [ 6.11404851e-04 -1.69944636e-03 9.99998369e-01 8.78614638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.382557844 meters 0.28646782795136827 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998345e-01 1.71572603e-03 -6.05161306e-04 2.93512432e+00] [-1.71505621e-03 9.99997918e-01 1.10564013e-03 3.95264462e-02] [ 6.07057022e-04 -1.10460041e-03 9.99999206e-01 8.78859035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.442557844 meters 0.28718816034703465 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998641e-01 1.53132418e-03 -6.11377410e-04 2.93546558e+00] [-1.53093303e-03 9.99998623e-01 6.39735601e-04 4.14820533e-02] [ 6.12356211e-04 -6.38798753e-04 9.99999608e-01 8.78092545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.502557844 meters 0.28719624212762984 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998815e-01 1.46008419e-03 -4.87254404e-04 2.93517729e+00] [-1.45986302e-03 9.99998831e-01 4.53960607e-04 4.22648161e-02] [ 4.87916655e-04 -4.53248744e-04 9.99999778e-01 8.78016395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters 0.2860858526966556 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998749e-01 1.50738246e-03 -4.78890770e-04 2.93505616e+00] [-1.50710846e-03 9.99998701e-01 5.71990049e-04 4.17838019e-02] [ 4.79752356e-04 -5.71267594e-04 9.99999722e-01 8.78246128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters 0.2882626732140639 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998456e-01 1.66406903e-03 -5.64102063e-04 2.93562046e+00] [-1.66350495e-03 9.99998117e-01 9.98958301e-04 3.99227174e-02] [ 5.65763337e-04 -9.98018373e-04 9.99999342e-01 8.77462832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters 0.2871301049721096 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99998167e-01 1.80004052e-03 -6.52703762e-04 2.93588549e+00] [-1.79916291e-03 9.99997480e-01 1.34268154e-03 3.84686169e-02] [ 6.55118998e-04 -1.34150476e-03 9.99998886e-01 8.77402843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters 0.2872802525204013 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.88 [[ 9.99997844e-01 1.90519239e-03 -8.25875020e-04 2.93652308e+00] [-1.90384900e-03 9.99996868e-01 1.62436855e-03 3.72325996e-02] [ 8.28967168e-04 -1.62279271e-03 9.99998340e-01 8.76950814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters 0.2876465273020895 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99997331e-01 2.16628874e-03 -8.03041463e-04 2.93649829e+00] [-2.16440320e-03 9.99994916e-01 2.34148241e-03 3.42666207e-02] [ 8.08109708e-04 -2.33973806e-03 9.99996936e-01 8.76922949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters 0.28716532416385576 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99996919e-01 2.38693040e-03 -6.81124931e-04 2.93598293e+00] [-2.38488827e-03 9.99992706e-01 2.98339672e-03 3.16478147e-02] [ 6.88241123e-04 -2.98176313e-03 9.99995318e-01 8.77483326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.922557844 meters 0.2872744224351562 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.87 [[ 9.99999873e-01 -6.17051379e-05 -5.00086391e-04 2.90084202e+00] [ 6.29678193e-05 9.99996809e-01 2.52530422e-03 2.34295250e-02] [ 4.99928972e-04 -2.52533539e-03 9.99996686e-01 8.72153904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.982557844 meters 0.2883752002581703 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:0.87 [[ 9.99998076e-01 9.00671280e-04 -1.74265651e-03 2.94168376e+00] [-8.96039606e-04 9.99996069e-01 2.65678178e-03 2.39512859e-02] [ 1.74504254e-03 -2.65521518e-03 9.99994952e-01 8.74512389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.042557844 meters 0.2869827754877238 Centerline is valid? [False, False] Translation: X:2.92, Y:0.02, Z:0.88 [[ 9.99977142e-01 6.35281994e-03 -2.31471770e-03 2.91817148e+00] [-6.35412107e-03 9.99979658e-01 -5.55192243e-04 2.04240023e-02] [ 2.31114357e-03 5.69887549e-04 9.99997167e-01 8.75845831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.102557844 meters 0.28784704091266133 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99998515e-01 -1.57420469e-03 -7.01366009e-04 2.93778691e+00] [ 1.57446142e-03 9.99998694e-01 3.65634561e-04 2.56211185e-02] [ 7.00789509e-04 -3.66738292e-04 9.99999687e-01 8.75557952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.162557844 meters 0.2869221564274413 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99998608e-01 -1.58455780e-03 -5.23221130e-04 2.93705718e+00] [ 1.58473115e-03 9.99998690e-01 3.31072361e-04 2.58010983e-02] [ 5.22695841e-04 -3.31901065e-04 9.99999808e-01 8.76278033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.222557844 meters 0.2864813250464053 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.88 [[ 9.99998656e-01 -1.52287187e-03 -6.07252513e-04 2.93722771e+00] [ 1.52317339e-03 9.99998717e-01 4.96386663e-04 2.51187278e-02] [ 6.06495801e-04 -4.97310947e-04 9.99999692e-01 8.76386805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.282557844 meters 0.2873723359663337 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:0.88 [[ 9.99998488e-01 -1.37966034e-03 -1.05856169e-03 2.93835489e+00] [ 1.38077548e-03 9.99998492e-01 1.05344332e-03 2.28365529e-02] [ 1.05710670e-03 -1.05490336e-03 9.99998885e-01 8.76323915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.342557844 meters 0.286395170947475 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:0.88 [[ 9.99999096e-01 -1.04883270e-03 -8.41805628e-04 2.93767885e+00] [ 1.05069316e-03 9.99997000e-01 2.21269318e-03 1.82750996e-02] [ 8.39482358e-04 -2.21357565e-03 9.99997198e-01 8.76761102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.402557844 meters 0.287927784294593 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:0.88 [[ 9.99984206e-01 5.60634698e-03 3.96891798e-04 2.96058571e+00] [-5.60600522e-03 9.99983919e-01 -8.57017044e-04 1.71576550e-02] [-4.01690151e-04 8.54778530e-04 9.99999554e-01 8.75153379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.462557844 meters 0.2891147775028168 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.87 [[ 9.99990862e-01 4.17512933e-03 -9.18453517e-04 2.96637814e+00] [-4.17720033e-03 9.99988711e-01 -2.26463229e-03 1.69415194e-02] [ 9.08988016e-04 2.26844816e-03 9.99997014e-01 8.71536472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.522557844 meters 0.28868157682313883 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:0.87 [[ 9.99983784e-01 -4.36674268e-03 -3.65551600e-03 2.94927980e+00] [ 4.36471376e-03 9.99990316e-01 -5.62822421e-04 1.75715535e-02] [ 3.65793830e-03 5.46858013e-04 9.99993160e-01 8.69836125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.582557844 meters 0.2876650383398897 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:0.87 [[ 9.99984706e-01 4.33108037e-03 -3.43932885e-03 2.92617232e+00] [-4.33345342e-03 9.99990377e-01 -6.82822600e-04 1.43216915e-02] [ 3.43633840e-03 6.97716329e-04 9.99993852e-01 8.69925912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.642557844 meters 0.2885635783264439 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:0.87 [[ 9.99988346e-01 -3.90619707e-03 -2.83720870e-03 2.94556433e+00] [ 3.90521197e-03 9.99992312e-01 -3.52661126e-04 2.29336315e-02] [ 2.83856445e-03 3.41577114e-04 9.99995913e-01 8.70496566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.702557844 meters 0.28855566873562194 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99988498e-01 -4.11430452e-03 -2.46486532e-03 2.94475123e+00] [ 4.11171734e-03 9.99990992e-01 -1.05377620e-03 2.57763377e-02] [ 2.46917867e-03 1.04362925e-03 9.99996407e-01 8.70193785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.762557844 meters 0.2904635566855376 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99986980e-01 -4.51183753e-03 -2.38396820e-03 2.94460082e+00] [ 4.50669910e-03 9.99987520e-01 -2.15640230e-03 3.03265394e-02] [ 2.39366779e-03 2.14563039e-03 9.99994833e-01 8.69983961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.822557844 meters 0.29026774932420224 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.87 [[ 9.99997100e-01 -1.94456401e-03 -1.42104459e-03 2.94029866e+00] [ 1.94395957e-03 9.99998020e-01 -4.26608755e-04 3.66710844e-02] [ 1.42187134e-03 4.23845064e-04 9.99998899e-01 8.72525913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.882557844 meters 0.2897886148714231 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.87 [[ 9.99997250e-01 -1.95543086e-03 -1.29500439e-03 2.93984829e+00] [ 1.95481821e-03 9.99997977e-01 -4.74178782e-04 3.68540987e-02] [ 1.29592899e-03 4.71645979e-04 9.99999049e-01 8.72897683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.942557844 meters 0.2883140720300005 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99997654e-01 -1.77706791e-03 -1.23870839e-03 2.93942299e+00] [ 1.77711007e-03 9.99998420e-01 3.29281673e-05 3.49773945e-02] [ 1.23864792e-03 -3.51294112e-05 9.99999232e-01 8.73548444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.002557844 meters 0.28913747526902334 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99997499e-01 -1.59990956e-03 -1.56303237e-03 2.94019433e+00] [ 1.60087630e-03 9.99998528e-01 6.17442686e-04 3.25625735e-02] [ 1.56204222e-03 -6.19943363e-04 9.99998588e-01 8.73635933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters 0.2881030827443178 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99997588e-01 -1.24557313e-03 -1.80920067e-03 2.94075915e+00] [ 1.24875192e-03 9.99997677e-01 1.75694743e-03 2.79847292e-02] [ 1.80700806e-03 -1.75920243e-03 9.99996820e-01 8.73717032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters 0.28822284863390946 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99997576e-01 -1.08175296e-03 -1.91768759e-03 2.94118485e+00] [ 1.08592408e-03 9.99997044e-01 2.17537296e-03 2.62101228e-02] [ 1.91532870e-03 -2.17745015e-03 9.99995795e-01 8.73411007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters 0.2896132863975182 Centerline is valid? [False, False] Translation: X:2.96, Y:0.03, Z:0.87 [[ 9.99977874e-01 6.59537156e-03 8.66983335e-04 2.96150541e+00] [-6.59538896e-03 9.99978250e-01 1.72144849e-05 2.60533803e-02] [-8.66850943e-04 -2.29321963e-05 9.99999624e-01 8.72817521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters 0.28957829594909007 Centerline is valid? [False, False] Translation: X:2.96, Y:0.03, Z:0.87 [[ 9.99977986e-01 6.56264003e-03 9.79370161e-04 2.96128382e+00] [-6.56256286e-03 9.99978463e-01 -8.19864400e-05 2.65130592e-02] [-9.79887115e-04 7.55574569e-05 9.99999517e-01 8.72680701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters 0.2893102932130146 Centerline is valid? [False, False] Translation: X:2.96, Y:0.03, Z:0.87 [[ 9.99978868e-01 6.44779454e-03 8.30633868e-04 2.96185001e+00] [-6.44746468e-03 9.99979135e-01 -3.99180467e-04 2.77984598e-02] [-8.33190371e-04 3.93816549e-04 9.99999575e-01 8.72187485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters 0.2905297787283233 Centerline is valid? [False, False] Translation: X:2.96, Y:0.03, Z:0.87 [[ 9.99978908e-01 6.45117666e-03 7.52504154e-04 2.96203666e+00] [-6.45088881e-03 9.99979119e-01 -3.84326776e-04 2.77410721e-02] [-7.54967801e-04 3.79464349e-04 9.99999643e-01 8.72208576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.422557844 meters 0.28843493059983294 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:0.87 [[ 9.99991448e-01 -4.07765407e-03 -6.90464356e-04 2.94048436e+00] [ 4.07739144e-03 9.99991615e-01 -3.81335977e-04 2.52500128e-02] [ 6.92013522e-04 3.78517423e-04 9.99999689e-01 8.72966371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.482557844 meters 0.28919907945662043 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:0.87 [[ 9.99991738e-01 -3.93931241e-03 -1.00259239e-03 2.94109339e+00] [ 3.93942948e-03 9.99992234e-01 1.14810982e-04 2.32594219e-02] [ 1.00213233e-03 -1.18759675e-04 9.99999491e-01 8.73343115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.542557844 meters 0.2896783781713693 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:0.87 [[ 9.99994975e-01 3.16642837e-03 1.53828230e-04 2.96305693e+00] [-3.16613945e-03 9.99993289e-01 -1.84348566e-03 1.66642692e-02] [-1.59664462e-04 1.84298935e-03 9.99998289e-01 8.72893442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.602557844 meters 0.28875695813924396 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99993748e-01 3.52840121e-03 2.33937390e-04 2.96228463e+00] [-3.52820772e-03 9.99993438e-01 -8.22453853e-04 1.24040878e-02] [-2.36837802e-04 8.21623331e-04 9.99999634e-01 8.74043602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.662557844 meters 0.289375391488462 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99993275e-01 3.66171381e-03 2.02872603e-04 2.96249757e+00] [-3.66161506e-03 9.99993179e-01 -4.85017496e-04 1.09744848e-02] [-2.04647214e-04 4.84271393e-04 9.99999862e-01 8.73753455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.722557844 meters 0.2885695083049065 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99992535e-01 3.84849272e-03 3.46275530e-04 2.96211521e+00] [-3.84848487e-03 9.99992594e-01 -2.33190552e-05 9.06361903e-03] [-3.46362708e-04 2.19862449e-05 9.99999940e-01 8.73819012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.782557844 meters 0.2894065022762239 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99992144e-01 3.94907363e-03 3.42641389e-04 2.96205432e+00] [-3.94915400e-03 9.99992175e-01 2.34206317e-04 7.98991649e-03] [-3.41713810e-04 -2.35557620e-04 9.99999914e-01 8.73984004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.842557844 meters 0.2887351367879562 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99991897e-01 4.01953538e-03 2.21945889e-04 2.96267235e+00] [-4.01963127e-03 9.99991827e-01 4.33289049e-04 7.09710638e-03] [-2.20202454e-04 -4.34177679e-04 9.99999882e-01 8.73186406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.902557844 meters 0.2896899956945353 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99991997e-01 3.99873741e-03 1.30025750e-04 2.96300999e+00] [-3.99878702e-03 9.99991931e-01 3.83513845e-04 7.28838530e-03] [-1.28491129e-04 -3.84030721e-04 9.99999918e-01 8.72947715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.962557844 meters 0.2904407979568562 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:0.87 [[ 9.99992919e-01 -3.72719688e-03 -5.20045347e-04 2.98280641e+00] [ 3.72793897e-03 9.99992024e-01 1.43336117e-03 1.27788711e-02] [ 5.14698780e-04 -1.43528972e-03 9.99998838e-01 8.74124022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.022557844 meters 0.28902937910549215 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99991718e-01 3.93342132e-03 -1.04465478e-03 2.96319918e+00] [-3.93337385e-03 9.99992263e-01 4.74926807e-05 9.68715613e-03] [ 1.04483351e-03 -4.33832696e-05 9.99999453e-01 8.72891369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.082557844 meters 0.28867155881225054 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99991731e-01 3.90460705e-03 -1.13707543e-03 2.96326591e+00] [-3.90464128e-03 9.99992376e-01 -2.78843618e-05 1.00237721e-02] [ 1.13695788e-03 3.23240029e-05 9.99999353e-01 8.73271086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.142557844 meters 0.2880804849610523 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.87 [[ 9.99984438e-01 -5.04484163e-03 -2.38169771e-03 2.94326959e+00] [ 5.04781093e-03 9.99986488e-01 1.24235678e-03 1.11042571e-02] [ 2.37539803e-03 -1.25435981e-03 9.99996392e-01 8.72512588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.202557844 meters 0.289673780791987 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99993357e-01 3.63833059e-03 2.21685590e-04 2.96196939e+00] [-3.63836755e-03 9.99993367e-01 1.66529244e-04 8.97290859e-03] [-2.21078231e-04 -1.67334711e-04 9.99999962e-01 8.73328603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.262557844 meters 0.28839683416443523 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.87 [[ 9.99986543e-01 -5.05017551e-03 -1.18718150e-03 2.94300793e+00] [ 5.05210663e-03 9.99985911e-01 1.62930613e-03 1.09690551e-02] [ 1.17893649e-03 -1.63528197e-03 9.99997968e-01 8.71663584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.322557844 meters 0.2888960693781704 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.87 [[ 9.99986883e-01 -4.99877839e-03 -1.11658163e-03 2.94291907e+00] [ 5.00073844e-03 9.99985948e-01 1.75956170e-03 1.04109955e-02] [ 1.10777028e-03 -1.76512236e-03 9.99997829e-01 8.71466517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.382557844 meters 0.2899741334877495 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99993785e-01 3.36412623e-03 1.05477290e-03 2.96095045e+00] [-3.36440959e-03 9.99994305e-01 2.66993748e-04 7.13820882e-03] [-1.05386869e-03 -2.70540777e-04 9.99999408e-01 8.73306927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.442557844 meters 0.28934226564864746 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99993377e-01 3.46393224e-03 1.11667135e-03 2.96056266e+00] [-3.46451847e-03 9.99993862e-01 5.23468311e-04 6.09695353e-03] [-1.11485124e-03 -5.27333573e-04 9.99999240e-01 8.73844645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.502557844 meters 0.2883116652157455 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.87 [[ 9.99984998e-01 -5.08419140e-03 -2.03830793e-03 2.94241298e+00] [ 5.08774890e-03 9.99985537e-01 1.74395001e-03 6.10494798e-03] [ 2.02941187e-03 -1.75429425e-03 9.99996402e-01 8.72633957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters 0.28811280562625863 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:0.87 [[ 9.99984776e-01 -5.05539380e-03 -2.21139443e-03 2.94296291e+00] [ 5.05943712e-03 9.99985533e-01 1.82664385e-03 5.73215841e-03] [ 2.20212803e-03 -1.83780446e-03 9.99995887e-01 8.72332262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters 0.2890032935273851 Centerline is valid? [False, False] Translation: X:2.97, Y:0.00, Z:0.87 [[ 9.99982623e-01 4.69703537e-03 -3.56252975e-03 2.96718459e+00] [-4.69179148e-03 9.99987900e-01 1.47888921e-03 3.17609293e-03] [ 3.56943303e-03 -1.46214886e-03 9.99992561e-01 8.71652921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters 0.28981930216939245 Centerline is valid? [False, False] Translation: X:2.99, Y:0.01, Z:0.87 [[ 9.99991964e-01 -3.14221834e-03 -2.48976828e-03 2.98685031e+00] [ 3.14858126e-03 9.99991777e-01 2.55584040e-03 6.51361663e-03] [ 2.48171680e-03 -2.56365910e-03 9.99993634e-01 8.72711931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters 0.28933142425931185 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.87 [[ 9.99983988e-01 5.51657307e-03 -1.26145829e-03 2.96286614e+00] [-5.51353500e-03 9.99981922e-01 2.39931198e-03 4.27587571e-03] [ 1.27467147e-03 -2.39231847e-03 9.99996326e-01 8.72766497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters 0.2888853046824973 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99998634e-01 1.11725593e-03 -1.21819435e-03 2.96315894e+00] [-1.11991930e-03 9.99996980e-01 -2.18783733e-03 5.56218876e-03] [ 1.21574630e-03 2.18919862e-03 9.99996865e-01 8.71795331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters 0.2885409240855896 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99998779e-01 1.02844590e-03 -1.17663033e-03 2.96316450e+00] [-1.03131670e-03 9.99996487e-01 -2.44184367e-03 6.64360382e-03] [ 1.17411490e-03 2.44305416e-03 9.99996326e-01 8.71547613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.922557844 meters 0.2887420068769299 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:0.87 [[ 9.99998635e-01 1.16601570e-03 -1.17074945e-03 2.96297274e+00] [-1.16848941e-03 9.99997082e-01 -2.11446954e-03 5.22883984e-03] [ 1.16828053e-03 2.11583466e-03 9.99997079e-01 8.71927192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.982557844 meters 0.28845784756936943 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.87 [[ 9.99998549e-01 1.26416288e-03 -1.14229754e-03 2.96282700e+00] [-1.26629651e-03 9.99997452e-01 -1.86905206e-03 4.20597585e-03] [ 1.13993184e-03 1.87049583e-03 9.99997601e-01 8.72103367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.042557844 meters 0.2879225687578912 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:0.87 [[ 9.99998351e-01 1.39978679e-03 -1.15713125e-03 2.96275585e+00] [-1.40155120e-03 9.99997854e-01 -1.52540693e-03 2.77530375e-03] [ 1.15499352e-03 1.52702619e-03 9.99998167e-01 8.72341865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.102557844 meters 0.2914171221399877 Centerline is valid? [False, False] Translation: X:3.01, Y:0.01, Z:0.87 [[ 9.99989991e-01 3.93124355e-03 -2.13636655e-03 3.00608172e+00] [-3.93349807e-03 9.99991710e-01 -1.05212955e-03 8.50650213e-03] [ 2.13221266e-03 1.06052241e-03 9.99997164e-01 8.72414975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.162557844 meters 0.28882415245553456 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:0.87 [[ 9.99986263e-01 -3.03336305e-03 -4.27457210e-03 2.98309683e+00] [ 3.03810856e-03 9.99994775e-01 1.10411748e-03 1.10741954e-02] [ 4.27120057e-03 -1.11708893e-03 9.99990254e-01 8.74274517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.222557844 meters 0.2902778933838296 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:0.87 [[ 9.99986149e-01 -3.18468252e-03 -4.19030969e-03 2.98293587e+00] [ 3.18776124e-03 9.99994654e-01 7.28249520e-04 1.26419460e-02] [ 4.18796805e-03 -7.41597140e-04 9.99990955e-01 8.74120106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.282557844 meters 0.2898081974758812 Centerline is valid? [False, False] Translation: X:2.98, Y:0.01, Z:0.87 [[ 9.99983837e-01 -3.37142572e-03 -4.57818791e-03 2.98406470e+00] [ 3.37253435e-03 9.99994286e-01 2.34457556e-04 1.45692471e-02] [ 4.57737129e-03 -2.49893863e-04 9.99989493e-01 8.73566327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.342557844 meters 0.2898330566041193 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:0.87 [[ 9.99984367e-01 -3.42841450e-03 -4.41726326e-03 2.98349949e+00] [ 3.42887541e-03 9.99994117e-01 9.67730713e-05 1.51936274e-02] [ 4.41690549e-03 -1.11917804e-04 9.99990239e-01 8.73883389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.402557844 meters 0.28901699849782553 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:0.88 [[ 9.99983948e-01 -3.68306572e-03 -4.30560716e-03 2.98269377e+00] [ 3.68043253e-03 9.99993035e-01 -6.19334736e-04 1.84879869e-02] [ 4.30785822e-03 6.03478298e-04 9.99990539e-01 8.75057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.462557844 meters 0.2888709317111667 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:0.87 [[ 9.99981405e-01 -4.02112552e-03 -4.58482643e-03 2.98380975e+00] [ 4.01337734e-03 9.99990505e-01 -1.69791012e-03 2.29007846e-02] [ 4.59161040e-03 1.67947791e-03 9.99988048e-01 8.73865380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.522557844 meters 0.28881851848096957 Centerline is valid? [False, False] Translation: X:2.98, Y:0.02, Z:0.87 [[ 9.99980106e-01 -4.18128387e-03 -4.72271445e-03 2.98424322e+00] [ 4.17135439e-03 9.99989073e-01 -2.11039147e-03 2.46057915e-02] [ 4.73148699e-03 2.09064937e-03 9.99986621e-01 8.73630006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.582557844 meters 0.28775135915163 Centerline is valid? [False, False] Translation: X:2.98, Y:0.03, Z:0.88 [[ 9.99990647e-01 -1.98081806e-03 -3.84488590e-03 2.97954401e+00] [ 1.97898526e-03 9.99997926e-01 -4.80433049e-04 2.99713359e-02] [ 3.84582958e-03 4.72819583e-04 9.99992493e-01 8.76786923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.642557844 meters 0.28794383627732506 Centerline is valid? [False, False] Translation: X:2.98, Y:0.03, Z:0.88 [[ 9.99990221e-01 -2.19505112e-03 -3.83913544e-03 2.97955371e+00] [ 2.19119826e-03 9.99997092e-01 -1.00749508e-03 3.21875448e-02] [ 3.84133578e-03 9.99072918e-04 9.99992123e-01 8.76680745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.702557844 meters 0.28785652375470394 Centerline is valid? [False, False] Translation: X:2.98, Y:0.03, Z:0.88 [[ 9.99990259e-01 -2.42183789e-03 -3.69008164e-03 2.97878246e+00] [ 2.41589474e-03 9.99995779e-01 -1.61418095e-03 3.48674553e-02] [ 3.69397535e-03 1.60525038e-03 9.99991889e-01 8.77641558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.762557844 meters 0.28824743006856746 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 9.99990017e-01 -2.61675242e-03 -3.62192454e-03 2.97851643e+00] [ 2.60915273e-03 9.99994388e-01 -2.10138350e-03 3.69158429e-02] [ 3.62740301e-03 2.09191237e-03 9.99991233e-01 8.77803593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.822557844 meters 0.2880769238750954 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 9.99990132e-01 -2.93318512e-03 -3.33648165e-03 2.97766747e+00] [ 2.92310231e-03 9.99991159e-01 -3.02286291e-03 4.07530358e-02] [ 3.34531877e-03 3.01308020e-03 9.99989865e-01 8.78005718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.882557844 meters 0.2891690131811098 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 0.99998972 -0.00316073 -0.00325192 2.97740311] [ 0.00314898 0.99998852 -0.00361032 0.04320972] [ 0.0032633 0.00360005 0.9999882 0.8780705 ] [ 0. 0. 0. 1. ]] SLAMing on 371.942557844 meters 0.288903160239925 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99993377e-01 9.90226249e-04 -3.50217517e-03 2.97821260e+00] [-9.89708769e-04 9.99999499e-01 1.49489578e-04 4.53508395e-02] [ 3.50232144e-03 -1.46022454e-04 9.99993856e-01 8.77561696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.002557844 meters 0.2882073554973117 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992921e-01 9.04206530e-04 -3.65253827e-03 2.97875623e+00] [-9.04475178e-04 9.99999588e-01 -7.18998794e-05 4.62525953e-02] [ 3.65247175e-03 7.52030006e-05 9.99993327e-01 8.77136340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters 0.2880743457015051 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992601e-01 6.86279337e-04 -3.78496926e-03 2.97948380e+00] [-6.88612488e-04 9.99999574e-01 -6.15156387e-04 4.85514115e-02] [ 3.78454547e-03 6.17758213e-04 9.99992648e-01 8.76204348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters 0.2902355594753901 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992989e-01 5.59312802e-04 -3.70268264e-03 2.97924919e+00] [-5.62778508e-04 9.99999405e-01 -9.35022951e-04 4.99041839e-02] [ 3.70215747e-03 9.37100185e-04 9.99992708e-01 8.76236321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters 0.2892383975776879 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992994e-01 4.04245144e-04 -3.72142578e-03 2.97930425e+00] [-4.09177306e-04 9.99999039e-01 -1.32467602e-03 5.15209228e-02] [ 3.72088671e-03 1.32618946e-03 9.99992198e-01 8.76190334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters 0.2883537164842419 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992901e-01 3.59896698e-04 -3.75082284e-03 2.97943998e+00] [-3.65283905e-04 9.99998903e-01 -1.43568714e-03 5.19719445e-02] [ 3.75030202e-03 1.43704706e-03 9.99991935e-01 8.76053514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters 0.2881635142214819 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992454e-01 2.99301455e-04 -3.87321843e-03 2.98004480e+00] [-3.05462911e-04 9.99998689e-01 -1.59029075e-03 5.26137031e-02] [ 3.87273738e-03 1.59146187e-03 9.99991235e-01 8.75343350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters 0.28763186192221407 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992047e-01 3.40527961e-04 -3.97371358e-03 2.98026951e+00] [-3.46411220e-04 9.99998845e-01 -1.47994990e-03 5.21512858e-02] [ 3.97320502e-03 1.48131467e-03 9.99991010e-01 8.75414733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.422557844 meters 0.2883794063238164 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99992009e-01 3.96518855e-04 -3.97810597e-03 2.98026046e+00] [-4.01845976e-04 9.99999024e-01 -1.33840013e-03 5.15576657e-02] [ 3.97757138e-03 1.33998802e-03 9.99991192e-01 8.75464946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.482557844 meters 0.28698275933886896 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99993127e-01 3.24015012e-04 -3.69326805e-03 2.97937660e+00] [-3.29813977e-04 9.99998714e-01 -1.56964375e-03 5.25498217e-02] [ 3.69275471e-03 1.57085105e-03 9.99991948e-01 8.75950980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.542557844 meters 0.28761411339752174 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99993725e-01 2.54529922e-04 -3.53357395e-03 2.97901189e+00] [-2.60779700e-04 9.99998402e-01 -1.76833655e-03 5.33659015e-02] [ 3.53311821e-03 1.76924694e-03 9.99992193e-01 8.75862774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.602557844 meters 0.28663163454112045 Centerline is valid? [False, False] Translation: X:3.00, Y:0.05, Z:0.87 [[ 9.99989305e-01 -4.41207844e-03 -1.38679345e-03 3.00174305e+00] [ 4.41471257e-03 9.99988446e-01 1.90215482e-03 5.49644599e-02] [ 1.37838497e-03 -1.90825677e-03 9.99997229e-01 8.74838702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.662557844 meters 0.28608498794238946 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99994699e-01 1.34887977e-03 -2.96353010e-03 2.97791735e+00] [-1.35199088e-03 9.99998537e-01 -1.04804574e-03 5.40606542e-02] [ 2.96211208e-03 1.05204685e-03 9.99995060e-01 8.77226149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.722557844 meters 0.2857093410230751 Centerline is valid? [False, False] Translation: X:3.00, Y:0.05, Z:0.88 [[ 9.99991631e-01 -4.02962743e-03 -7.06503221e-04 2.99909460e+00] [ 4.03151533e-03 9.99988251e-01 2.69143644e-03 5.31791932e-02] [ 6.95649435e-04 -2.69426220e-03 9.99996129e-01 8.76494521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.782557844 meters 0.28781463928898005 Centerline is valid? [False, False] Translation: X:3.00, Y:0.05, Z:0.88 [[ 9.99991897e-01 -3.94706118e-03 -7.91537013e-04 2.99941189e+00] [ 3.94934495e-03 9.99987983e-01 2.90472958e-03 5.22748769e-02] [ 7.80062355e-04 -2.90783209e-03 9.99995468e-01 8.76291749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.842557844 meters 0.2886623893755495 Centerline is valid? [False, False] Translation: X:3.00, Y:0.05, Z:0.88 [[ 9.99992143e-01 -3.89756107e-03 -7.23312006e-04 2.99914176e+00] [ 3.89973065e-03 9.99987827e-01 3.02275005e-03 5.17724458e-02] [ 7.11521848e-04 -3.02554702e-03 9.99995170e-01 8.76505938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.902557844 meters 0.2862564339205505 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99989681e-01 1.90701500e-03 -4.12329232e-03 2.97773594e+00] [-1.90682715e-03 9.99998181e-01 4.94887494e-05 5.45757527e-02] [ 4.12337919e-03 -4.16258329e-05 9.99991498e-01 8.77860643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.962557844 meters 0.28538821501513867 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99990318e-01 1.88661575e-03 -3.97554475e-03 2.97721058e+00] [-1.88665091e-03 9.99998220e-01 -5.09356014e-06 5.48280560e-02] [ 3.97552806e-03 1.25939759e-05 9.99992097e-01 8.78208517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.022557844 meters 0.28563288720676555 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99989496e-01 2.02243589e-03 -4.11301864e-03 2.97751343e+00] [-2.02077626e-03 9.99997875e-01 4.07623430e-04 5.31599341e-02] [ 4.11383429e-03 -3.99307658e-04 9.99991458e-01 8.78312782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.082557844 meters 0.28633002915057637 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99988913e-01 2.16858332e-03 -4.17978908e-03 2.97769979e+00] [-2.16519236e-03 9.99997323e-01 8.15629669e-04 5.14769879e-02] [ 4.18154665e-03 -8.06570579e-04 9.99990932e-01 8.78283027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.142557844 meters 0.2855814653947358 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:0.88 [[ 9.99987576e-01 2.51091832e-03 -4.30624298e-03 2.97799632e+00] [-2.50312781e-03 9.99995223e-01 1.81355404e-03 4.74369942e-02] [ 4.31077609e-03 -1.80275243e-03 9.99989084e-01 8.78363295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.202557844 meters 0.2860914431869018 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 9.99986286e-01 2.77271539e-03 -4.44299122e-03 2.97846108e+00] [-2.76186770e-03 9.99993195e-01 2.44580669e-03 4.47659496e-02] [ 4.44974251e-03 -2.43350219e-03 9.99987139e-01 8.78183719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.262557844 meters 0.28675696974855963 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 9.99984534e-01 2.92292583e-03 -4.73162694e-03 2.97953669e+00] [-2.90933603e-03 9.99991631e-01 2.87645984e-03 4.30059959e-02] [ 4.73999501e-03 -2.86264946e-03 9.99984669e-01 8.77266014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.322557844 meters 0.28864814469242517 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:0.88 [[ 9.99986080e-01 2.79663076e-03 -4.47428935e-03 2.97926132e+00] [-2.78573948e-03 9.99993146e-01 2.43857322e-03 4.46039573e-02] [ 4.48107848e-03 -2.42607507e-03 9.99987017e-01 8.76442670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.382557844 meters 0.287648294223789 Centerline is valid? [False, False] Translation: X:2.96, Y:0.05, Z:0.87 [[ 0.99997649 -0.00572602 -0.00377239 2.95879023] [ 0.00573884 0.99997777 0.00339566 0.05242045] [ 0.00375286 -0.00341723 0.99998712 0.87445544] [ 0. 0. 0. 1. ]] SLAMing on 373.442557844 meters 0.2903302745640552 Centerline is valid? [False, False] Translation: X:2.98, Y:0.06, Z:0.87 [[ 9.99987507e-01 4.95127876e-03 -6.85407861e-04 2.97935010e+00] [-4.94908081e-03 9.99982722e-01 3.17215517e-03 6.47265154e-02] [ 7.01102243e-04 -3.16872341e-03 9.99994734e-01 8.72828347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.502557844 meters 0.28800224785144685 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:0.87 [[ 9.99989808e-01 4.47441831e-03 -6.03158011e-04 2.97914339e+00] [-4.47317135e-03 9.99987888e-01 2.05312515e-03 6.94682697e-02] [ 6.12337246e-04 -2.05040620e-03 9.99997710e-01 8.72733943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters 0.28756667386656837 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:0.87 [[ 9.99991357e-01 4.14244770e-03 -3.54161785e-04 2.97819171e+00] [-4.14197049e-03 9.99990527e-01 1.33771374e-03 7.25053943e-02] [ 3.59699839e-04 -1.33623526e-03 9.99999043e-01 8.73217489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters 0.2877825234965777 Centerline is valid? [False, False] Translation: X:3.00, Y:0.08, Z:0.87 [[ 9.99991551e-01 -4.08278069e-03 4.77898375e-04 2.99794944e+00] [ 4.08188537e-03 9.99989940e-01 1.85967677e-03 8.08889962e-02] [-4.85486219e-04 -1.85771033e-03 9.99998157e-01 8.74651942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters 0.2862898964461544 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998343e-01 -1.61126970e-03 8.47183915e-04 2.99560110e+00] [ 1.60872835e-03 9.99994230e-01 2.99193029e-03 8.84232527e-02] [-8.51999833e-04 -2.99056244e-03 9.99995165e-01 8.76360649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters 0.28359869799162163 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998274e-01 -1.65921828e-03 8.35795742e-04 2.99545488e+00] [ 1.65682179e-03 9.99994538e-01 2.85990213e-03 8.89861852e-02] [-8.40536378e-04 -2.85851243e-03 9.99995561e-01 8.76751799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80255784400003 meters 0.28388639205333316 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998234e-01 -1.60823230e-03 9.72247764e-04 2.99507365e+00] [ 1.60529623e-03 9.99994172e-01 3.01315776e-03 8.83699024e-02] [-9.77087955e-04 -3.01159169e-03 9.99994988e-01 8.76889203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters 0.28349136482810255 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998494e-01 -1.50650757e-03 8.61172080e-04 2.99540779e+00] [ 1.50367335e-03 9.99993483e-01 3.28235355e-03 8.72333962e-02] [-8.66111358e-04 -3.28105369e-03 9.99994242e-01 8.76784519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.922557844 meters 0.2856517891279304 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998803e-01 -1.37387253e-03 7.11399032e-04 2.99592727e+00] [ 1.37130998e-03 9.99992615e-01 3.59016797e-03 8.59108869e-02] [-7.16326211e-04 -3.58918813e-03 9.99993302e-01 8.76543756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.982557844 meters 0.283694981028072 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998834e-01 -1.37531216e-03 6.64320945e-04 2.99600157e+00] [ 1.37291911e-03 9.99992616e-01 3.58937000e-03 8.59181287e-02] [-6.69252543e-04 -3.58845375e-03 9.99993338e-01 8.76649081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.042557844 meters 0.2843638456929827 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998629e-01 -1.42889187e-03 8.36923738e-04 2.99556880e+00] [ 1.42601084e-03 9.99993091e-01 3.43294475e-03 8.65608064e-02] [-8.41823262e-04 -3.43174658e-03 9.99993757e-01 8.76654182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.102557844 meters 0.28414633876519446 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998361e-01 -1.52026990e-03 9.83704420e-04 2.99526422e+00] [ 1.51713065e-03 9.99993780e-01 3.18416822e-03 8.75919955e-02] [-9.88539096e-04 -3.18267059e-03 9.99994447e-01 8.76476851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.162557844 meters 0.2834750854239836 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998300e-01 -1.59314162e-03 9.28454607e-04 2.99548798e+00] [ 1.59035554e-03 9.99994254e-01 2.99382733e-03 8.83760152e-02] [-9.33218863e-04 -2.99234567e-03 9.99995087e-01 8.76267789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.222557844 meters 0.2829322140387019 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998395e-01 -1.63924809e-03 7.23608170e-04 2.99610470e+00] [ 1.63715787e-03 9.99994513e-01 2.87981563e-03 8.88183196e-02] [-7.28324932e-04 -2.87862635e-03 9.99995592e-01 8.75991436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.282557844 meters 0.2842986320272709 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99998616e-01 -1.50402774e-03 7.10824047e-04 2.99610948e+00] [ 1.50161709e-03 9.99993161e-01 3.37980191e-03 8.68788257e-02] [-7.15902502e-04 -3.37872985e-03 9.99994036e-01 8.76130806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.342557844 meters 0.2831218013033764 Centerline is valid? [False, False] Translation: X:3.00, Y:0.08, Z:0.88 [[ 9.99998964e-01 -1.32378612e-03 5.64767772e-04 2.99651859e+00] [ 1.32155534e-03 9.99991396e-01 3.93216361e-03 8.46200026e-02] [-5.69968256e-04 -3.93141316e-03 9.99992110e-01 8.76044670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.402557844 meters 0.2846247269431165 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:0.88 [[ 9.99964809e-01 8.36071945e-03 6.91894634e-04 3.01889647e+00] [-8.36359360e-03 9.99955946e-01 4.26099421e-03 7.87294412e-02] [-6.56239177e-04 -4.26663099e-03 9.99990683e-01 8.75389371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.462557844 meters 0.28243883417594695 Centerline is valid? [False, False] Translation: X:3.00, Y:0.08, Z:0.88 [[ 9.99998743e-01 -1.04375045e-03 -1.19346955e-03 2.99842928e+00] [ 1.04924822e-03 9.99988799e-01 4.61523071e-03 8.08178264e-02] [ 1.18863903e-03 -4.61647716e-03 9.99988638e-01 8.75457959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.522557844 meters 0.28254480754063893 Centerline is valid? [False, False] Translation: X:3.00, Y:0.08, Z:0.88 [[ 9.99999096e-01 -1.18138515e-03 -6.42106024e-04 2.99699876e+00] [ 1.18399688e-03 9.99990966e-01 4.08239985e-03 8.30683516e-02] [ 6.37277337e-04 -4.08315641e-03 9.99991461e-01 8.75687000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.582557844 meters 0.2841026579449212 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.87 [[ 9.99976889e-01 5.73404526e-03 3.65271430e-03 3.01614326e+00] [-5.73791045e-03 9.99982988e-01 1.04856804e-03 9.17964138e-02] [-3.64663963e-03 -1.06950276e-03 9.99992779e-01 8.74886341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.642557844 meters 0.28506501208695395 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.87 [[ 9.99978521e-01 5.52372461e-03 3.52784233e-03 3.01650545e+00] [-5.52558524e-03 9.99984600e-01 5.17884978e-04 9.40253635e-02] [-3.52492734e-03 -5.37367248e-04 9.99993643e-01 8.74765946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.702557844 meters 0.28327986046657383 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.87 [[ 9.99978842e-01 5.41839978e-03 3.59942797e-03 3.01625035e+00] [-5.41931071e-03 9.99985286e-01 2.43371976e-04 9.51811427e-02] [-3.59805632e-03 -2.62873245e-04 9.99993492e-01 8.74907404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.762557844 meters 0.283819962653064 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99979087e-01 5.33581961e-03 3.65445723e-03 3.01604136e+00] [-5.33587670e-03 9.99985764e-01 5.87228982e-06 9.61621612e-02] [-3.65437387e-03 -2.53719002e-05 9.99993322e-01 8.75089817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.822557844 meters 0.2817419501407233 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99980531e-01 5.08211324e-03 3.62071804e-03 3.01608387e+00] [-5.07950812e-03 9.99986834e-01 -7.28337428e-04 9.92037321e-02] [-3.62437187e-03 7.09931781e-04 9.99993180e-01 8.75103318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.882557844 meters 0.28431694111000916 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.87 [[ 9.99991958e-01 -1.16036818e-03 3.83893248e-03 3.04039341e+00] [ 1.15501941e-03 9.99998360e-01 1.39522090e-03 1.05650297e-01] [-3.84054515e-03 -1.39077564e-03 9.99991658e-01 8.73065682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.942557844 meters 0.28393145070657305 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.87 [[ 9.99990779e-01 -1.33293659e-03 4.08237866e-03 3.03931410e+00] [ 1.32918624e-03 9.99998692e-01 9.21243834e-04 1.07884380e-01] [-4.08360128e-03 -9.15809097e-04 9.99991243e-01 8.74087708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.002557844 meters 0.2819224478666081 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.87 [[ 9.99976493e-01 -5.48731706e-03 4.11127951e-03 3.03917451e+00] [ 5.49965131e-03 9.99980392e-01 -2.99482445e-03 1.06115445e-01] [-4.09476535e-03 3.01736466e-03 9.99987064e-01 8.74378597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters 0.2820733647959043 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99979474e-01 -5.18153555e-03 3.76860390e-03 3.04033956e+00] [ 5.18897309e-03 9.99984604e-01 -1.96646196e-03 1.01831399e-01] [-3.75835659e-03 1.98597678e-03 9.99990965e-01 8.73489688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters 0.2836880571796624 Centerline is valid? [False, False] Translation: X:3.07, Y:0.10, Z:0.87 [[ 9.99989721e-01 4.17747239e-03 1.76282702e-03 3.06557106e+00] [-4.17409300e-03 9.99989452e-01 -1.91636955e-03 9.64259436e-02] [-1.77081400e-03 1.90899165e-03 9.99996610e-01 8.72314006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters 0.2849176944911188 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.87 [[ 9.99994958e-01 -1.43388374e-03 -2.83326595e-03 3.04590726e+00] [ 1.43714405e-03 9.99998307e-01 1.14902404e-03 9.38525413e-02] [ 2.83161359e-03 -1.15309005e-03 9.99995326e-01 8.73157061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters 0.2883466021053337 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.87 [[ 9.99994791e-01 -1.52152689e-03 -2.84673312e-03 3.04613867e+00] [ 1.52407376e-03 9.99998440e-01 8.92708742e-04 9.48949062e-02] [ 2.84537040e-03 -8.97042722e-04 9.99995550e-01 8.72654753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters 0.28432909873649853 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.87 [[ 9.99995075e-01 -1.46092844e-03 -2.77765465e-03 3.04574033e+00] [ 1.46383644e-03 9.99998382e-01 1.04518464e-03 9.42058991e-02] [ 2.77612322e-03 -1.04924553e-03 9.99995596e-01 8.73176889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters 0.28369133501579524 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.87 [[ 9.99995287e-01 -1.53278047e-03 -2.66035270e-03 3.04520669e+00] [ 1.53512896e-03 9.99998434e-01 8.80955079e-04 9.49882659e-02] [ 2.65899822e-03 -8.85034911e-04 9.99996073e-01 8.73649668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.422557844 meters 0.2836429904417138 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99993770e-01 -1.60338867e-03 -3.14463435e-03 3.04652332e+00] [ 1.60558382e-03 9.99998469e-01 6.95662298e-04 9.56423163e-02] [ 3.14351411e-03 -7.00706938e-04 9.99994814e-01 8.73205612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.482557844 meters 0.2851954601698509 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99992925e-01 -1.60641548e-03 -3.40128461e-03 3.04731693e+00] [ 1.60878840e-03 9.99998464e-01 6.95035522e-04 9.56134054e-02] [ 3.40016287e-03 -7.00502552e-04 9.99993974e-01 8.72836279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.542557844 meters 0.2827594783929295 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99987805e-01 4.11468372e-03 -2.73100700e-03 3.02200299e+00] [-4.12139328e-03 9.99988492e-01 -2.45574347e-03 9.19494884e-02] [ 2.72087096e-03 2.46696908e-03 9.99993255e-01 8.75055880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.602557844 meters 0.28273603065891867 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99993671e-01 -3.23597925e-03 -1.47869382e-03 3.04003040e+00] [ 3.23511841e-03 9.99994596e-01 -5.84179985e-04 9.64992588e-02] [ 1.48057623e-03 5.79392538e-04 9.99998736e-01 8.77311409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.662557844 meters 0.2842330364494256 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99993462e-01 -3.23369856e-03 -1.61836596e-03 3.04064551e+00] [ 3.23277001e-03 9.99994609e-01 -5.76047124e-04 9.63897186e-02] [ 1.62022000e-03 5.70811553e-04 9.99998525e-01 8.76644190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.722557844 meters 0.28311549205158437 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99993887e-01 -3.12391176e-03 -1.57077409e-03 3.03994015e+00] [ 3.12349695e-03 9.99995086e-01 -2.66465564e-04 9.50773956e-02] [ 1.57159879e-03 2.61557627e-04 9.99998731e-01 8.78226273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.782557844 meters 0.2831460750006813 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99994057e-01 -3.03587739e-03 -1.63403843e-03 3.04011636e+00] [ 3.03581106e-03 9.99995391e-01 -4.30740962e-05 9.41261753e-02] [ 1.63416167e-03 3.81132082e-05 9.99998664e-01 8.78214769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.842557844 meters 0.28377924299235596 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99993917e-01 -2.98683334e-03 -1.80121905e-03 3.04061870e+00] [ 2.98700688e-03 9.99995534e-01 9.36604706e-05 9.35353203e-02] [ 1.80093126e-03 -9.90401546e-05 9.99998373e-01 8.78012711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.902557844 meters 0.28279786628282205 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99983489e-01 5.45654211e-03 -1.80206223e-03 3.01931242e+00] [-5.45742959e-03 9.99984989e-01 -4.87929222e-04 8.93673956e-02] [ 1.79937277e-03 4.97755794e-04 9.99998257e-01 8.77306627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.962557844 meters 0.2836691655200876 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99991183e-01 -3.60264392e-03 -2.15752334e-03 3.04125053e+00] [ 3.60152578e-03 9.99993378e-01 -5.21916752e-04 9.45049659e-02] [ 2.15938934e-03 5.14141774e-04 9.99997536e-01 8.77164245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.022557844 meters 0.2845829788096012 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99990677e-01 -3.73388466e-03 -2.16869296e-03 3.04144111e+00] [ 3.73199110e-03 9.99992652e-01 -8.76528855e-04 9.59536276e-02] [ 2.17194988e-03 8.68427141e-04 9.99997264e-01 8.76767467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.082557844 meters 0.2848889096885006 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99990540e-01 -3.89367547e-03 -1.93879137e-03 3.04075139e+00] [ 3.89110904e-03 9.99991551e-01 -1.32574289e-03 9.78539746e-02] [ 1.94393700e-03 1.31818630e-03 9.99997242e-01 8.76958104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.142557844 meters 0.2857171809541413 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99989307e-01 -4.22186956e-03 -1.88717107e-03 3.04044394e+00] [ 4.21771473e-03 9.99988685e-01 -2.20020632e-03 1.01511682e-01] [ 1.89643870e-03 2.19222325e-03 9.99995799e-01 8.77292242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.202557844 meters 0.28523971835654877 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99987944e-01 -4.51179264e-03 -1.93792669e-03 3.04091481e+00] [ 4.50611908e-03 9.99985578e-01 -2.92210500e-03 1.04619198e-01] [ 1.95108267e-03 2.91333724e-03 9.99993853e-01 8.76573540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.262557844 meters 0.2852778876852826 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99998306e-01 -1.34914862e-03 -1.25188171e-03 3.03908303e+00] [ 1.34959617e-03 9.99999026e-01 3.56719544e-04 1.01080301e-01] [ 1.25139923e-03 -3.58408475e-04 9.99999153e-01 8.77101118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.322557844 meters 0.28495141119843564 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99998090e-01 -1.44509466e-03 -1.31571048e-03 3.03931433e+00] [ 1.44524534e-03 9.99998949e-01 1.13582761e-04 1.02091576e-01] [ 1.31554496e-03 -1.15484069e-04 9.99999128e-01 8.76927031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.382557844 meters 0.28485126037912545 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99997826e-01 -1.61097026e-03 -1.32417794e-03 3.03938809e+00] [ 1.61054482e-03 9.99998651e-01 -3.22286257e-04 1.03901808e-01] [ 1.32469535e-03 3.20152909e-04 9.99999071e-01 8.76786963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.442557844 meters 0.285027070614599 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.87 [[ 9.99996779e-01 3.80270516e-04 -2.50948301e-03 3.04467116e+00] [-3.76560986e-04 9.99998836e-01 1.47851166e-03 1.05298495e-01] [ 2.51004233e-03 -1.47756193e-03 9.99995758e-01 8.73750984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.502557844 meters 0.28538784570695436 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99996599e-01 4.40240900e-04 -2.57045433e-03 3.04471300e+00] [-4.36000768e-04 9.99998544e-01 1.64989268e-03 1.04599933e-01] [ 2.57117694e-03 -1.64876635e-03 9.99995335e-01 8.74025911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters 0.28477357138915005 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99997139e-01 5.62719144e-04 -2.32474443e-03 3.04395113e+00] [-5.58012959e-04 9.99997795e-01 2.02454088e-03 1.03069255e-01] [ 2.32587856e-03 -2.02323785e-03 9.99995248e-01 8.74480432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters 0.28490738249091707 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99997219e-01 6.93697096e-04 -2.25386408e-03 3.04385117e+00] [-6.88410183e-04 9.99997012e-01 2.34564041e-03 1.01707514e-01] [ 2.25548451e-03 -2.34408231e-03 9.99994709e-01 8.74315472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters 0.2860542784925214 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99996760e-01 8.35243733e-04 -2.40457023e-03 3.04445050e+00] [-8.28759484e-04 9.99996021e-01 2.69636980e-03 1.00197200e-01] [ 2.40681279e-03 -2.69436825e-03 9.99993474e-01 8.73884828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters 0.2854470405829233 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.87 [[ 9.99968355e-01 6.18188035e-03 -5.00723346e-03 3.02421934e+00] [-6.18607130e-03 9.99980528e-01 -8.21925456e-04 9.73480360e-02] [ 5.00205492e-03 8.52874550e-04 9.99987126e-01 8.73707510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters 0.286174061885818 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99992067e-01 -1.58021449e-03 -3.65622705e-03 3.04312712e+00] [ 1.58298741e-03 9.99998462e-01 7.55642893e-04 1.00422845e-01] [ 3.65502735e-03 -7.61424660e-04 9.99993030e-01 8.75228571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters 0.2860994951965651 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99992357e-01 -1.36812582e-03 -3.66244530e-03 3.04321070e+00] [ 1.37308236e-03 9.99998144e-01 1.35117123e-03 9.79669627e-02] [ 3.66058993e-03 -1.35618974e-03 9.99992380e-01 8.75120898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.922557844 meters 0.2870601451795761 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.87 [[ 9.99991080e-01 -1.15043628e-03 -4.06405852e-03 3.04443166e+00] [ 1.15856063e-03 9.99997334e-01 1.99728501e-03 9.51846635e-02] [ 4.06174994e-03 -2.00197565e-03 9.99989747e-01 8.74716312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.982557844 meters 0.28616853212293614 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99991709e-01 -7.81974433e-04 -3.99635956e-03 3.04365363e+00] [ 7.93886226e-04 9.99995245e-01 2.97994424e-03 9.08391914e-02] [ 3.99401032e-03 -2.98309219e-03 9.99987574e-01 8.76043275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.042557844 meters 0.28447786708207484 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99974305e-01 4.84159004e-03 -5.28656019e-03 3.02015716e+00] [-4.84222472e-03 9.99988271e-01 -1.07262034e-04 8.84487073e-02] [ 5.28597886e-03 1.32857991e-04 9.99986020e-01 8.77461316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.102557844 meters 0.2865038063090924 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99973061e-01 4.85553034e-03 -5.50457052e-03 3.02106588e+00] [-4.85590337e-03 9.99988209e-01 -5.44041603e-05 8.82300774e-02] [ 5.50424145e-03 8.11323573e-05 9.99984848e-01 8.76416558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.162557844 meters 0.2855864319104975 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99972340e-01 4.84090900e-03 -5.64666217e-03 3.02153077e+00] [-4.84149680e-03 9.99988276e-01 -9.04327911e-05 8.83570892e-02] [ 5.64615819e-03 1.17768587e-04 9.99984053e-01 8.76091021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.222557844 meters 0.2860797597632088 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99993206e-01 -2.76107103e-03 -2.44232685e-03 3.03830854e+00] [ 2.76332889e-03 9.99995757e-01 9.21579944e-04 9.48287082e-02] [ 2.43977194e-03 -9.28322635e-04 9.99996593e-01 8.77638543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.282557844 meters 0.2853371256674087 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99993364e-01 -2.80993030e-03 -2.31863433e-03 3.03796641e+00] [ 2.81176764e-03 9.99995735e-01 7.89543441e-04 9.53905278e-02] [ 2.31640588e-03 -7.96057663e-04 9.99997000e-01 8.77679466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.342557844 meters 0.2870623745184465 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.88 [[ 9.99993811e-01 3.51816862e-03 2.93941720e-07 3.06056780e+00] [-3.51815660e-03 9.99990606e-01 -2.53184497e-03 9.92293190e-02] [-9.20139647e-06 2.53182827e-03 9.99996795e-01 8.76259883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.402557844 meters 0.2852602708236147 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.87 [[ 9.99995480e-01 2.60800602e-03 1.49610736e-03 3.01981858e+00] [-2.60407364e-03 9.99993166e-01 -2.62436212e-03 9.90307883e-02] [-1.50294149e-03 2.62045428e-03 9.99995437e-01 8.73920668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.462557844 meters 0.2862154911609056 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.88 [[ 9.99983920e-01 -5.23654745e-03 2.17697471e-03 3.03882720e+00] [ 5.24031450e-03 9.99984776e-01 -1.72831822e-03 1.06263989e-01] [-2.16789114e-03 1.73969846e-03 9.99996137e-01 8.75885008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.522557844 meters 0.2853541450196206 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:0.88 [[ 9.99983668e-01 -5.24952899e-03 2.25949219e-03 3.03851978e+00] [ 5.25352537e-03 9.99984640e-01 -1.76642068e-03 1.06433679e-01] [-2.25018461e-03 1.77826214e-03 9.99995887e-01 8.76110589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.582557844 meters 0.286607552539457 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.88 [[ 9.99983685e-01 3.30636411e-03 4.65806258e-03 3.05700805e+00] [-3.29343810e-03 9.99990713e-01 -2.77991874e-03 1.03437902e-01] [-4.66721074e-03 2.76453234e-03 9.99985287e-01 8.77239147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.642557844 meters 0.2852345453022836 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.88 [[ 9.99984221e-01 3.31237397e-03 4.53720999e-03 3.05745555e+00] [-3.29986274e-03 9.99990741e-01 -2.76218716e-03 1.03327219e-01] [-4.54631737e-03 2.74717141e-03 9.99985892e-01 8.76890572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.702557844 meters 0.285309635536641 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.88 [[ 9.99982742e-01 3.28396552e-03 4.87148600e-03 3.05652180e+00] [-3.26993013e-03 9.99990488e-01 -2.88630391e-03 1.03890812e-01] [-4.88091818e-03 2.87032468e-03 9.99983969e-01 8.77245113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.762557844 meters 0.28617971262768505 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 0.99998326 0.00310479 0.00488291 3.05650986] [-0.00308772 0.99998911 -0.00349945 0.10626303] [-0.00489373 0.00348432 0.99998196 0.87712346] [ 0. 0. 0. 1. ]] SLAMing on 377.822557844 meters 0.28594375229179503 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 9.99984119e-01 2.97268106e-03 4.78808586e-03 3.05701050e+00] [-2.95386478e-03 9.99987907e-01 -3.93210022e-03 1.07992376e-01] [-4.79971684e-03 3.91789442e-03 9.99980806e-01 8.76384372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.882557844 meters 0.28611684218284594 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 9.99984774e-01 2.76811982e-03 4.77383750e-03 3.05724039e+00] [-2.74662662e-03 9.99986089e-01 -4.50298320e-03 1.10332012e-01] [-4.78623589e-03 4.48980269e-03 9.99978467e-01 8.75925356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.942557844 meters 0.2860202569796235 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 9.99985874e-01 2.65158759e-03 4.60667360e-03 3.05765545e+00] [-2.62943249e-03 9.99984981e-01 -4.80876587e-03 1.11575309e-01] [-4.61935528e-03 4.79658501e-03 9.99977827e-01 8.75875979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.002557844 meters 0.28676437795744686 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 9.99986296e-01 2.63084998e-03 4.52615634e-03 3.05786460e+00] [-2.60883990e-03 9.99984778e-01 -4.86191511e-03 1.11789070e-01] [-4.53887841e-03 4.85004046e-03 9.99977938e-01 8.75855951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.062557844 meters 0.28703859892722633 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.88 [[ 9.99971881e-01 -3.23281999e-03 6.76654198e-03 3.07890141e+00] [ 3.24421727e-03 9.99993336e-01 -1.67406046e-03 1.15034957e-01] [-6.76108495e-03 1.69596552e-03 9.99975705e-01 8.75422606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters 0.2853201999533824 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.88 [[ 9.99968003e-01 5.22122081e-03 6.06064461e-03 3.05903201e+00] [-5.20555730e-03 9.99983078e-01 -2.59736540e-03 1.10325537e-01] [-6.07410347e-03 2.56573326e-03 9.99978261e-01 8.75394960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters 0.2865846041677238 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.88 [[ 9.99975422e-01 -3.79951206e-03 5.89221260e-03 3.08162081e+00] [ 3.81360585e-03 9.99989890e-01 -2.38254770e-03 1.12814848e-01] [-5.88310051e-03 2.40495972e-03 9.99979802e-01 8.75378491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters 0.2861627559524931 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.88 [[ 9.99975377e-01 -3.69107733e-03 5.96830342e-03 3.08137316e+00] [ 3.70369411e-03 9.99990927e-01 -2.10429466e-03 1.11656434e-01] [-5.96048216e-03 2.12634762e-03 9.99979975e-01 8.75534607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters 0.28563723764477594 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.88 [[ 9.99977618e-01 -3.41331132e-03 5.75431688e-03 3.08216668e+00] [ 3.42070071e-03 9.99993337e-01 -1.27479470e-03 1.08131651e-01] [-5.74992727e-03 1.29444996e-03 9.99982631e-01 8.75022923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36255784400004 meters 0.2861062196578582 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.87 [[ 9.99979791e-01 -3.06691660e-03 5.56875622e-03 3.08289038e+00] [ 3.06891518e-03 9.99995229e-01 -3.50382180e-04 1.04196559e-01] [-5.56765506e-03 3.67465140e-04 9.99984433e-01 8.74552464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.422557844 meters 0.2858434725277292 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.87 [[ 9.99980488e-01 -2.84805527e-03 5.55994563e-03 3.08276522e+00] [ 2.84705818e-03 9.99995930e-01 1.87241423e-04 1.01903769e-01] [-5.56045627e-03 -1.71408281e-04 9.99984526e-01 8.74921137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.482557844 meters 0.2866201699227343 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.87 [[ 9.99981217e-01 -2.74298747e-03 5.48106096e-03 3.08319280e+00] [ 2.74048100e-03 9.99996137e-01 4.64754290e-04 1.00707011e-01] [-5.48231461e-03 -4.49724817e-04 9.99984871e-01 8.74404922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.542557844 meters 0.28622150150340464 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.87 [[ 9.99980989e-01 -2.58701142e-03 5.59724058e-03 3.08280608e+00] [ 2.58224257e-03 9.99996297e-01 8.59059410e-04 9.90646254e-02] [-5.59944225e-03 -8.44589645e-04 9.99983966e-01 8.74648774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.602557844 meters 0.2854319316727106 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.87 [[ 9.99981384e-01 -2.46745213e-03 5.58070621e-03 3.08282592e+00] [ 2.46089267e-03 9.99996274e-01 1.18194339e-03 9.77288880e-02] [-5.58360180e-03 -1.16818787e-03 9.99983729e-01 8.74729776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.662557844 meters 0.2848993992440482 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.88 [[ 9.99980717e-01 -2.38416842e-03 5.73418367e-03 3.08219468e+00] [ 2.37595592e-03 9.99996143e-01 1.43858644e-03 9.67589827e-02] [-5.73759138e-03 -1.42493453e-03 9.99982525e-01 8.75447759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.722557844 meters 0.28624219594868255 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.88 [[ 9.99978599e-01 -2.31289183e-03 6.11979144e-03 3.08094198e+00] [ 2.30271826e-03 9.99995956e-01 1.66892890e-03 9.58228902e-02] [-6.12362675e-03 -1.65480103e-03 9.99979881e-01 8.76515509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.782557844 meters 0.2839967991681836 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.88 [[ 9.99976156e-01 3.77827012e-03 5.78038345e-03 3.05872340e+00] [-3.77296508e-03 9.99992451e-01 -9.28395651e-04 8.97495178e-02] [-5.78384754e-03 9.06564329e-04 9.99982862e-01 8.77120878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.842557844 meters 0.28440391429924783 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.88 [[ 9.99976580e-01 3.95751222e-03 5.58369512e-03 3.05916212e+00] [-3.95598782e-03 9.99992135e-01 -2.84027931e-04 8.72064486e-02] [-5.58477525e-03 2.61932250e-04 9.99984371e-01 8.77200380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.902557844 meters 0.2845347696576433 Centerline is valid? [False, False] Translation: X:3.06, Y:0.08, Z:0.88 [[ 9.99973316e-01 4.15059922e-03 6.01164882e-03 3.05785883e+00] [-4.15324748e-03 9.99991284e-01 4.28104357e-04 8.44059140e-02] [-6.00981953e-03 -4.53060798e-04 9.99981838e-01 8.77999078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.962557844 meters 0.28378604840727817 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.88 [[ 9.99983446e-01 -5.17244538e-03 2.52062795e-03 3.03974345e+00] [ 5.16900875e-03 9.99985705e-01 1.36801683e-03 7.77833490e-02] [-2.52766791e-03 -1.35496503e-03 9.99995887e-01 8.77248137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.022557844 meters 0.2858342562499525 Centerline is valid? [False, False] Translation: X:3.07, Y:0.07, Z:0.87 [[ 9.99997233e-01 2.14126934e-03 9.74642353e-04 3.06626501e+00] [-2.14084572e-03 9.99997614e-01 -4.35480454e-04 7.16418753e-02] [-9.75572508e-04 4.33392690e-04 9.99999430e-01 8.74552539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.082557844 meters 0.2851057751947982 Centerline is valid? [False, False] Translation: X:3.07, Y:0.07, Z:0.87 [[ 9.99996675e-01 2.45983847e-03 7.74309056e-04 3.06676394e+00] [-2.46039845e-03 9.99996712e-01 7.23068668e-04 6.71232672e-02] [-7.72527877e-04 -7.24971372e-04 9.99999439e-01 8.74482735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.142557844 meters 0.28638024578064536 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99996010e-01 2.68487260e-03 8.78176881e-04 3.06638483e+00] [-2.68612252e-03 9.99995377e-01 1.42524952e-03 6.43096461e-02] [-8.74346208e-04 -1.42760273e-03 9.99998599e-01 8.74796811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.202557844 meters 0.28498613192237165 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99998776e-01 -1.33796501e-03 8.11349769e-04 3.06655578e+00] [ 1.33969284e-03 9.99996828e-01 -2.13277379e-03 6.10106282e-02] [-8.08493619e-04 2.13385814e-03 9.99997396e-01 8.74736481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.262557844 meters 0.2873031877412488 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99999133e-01 -1.14017266e-03 6.59060049e-04 3.06715610e+00] [ 1.14119440e-03 9.99998144e-01 -1.55200079e-03 5.85902006e-02] [-6.57289277e-04 1.55275156e-03 9.99998578e-01 8.74185712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.322557844 meters 0.2858306581378194 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99999261e-01 -1.05113855e-03 6.10076193e-04 3.06712619e+00] [ 1.05192697e-03 9.99998610e-01 -1.29345505e-03 5.75423525e-02] [-6.08715745e-04 1.29409585e-03 9.99998977e-01 8.74537287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.382557844 meters 0.28583626448327487 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99999185e-01 -1.10520169e-03 6.39607981e-04 3.06698018e+00] [ 1.10611562e-03 9.99998365e-01 -1.43030894e-03 5.81190592e-02] [-6.38026156e-04 1.43101526e-03 9.99998773e-01 8.74697599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.442557844 meters 0.2843623198341571 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.87 [[ 9.99998966e-01 -1.17707895e-03 8.26532709e-04 3.06641829e+00] [ 1.17842153e-03 9.99997984e-01 -1.62575348e-03 5.89228459e-02] [-8.24617402e-04 1.62672580e-03 9.99998337e-01 8.74948596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.502557844 meters 0.2857613924539323 Centerline is valid? [False, False] Translation: X:3.10, Y:0.06, Z:0.88 [[ 9.99999176e-01 -7.54655248e-04 1.03803773e-03 3.10198899e+00] [ 7.56671500e-04 9.99997825e-01 -1.94334969e-03 5.93284135e-02] [-1.03656891e-03 1.94413355e-03 9.99997573e-01 8.80083877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters 0.283999759209201 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.88 [[ 9.99970217e-01 -7.66044391e-03 -9.39324190e-04 3.08040297e+00] [ 7.66110514e-03 9.99970407e-01 7.02380632e-04 6.10194455e-02] [ 9.33915845e-04 -7.09555974e-04 9.99999312e-01 8.80640309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters 0.28470914780782164 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.88 [[ 9.99993537e-01 -3.42163157e-03 -1.10410197e-03 3.08093958e+00] [ 3.42679422e-03 9.99983044e-01 4.70836279e-03 6.21254010e-02] [ 1.08797297e-03 -4.71211588e-03 9.99988306e-01 8.80202776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters 0.2846590748734367 Centerline is valid? [False, False] Translation: X:3.08, Y:0.06, Z:0.88 [[ 9.99992465e-01 -3.68768367e-03 -1.21297538e-03 3.08117308e+00] [ 3.69255059e-03 9.99985042e-01 4.03491382e-03 6.49515273e-02] [ 1.19807775e-03 -4.03936239e-03 9.99991124e-01 8.80303606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters 0.28481387288572113 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.88 [[ 9.99991468e-01 -3.91835669e-03 -1.30773061e-03 3.08157650e+00] [ 3.92279576e-03 9.99986494e-01 3.40935582e-03 6.75471543e-02] [ 1.29435388e-03 -3.41445669e-03 9.99993333e-01 8.79926357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters 0.2855440918492925 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.88 [[ 9.99989502e-01 -4.20820517e-03 -1.81309966e-03 3.08315188e+00] [ 4.21261686e-03 9.99988159e-01 2.43632371e-03 7.15482079e-02] [ 1.80282564e-03 -2.44393603e-03 9.99995388e-01 8.79069251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters 0.28428134309955766 Centerline is valid? [False, False] Translation: X:3.08, Y:0.07, Z:0.88 [[ 9.99988941e-01 -4.33075977e-03 -1.83364077e-03 3.08321408e+00] [ 4.33463861e-03 9.99988365e-01 2.11671553e-03 7.28759112e-02] [ 1.82445245e-03 -2.12464029e-03 9.99996079e-01 8.79055460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.922557844 meters 0.2861027486078361 Centerline is valid? [False, False] Translation: X:3.11, Y:0.07, Z:0.88 [[ 9.99997006e-01 2.39564580e-03 4.98731015e-04 3.10508708e+00] [-2.39519878e-03 9.99996731e-01 -8.94997678e-04 7.48381968e-02] [-5.00873482e-04 8.93800438e-04 9.99999475e-01 8.77494108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.982557844 meters 0.28343354329722076 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.87 [[ 9.99998685e-01 1.45841199e-03 7.09506545e-04 3.06602455e+00] [-1.45735003e-03 9.99997821e-01 -1.49497161e-03 7.68562570e-02] [-7.11685284e-04 1.49393565e-03 9.99998631e-01 8.74858073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.042557844 meters 0.28452589935545725 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 9.99998776e-01 1.44442938e-03 6.01485423e-04 3.06609465e+00] [-1.44350588e-03 9.99997783e-01 -1.53296657e-03 7.70154333e-02] [-6.03698352e-04 1.53209644e-03 9.99998644e-01 8.75328925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.102557844 meters 0.284630386274155 Centerline is valid? [False, False] Translation: X:3.09, Y:0.08, Z:0.87 [[ 9.99987236e-01 -4.30650420e-03 2.64240736e-03 3.08913594e+00] [ 4.30325285e-03 9.99989978e-01 1.23490491e-03 7.85456966e-02] [-2.64769900e-03 -1.22351820e-03 9.99995746e-01 8.73759903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.162557844 meters 0.28444774597915573 Centerline is valid? [False, False] Translation: X:3.09, Y:0.08, Z:0.87 [[ 9.99986644e-01 -4.36676699e-03 2.76445248e-03 3.08874898e+00] [ 4.36389942e-03 9.99989935e-01 1.04248416e-03 7.93097600e-02] [-2.76897694e-03 -1.03040644e-03 9.99995636e-01 8.73978352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.222557844 meters 0.2847763526702918 Centerline is valid? [False, False] Translation: X:3.09, Y:0.08, Z:0.87 [[ 9.99986748e-01 -4.42220607e-03 2.63584112e-03 3.08882285e+00] [ 4.41995244e-03 9.99989862e-01 8.60207453e-04 8.00281613e-02] [-2.63961841e-03 -8.48545762e-04 9.99996156e-01 8.74540492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.282557844 meters 0.28665586662649495 Centerline is valid? [False, False] Translation: X:3.09, Y:0.08, Z:0.87 [[ 9.99986778e-01 -4.44405514e-03 2.58728075e-03 3.08894589e+00] [ 4.44198917e-03 9.99989811e-01 8.03707931e-04 8.02634366e-02] [-2.59082611e-03 -7.92204632e-04 9.99996330e-01 8.74537096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.342557844 meters 0.284151960792262 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.87 [[ 9.99985953e-01 4.29499586e-03 3.10599652e-03 3.06670726e+00] [-4.29677256e-03 9.99990609e-01 5.65576107e-04 7.58613078e-02] [-3.10353820e-03 -5.78913922e-04 9.99995016e-01 8.74690589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.402557844 meters 0.2850037201291867 Centerline is valid? [False, False] Translation: X:3.09, Y:0.08, Z:0.88 [[ 9.99981404e-01 -3.75211165e-03 4.80754829e-03 3.08639049e+00] [ 3.74462738e-03 9.99991765e-01 1.56483020e-03 7.84543281e-02] [-4.81338011e-03 -1.54679863e-03 9.99987219e-01 8.75924646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.462557844 meters 0.28367218163189106 Centerline is valid? [False, False] Translation: X:3.06, Y:0.08, Z:0.88 [[ 9.99978605e-01 5.24447895e-03 3.90968645e-03 3.06422692e+00] [-5.24962253e-03 9.99985367e-01 1.30650073e-03 7.73803133e-02] [-3.90277732e-03 -1.32699716e-03 9.99991504e-01 8.76338911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.522557844 meters 0.28446054224415046 Centerline is valid? [False, False] Translation: X:3.08, Y:0.08, Z:0.88 [[ 9.99986764e-01 -3.07638170e-03 4.12411657e-03 3.08317143e+00] [ 3.06836211e-03 9.99993392e-01 1.94947978e-03 8.47690800e-02] [-4.13008666e-03 -1.93679969e-03 9.99989596e-01 8.77483860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.582557844 meters 0.2848027931465151 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.88 [[ 9.99987681e-01 -3.29118523e-03 3.71564602e-03 3.08427864e+00] [ 3.28683899e-03 9.99993908e-01 1.17521476e-03 8.77615654e-02] [-3.71949123e-03 -1.16298755e-03 9.99992406e-01 8.77071563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.642557844 meters 0.285416219173781 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.88 [[ 9.99987435e-01 -3.40087641e-03 3.68297388e-03 3.08437959e+00] [ 3.39764408e-03 9.99993838e-01 8.83541268e-04 8.89731438e-02] [-3.68595600e-03 -8.71016732e-04 9.99992828e-01 8.77022522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.702557844 meters 0.2838852919355574 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.88 [[ 9.99996496e-01 2.34864332e-03 1.22162195e-03 3.06250668e+00] [-2.34598185e-03 9.99994882e-01 -2.17552800e-03 8.87095657e-02] [-1.22672523e-03 2.17265447e-03 9.99996887e-01 8.78573895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.762557844 meters 0.28498433758948105 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.88 [[ 9.99996576e-01 2.39945029e-03 1.04433666e-03 3.06313789e+00] [-2.39731150e-03 9.99995037e-01 -2.04444741e-03 8.81233696e-02] [-1.04923703e-03 2.04193681e-03 9.99997365e-01 8.78154850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.822557844 meters 0.2850033834151764 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.88 [[ 9.99996680e-01 2.39580008e-03 9.48473925e-04 3.06352967e+00] [-2.39385497e-03 9.99995040e-01 -2.04663434e-03 8.81324377e-02] [-9.53372548e-04 2.04435703e-03 9.99997456e-01 8.77762986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.882557844 meters 0.2875871724718385 Centerline is valid? [False, False] Translation: X:3.09, Y:0.09, Z:0.88 [[ 9.99991090e-01 -4.20218677e-03 -4.02739709e-04 3.08858325e+00] [ 4.20224354e-03 9.99991161e-01 1.40236786e-04 9.28997552e-02] [ 4.02146848e-04 -1.41927947e-04 9.99999909e-01 8.75994903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.942557844 meters 0.2858399423840318 Centerline is valid? [False, False] Translation: X:3.09, Y:0.09, Z:0.88 [[ 9.99990816e-01 -4.24478597e-03 -5.91804867e-04 3.08923734e+00] [ 4.24479576e-03 9.99990991e-01 1.52841283e-05 9.33868709e-02] [ 5.91734657e-04 -1.77960787e-05 9.99999825e-01 8.75499417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.002557844 meters 0.28993742499362324 Centerline is valid? [False, False] Translation: X:3.07, Y:0.09, Z:0.87 [[ 9.99992467e-01 3.48522434e-03 -1.70840968e-03 3.06972373e+00] [-3.48770101e-03 9.99992868e-01 -1.44886164e-03 9.04401139e-02] [ 1.70334788e-03 1.45480915e-03 9.99997491e-01 8.74093368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters 0.2847334170716949 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.88 [[ 9.99990582e-01 -3.14713676e-03 -2.98851623e-03 3.04698643e+00] [ 3.15152200e-03 9.99993963e-01 1.46379026e-03 9.16332153e-02] [ 2.98389143e-03 -1.47319485e-03 9.99994463e-01 8.75392995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters 0.2855441543640204 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.88 [[ 9.99989987e-01 -3.37441071e-03 -2.93913022e-03 3.04658095e+00] [ 3.37700960e-03 9.99993911e-01 8.79723492e-04 9.41324495e-02] [ 2.93614378e-03 -8.89640155e-04 9.99995294e-01 8.75955879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters 0.2874596885996799 Centerline is valid? [False, False] Translation: X:3.07, Y:0.10, Z:0.87 [[ 9.99996739e-01 2.52842536e-03 3.59306371e-04 3.06922415e+00] [-2.52760626e-03 9.99994247e-01 -2.26213378e-03 9.83504759e-02] [-3.65023940e-04 2.26121822e-03 9.99997377e-01 8.73892240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters 0.2853725364182716 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99975829e-01 -6.95211143e-03 9.90082943e-05 3.04704789e+00] [ 6.95226874e-03 9.99974407e-01 -1.68868316e-03 9.94275258e-02] [-8.72658469e-05 1.68933068e-03 9.99998569e-01 8.73905415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters 0.2837902523845079 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.87 [[ 9.99996318e-01 1.89888068e-03 1.93880662e-03 3.02482701e+00] [-1.89511827e-03 9.99996321e-01 -1.94057714e-03 9.43718109e-02] [-1.94248441e-03 1.93689573e-03 9.99996238e-01 8.74131609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters 0.28455204294928915 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99996555e-01 1.93577139e-03 1.77285276e-03 3.02531158e+00] [-1.93250681e-03 9.99996438e-01 -1.84129686e-03 9.39397227e-02] [-1.77641078e-03 1.83786446e-03 9.99996733e-01 8.73982003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.422557844 meters 0.2850937413703052 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99996897e-01 1.90858452e-03 1.60121282e-03 3.02581006e+00] [-1.90552083e-03 9.99996355e-01 -1.91270492e-03 9.42305257e-02] [-1.60485754e-03 1.90964784e-03 9.99996889e-01 8.73800599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.482557844 meters 0.28758504753387765 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99997025e-01 1.89001853e-03 1.54226328e-03 3.02588965e+00] [-1.88699842e-03 9.99996304e-01 -1.95734719e-03 9.44167253e-02] [-1.54595701e-03 1.95443112e-03 9.99996895e-01 8.73939273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.542557844 meters 0.2859602120728459 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99997030e-01 1.94769812e-03 1.46496557e-03 3.02614138e+00] [-1.94505864e-03 9.99996487e-01 -1.80101167e-03 9.37526800e-02] [-1.46846825e-03 1.79815688e-03 9.99997305e-01 8.73802204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.602557844 meters 0.28553111927385105 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99996923e-01 2.08837165e-03 1.33878536e-03 3.02624713e+00] [-2.08635568e-03 9.99996690e-01 -1.50545106e-03 9.24323246e-02] [-1.34192487e-03 1.50265325e-03 9.99997971e-01 8.74253622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.662557844 meters 0.28597432343462953 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99996630e-01 2.06258559e-03 1.57633198e-03 3.02554707e+00] [-2.06005702e-03 9.99996592e-01 -1.60402714e-03 9.28797485e-02] [-1.57963505e-03 1.60077440e-03 9.99997471e-01 8.74564989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.722557844 meters 0.2881443390932639 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:0.87 [[ 9.99997421e-01 1.91880762e-03 1.21469363e-03 3.02670908e+00] [-1.91618043e-03 9.99995831e-01 -2.16032612e-03 9.50287970e-02] [-1.21883382e-03 2.15799298e-03 9.99996929e-01 8.73661340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.782557844 meters 0.28567266625636406 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:0.87 [[ 9.99997535e-01 1.80781615e-03 1.28927288e-03 3.02646463e+00] [-1.80461865e-03 9.99995304e-01 -2.47694719e-03 9.63415311e-02] [-1.29374469e-03 2.47461444e-03 9.99996101e-01 8.73776766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.842557844 meters 0.2863293841887811 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99991512e-01 -2.80133605e-03 3.02145554e-03 3.04801344e+00] [ 2.79724276e-03 9.99995165e-01 1.35811614e-03 1.01152358e-01] [-3.02524547e-03 -1.34965286e-03 9.99994513e-01 8.73568141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.902557844 meters 0.2862334216854027 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:0.87 [[ 9.99985465e-01 5.25676953e-03 1.19823799e-03 3.02876911e+00] [-5.25683851e-03 9.99986181e-01 5.44311456e-05 9.88441960e-02] [-1.19793530e-03 -6.07292981e-05 9.99999281e-01 8.73120958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.962557844 meters 0.2855514944490655 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:0.87 [[ 9.99985410e-01 5.26586515e-03 1.20430467e-03 3.02857909e+00] [-5.26596851e-03 9.99986131e-01 8.26696411e-05 9.87812998e-02] [-1.20385264e-03 -8.90102654e-05 9.99999271e-01 8.73545081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.022557844 meters 0.28583495120200725 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99983828e-01 -4.76025506e-03 3.11201661e-03 3.04943856e+00] [ 4.76160606e-03 9.99988572e-01 -4.26860611e-04 9.77105306e-02] [-3.10994908e-03 4.41671905e-04 9.99995067e-01 8.74000597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.082557844 meters 0.2861824390416128 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.87 [[ 9.99985053e-01 -4.70412716e-03 2.78672814e-03 3.05052882e+00] [ 4.70484780e-03 9.99988900e-01 -2.52099385e-04 9.69082902e-02] [-2.78551130e-03 2.65206749e-04 9.99996085e-01 8.73230468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.142557844 meters 0.2863095689357677 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.87 [[ 9.99996831e-01 7.33286298e-04 2.40838193e-03 3.02645979e+00] [-7.24458794e-04 9.99993025e-01 -3.66415525e-03 9.40039301e-02] [-2.41105200e-03 3.66239886e-03 9.99990387e-01 8.74984297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.202557844 meters 0.28709369224355125 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.88 [[ 9.99996744e-01 7.02819835e-04 2.45321992e-03 3.02625859e+00] [-6.93624056e-04 9.99992738e-01 -3.74729316e-03 9.43752659e-02] [-2.45583578e-03 3.74557934e-03 9.99989970e-01 8.75187488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.262557844 meters 0.28652765244264955 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:0.87 [[ 9.99997850e-01 5.04282051e-04 2.01115248e-03 3.02775721e+00] [-4.95373996e-04 9.99990076e-01 -4.42736975e-03 9.70468634e-02] [-2.01336517e-03 4.42636396e-03 9.99988177e-01 8.73742997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.322557844 meters 0.2868887763924462 Centerline is valid? [False, False] Translation: X:3.01, Y:0.10, Z:0.87 [[ 9.99984194e-01 -5.57174938e-03 7.52876029e-04 3.00510694e+00] [ 5.57252648e-03 9.99983939e-01 -1.03404737e-03 9.81227130e-02] [-7.47102484e-04 1.03822645e-03 9.99999182e-01 8.74671898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.382557844 meters 0.28595562759848275 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99988640e-01 2.27038329e-03 4.19100443e-03 3.02274485e+00] [-2.25908596e-03 9.99993808e-01 -2.69838237e-03 9.80134810e-02] [-4.19710484e-03 2.68888387e-03 9.99987577e-01 8.76169836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.442557844 meters 0.28671718326948603 Centerline is valid? [False, False] Translation: X:3.00, Y:0.10, Z:0.88 [[ 9.99990103e-01 -3.99342594e-03 1.96117389e-03 3.00113070e+00] [ 3.99215211e-03 9.99991818e-01 6.53011038e-04 9.74940271e-02] [-1.96376560e-03 -6.45175271e-04 9.99997864e-01 8.77518600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.502557844 meters 0.28696533171360095 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99982331e-01 2.85512798e-03 5.21394805e-03 3.02277453e+00] [-2.84622447e-03 9.99994480e-01 -1.71425620e-03 9.96977462e-02] [-5.21881369e-03 1.69938585e-03 9.99984938e-01 8.75710454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters 0.28658745315447076 Centerline is valid? [False, False] Translation: X:3.00, Y:0.10, Z:0.88 [[ 9.99990569e-01 -3.30398727e-03 2.81887569e-03 2.99980118e+00] [ 3.29957640e-03 9.99993327e-01 1.56798043e-03 9.71589617e-02] [-2.82403746e-03 -1.55866455e-03 9.99994798e-01 8.78179040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters 0.2874648457929219 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99978895e-01 3.26754704e-03 5.61547618e-03 3.02140361e+00] [-3.26071108e-03 9.99993932e-01 -1.22606639e-03 9.78334980e-02] [-5.61944834e-03 1.20773007e-03 9.99983481e-01 8.76824669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters 0.2865425321992132 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99978463e-01 3.38013819e-03 5.62566889e-03 3.02130894e+00] [-3.37486673e-03 9.99993857e-01 -9.46265569e-04 9.66566223e-02] [-5.62883284e-03 9.27259307e-04 9.99983728e-01 8.76989134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters 0.2852433932748258 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99977624e-01 3.41099699e-03 5.75470826e-03 3.02077154e+00] [-3.40606885e-03 9.99993824e-01 -8.65949591e-04 9.63811963e-02] [-5.75762647e-03 8.46329282e-04 9.99983067e-01 8.77495412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters 0.28569558768257447 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99977851e-01 3.48373383e-03 5.67110715e-03 3.02091650e+00] [-3.48000224e-03 9.99993722e-01 -6.67735435e-04 9.55628379e-02] [-5.67339776e-03 6.47985180e-04 9.99983696e-01 8.77662424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters 0.2866839703551132 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99978520e-01 3.52743327e-03 5.52417726e-03 3.02146514e+00] [-3.52444323e-03 9.99993637e-01 -5.50905472e-04 9.50341377e-02] [-5.52608540e-03 5.31423989e-04 9.99984590e-01 8.77257810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.922557844 meters 0.2855842045265701 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99977896e-01 3.62976077e-03 5.57074150e-03 3.02110646e+00] [-3.62824786e-03 9.99993378e-01 -2.81663417e-04 9.39122493e-02] [-5.57172698e-03 2.61445160e-04 9.99984444e-01 8.77836488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.982557844 meters 0.28686669409078924 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99978882e-01 3.58412426e-03 5.42117397e-03 3.02160088e+00] [-3.58205198e-03 9.99993508e-01 -3.91919172e-04 9.43786405e-02] [-5.42254346e-03 3.72491968e-04 9.99985229e-01 8.77566017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.042557844 meters 0.28662418149124597 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99995659e-01 -2.76938086e-03 1.00641966e-03 3.00071673e+00] [ 2.76733125e-03 9.99994106e-01 2.03225216e-03 9.08809283e-02] [-1.01204181e-03 -2.02945824e-03 9.99997429e-01 8.79973013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.102557844 meters 0.28753770049691807 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99981271e-01 3.85322694e-03 4.75498619e-03 3.02112504e+00] [-3.85066259e-03 9.99992436e-01 -5.48334212e-04 9.31723472e-02] [-4.75706308e-03 5.30014095e-04 9.99988545e-01 8.78742116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.162557844 meters 0.2850627116465619 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99992496e-01 -2.72306185e-03 2.75540988e-03 2.99797036e+00] [ 2.71667620e-03 9.99993622e-01 2.31859019e-03 9.17136404e-02] [-2.76170597e-03 -2.31108723e-03 9.99993516e-01 8.80948002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.222557844 meters 0.28612101135771717 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99991601e-01 -2.82383997e-03 2.97064729e-03 2.99744588e+00] [ 2.81789561e-03 9.99994023e-01 2.00331794e-03 9.30222530e-02] [-2.97628658e-03 -1.99493014e-03 9.99993581e-01 8.80910760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.282557844 meters 0.2867945256336078 Centerline is valid? [False, False] Translation: X:3.00, Y:0.09, Z:0.88 [[ 9.99991071e-01 -2.93242306e-03 3.04281257e-03 2.99729168e+00] [ 2.92730221e-03 9.99994294e-01 1.68602288e-03 9.43161868e-02] [-3.04773934e-03 -1.67710059e-03 9.99993949e-01 8.80824453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.342557844 meters 0.28612179101581786 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99985205e-01 3.17956672e-03 4.41371515e-03 3.02043680e+00] [-3.17106252e-03 9.99993105e-01 -1.93242824e-03 9.55312369e-02] [-4.41982900e-03 1.91840348e-03 9.99988392e-01 8.79662781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.402557844 meters 0.2862600602265683 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99984446e-01 3.30551016e-03 4.49230804e-03 3.02008729e+00] [-3.29838513e-03 9.99993292e-01 -1.59253393e-03 9.41337868e-02] [-4.49754204e-03 1.57769180e-03 9.99988641e-01 8.80072729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.462557844 meters 0.28646134457412026 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99974286e-01 -5.42567715e-03 4.68935399e-03 3.04235436e+00] [ 5.43004887e-03 9.99984834e-01 -9.20036382e-04 9.45486931e-02] [-4.68429105e-03 9.45476145e-04 9.99988582e-01 8.80033923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.522557844 meters 0.28611465438607947 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99975921e-01 -5.27866823e-03 4.50479831e-03 3.04283231e+00] [ 5.28111611e-03 9.99985913e-01 -5.31670616e-04 9.28965347e-02] [-4.50192834e-03 5.55448177e-04 9.99989712e-01 8.80061654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.582557844 meters 0.28658736869839363 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99976672e-01 -5.09370930e-03 4.55085719e-03 3.04253548e+00] [ 5.09398580e-03 9.99987024e-01 -4.91690737e-05 9.08666392e-02] [-4.55054769e-03 7.23499286e-05 9.99989644e-01 8.80514026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.642557844 meters 0.2866458245436948 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99976533e-01 -5.07853513e-03 4.59809526e-03 3.04247281e+00] [ 5.07865152e-03 9.99987103e-01 -1.36372952e-05 9.07101497e-02] [-4.59796671e-03 3.69890987e-05 9.99989429e-01 8.80387705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.702557844 meters 0.28548686304384285 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99992543e-01 2.67364111e-03 2.78659030e-03 3.02317303e+00] [-2.67002598e-03 9.99995590e-01 -1.30024421e-03 8.72797863e-02] [-2.79005439e-03 1.29279424e-03 9.99995272e-01 8.79474770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.762557844 meters 0.2863971901334253 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99993148e-01 2.54225480e-03 2.69080084e-03 3.02374632e+00] [-2.53781479e-03 9.99995415e-01 -1.65219771e-03 8.87514099e-02] [-2.69498881e-03 1.64535763e-03 9.99995015e-01 8.78615252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.822557844 meters 0.29012868322467744 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99993378e-01 2.43433329e-03 2.70503117e-03 3.02353695e+00] [-2.42912591e-03 9.99995194e-01 -1.92669415e-03 8.99462976e-02] [-2.70970839e-03 1.92011053e-03 9.99994485e-01 8.78978164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.882557844 meters 0.2866932184415197 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.88 [[ 9.99993386e-01 2.16994017e-03 2.91881050e-03 3.02278085e+00] [-2.16209781e-03 9.99994052e-01 -2.68731334e-03 9.31896763e-02] [-2.92462445e-03 2.68098482e-03 9.99992129e-01 8.79417418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.942557844 meters 0.28516606473363454 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99993190e-01 2.00860485e-03 3.09595183e-03 3.02208137e+00] [-1.99896670e-03 9.99993156e-01 -3.11310226e-03 9.50673014e-02] [-3.10218363e-03 3.10689235e-03 9.99990362e-01 8.79908592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.002557844 meters 0.2868193004593663 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.88 [[ 9.99972827e-01 -6.19284799e-03 3.99932954e-03 3.04223066e+00] [ 6.20267693e-03 9.99977762e-01 -2.44993813e-03 1.00385180e-01] [-3.98406851e-03 2.47467811e-03 9.99989002e-01 8.80579293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters 0.2871039623612309 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:0.88 [[ 9.99997282e-01 2.05337794e-03 1.10409036e-03 3.02413077e+00] [-2.04987772e-03 9.99992900e-01 -3.16207002e-03 9.56436448e-02] [-1.11057544e-03 3.15979818e-03 9.99994391e-01 8.80741227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters 0.2858727886247813 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.88 [[ 9.99985827e-01 -4.14404906e-03 3.34254342e-03 3.04511654e+00] [ 4.14455035e-03 9.99991401e-01 -1.43057833e-04 9.53252490e-02] [-3.34192184e-03 1.56909145e-04 9.99994403e-01 8.80261416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters 0.2864145538553585 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99986005e-01 -3.97275474e-03 3.49372156e-03 3.04451889e+00] [ 3.97148650e-03 9.99992045e-01 3.69866957e-04 9.32082816e-02] [-3.49516316e-03 -3.55986513e-04 9.99993829e-01 8.80865168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters 0.2856683705889884 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99986187e-01 -3.69646181e-03 3.73663687e-03 3.04342653e+00] [ 3.69157956e-03 9.99992325e-01 1.31264201e-03 8.91711101e-02] [-3.74146032e-03 -1.29882979e-03 9.99992157e-01 8.82243029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters 0.28425471834470967 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.88 [[ 9.99987382e-01 -3.41918901e-03 3.68035706e-03 3.04346045e+00] [ 3.41156685e-03 9.99992027e-01 2.07532701e-03 8.60266552e-02] [-3.68742365e-03 -2.06274504e-03 9.99991074e-01 8.82534021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters 0.2848073414117671 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.88 [[ 9.99988741e-01 -3.17482562e-03 3.52673069e-03 3.04416156e+00] [ 3.16524617e-03 9.99991295e-01 2.71850785e-03 8.32154355e-02] [-3.53533078e-03 -2.70731428e-03 9.99990086e-01 8.81862736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.422557844 meters 0.2845865073010076 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.88 [[ 9.99990260e-01 -2.91972382e-03 3.30985458e-03 3.04507062e+00] [ 2.90873442e-03 9.99990258e-01 3.32017242e-03 8.04754656e-02] [-3.31951632e-03 -3.31051259e-03 9.99989011e-01 8.81238533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.482557844 meters 0.28784471436291365 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 9.99971671e-01 6.37429640e-03 4.00325558e-03 3.06647144e+00] [-6.38631828e-03 9.99975115e-01 2.99745666e-03 7.67231468e-02] [-3.98404928e-03 -3.02293781e-03 9.99987495e-01 8.81409588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.542557844 meters 0.2872027856853677 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 0.9999716 0.00645686 0.00388742 3.06696832] [-0.00646938 0.9999739 0.00321703 0.07575083] [-0.00386655 -0.00324208 0.99998727 0.88094845] [ 0. 0. 0. 1. ]] SLAMing on 384.602557844 meters 0.28773195929916784 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 0.99997134 0.00645723 0.00395262 3.06691871] [-0.00646995 0.9999739 0.00321498 0.07574648] [-0.00393175 -0.00324047 0.99998702 0.8806888 ] [ 0. 0. 0. 1. ]] SLAMing on 384.662557844 meters 0.28743234035853343 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 0.99997076 0.00646993 0.00407573 3.06645385] [-0.00648317 0.99997373 0.00324206 0.0756514 ] [-0.00405464 -0.00326839 0.99998644 0.88103695] [ 0. 0. 0. 1. ]] SLAMing on 384.722557844 meters 0.286054632753288 Centerline is valid? [False, False] Translation: X:3.07, Y:0.08, Z:0.88 [[ 9.99989767e-01 2.02787456e-03 4.04394533e-03 3.06596415e+00] [-2.02253266e-03 9.99997077e-01 -1.32461686e-03 7.73465741e-02] [-4.04661967e-03 1.31642429e-03 9.99990946e-01 8.81801492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.782557844 meters 0.28496015745590564 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:0.88 [[ 9.99988663e-01 6.36683358e-04 4.71905606e-03 3.02652205e+00] [-6.30206455e-04 9.99998858e-01 -1.37385963e-03 7.24090195e-02] [-4.71992539e-03 1.37087008e-03 9.99987921e-01 8.79588323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.842557844 meters 0.28612886464272896 Centerline is valid? [False, False] Translation: X:3.07, Y:0.07, Z:0.88 [[ 9.99992759e-01 1.17802416e-03 3.61860312e-03 3.06924237e+00] [-1.17380760e-03 9.99998630e-01 -1.16714773e-03 7.04989571e-02] [-3.61997309e-03 1.16289174e-03 9.99992772e-01 8.80723389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.902557844 meters 0.286318453845049 Centerline is valid? [False, False] Translation: X:3.05, Y:0.06, Z:0.88 [[ 9.99986506e-01 -5.18200192e-03 3.66415074e-04 3.04732788e+00] [ 5.18119822e-03 9.99984242e-01 2.16136993e-03 6.47599293e-02] [-3.77609523e-04 -2.15944230e-03 9.99997597e-01 8.83521410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.962557844 meters 0.2860029922684212 Centerline is valid? [False, False] Translation: X:3.05, Y:0.06, Z:0.88 [[ 9.99987720e-01 -4.95244194e-03 1.83284122e-04 3.04800101e+00] [ 4.95192972e-03 9.99984102e-01 2.69687717e-03 6.24321304e-02] [-1.96637335e-04 -2.69593644e-03 9.99996347e-01 8.83177794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.022557844 meters 0.2863870086511143 Centerline is valid? [False, False] Translation: X:3.05, Y:0.06, Z:0.88 [[ 9.99988389e-01 -4.79907008e-03 4.36643356e-04 3.04719904e+00] [ 4.79769248e-03 9.99983676e-01 3.10313651e-03 6.07935685e-02] [-4.51528398e-04 -3.10100560e-03 9.99995090e-01 8.83700692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.082557844 meters 0.2853137811801366 Centerline is valid? [False, False] Translation: X:3.02, Y:0.05, Z:0.89 [[ 9.99998503e-01 6.98561454e-04 1.58302000e-03 3.02234542e+00] [-6.99079785e-04 9.99999702e-01 3.26902082e-04 5.41294924e-02] [-1.58279116e-03 -3.28008250e-04 9.99998694e-01 8.85420740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.142557844 meters 0.2882811889756882 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:0.89 [[ 9.99999536e-01 6.43915144e-04 -7.16135198e-04 3.06317589e+00] [-6.43629720e-04 9.99999713e-01 3.98720982e-04 4.84817684e-02] [ 7.16391735e-04 -3.98259871e-04 9.99999664e-01 8.88440340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.202557844 meters 0.2853100305051394 Centerline is valid? [False, False] Translation: X:3.04, Y:0.04, Z:0.89 [[ 9.99981632e-01 5.29151851e-03 -2.95559111e-03 3.04144112e+00] [-5.30042797e-03 9.99981408e-01 -3.01478873e-03 4.39216989e-02] [ 2.93958335e-03 3.03039925e-03 9.99991088e-01 8.88593041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.262557844 meters 0.28806173594068346 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:0.89 [[ 9.99989411e-01 -2.87950550e-03 -3.58975057e-03 3.06215025e+00] [ 2.87381628e-03 9.99994608e-01 -1.58900281e-03 4.51827192e-02] [ 3.59430675e-03 1.57866970e-03 9.99992294e-01 8.89564120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.322557844 meters 0.28857120359793714 Centerline is valid? [False, False] Translation: X:3.06, Y:0.04, Z:0.89 [[ 9.99989475e-01 -2.69111179e-03 -3.71592255e-03 3.06257668e+00] [ 2.68689229e-03 9.99995740e-01 -1.14004591e-03 4.32379437e-02] [ 3.71897471e-03 1.13004963e-03 9.99992446e-01 8.89414465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.382557844 meters 0.28649114745495335 Centerline is valid? [False, False] Translation: X:3.04, Y:0.04, Z:0.89 [[ 9.99978852e-01 4.93336804e-03 -4.23765577e-03 3.04379293e+00] [-4.94221833e-03 9.99985623e-01 -2.08056050e-03 3.65920192e-02] [ 4.22733067e-03 2.10145992e-03 9.99988857e-01 8.87024321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.442557844 meters 0.28566997415349654 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:0.89 [[ 9.99977381e-01 5.34045708e-03 -4.08871490e-03 3.04294538e+00] [-5.34364079e-03 9.99985428e-01 -7.68131640e-04 3.12971679e-02] [ 4.08455314e-03 7.89962889e-04 9.99991346e-01 8.88058508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.502557844 meters 0.2868741577120273 Centerline is valid? [False, False] Translation: X:3.06, Y:0.03, Z:0.89 [[ 9.99988796e-01 -3.23129083e-03 -3.45924148e-03 3.06496348e+00] [ 3.23207573e-03 9.99994752e-01 2.21334543e-04 2.81699560e-02] [ 3.45850813e-03 -2.32512594e-04 9.99993992e-01 8.88686336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters 0.28561348090687866 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.89 [[ 9.99990778e-01 -2.78713836e-03 -3.26727925e-03 3.06421084e+00] [ 2.79251716e-03 9.99994751e-01 1.64285817e-03 2.25355104e-02] [ 3.26268323e-03 -1.65196696e-03 9.99993313e-01 8.89361488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters 0.2851940100044186 Centerline is valid? [False, False] Translation: X:3.05, Y:0.02, Z:0.89 [[ 9.99983826e-01 4.70011944e-03 -3.20245024e-03 3.04546689e+00] [-4.69836541e-03 9.99988809e-01 5.55017879e-04 1.54451962e-02] [ 3.20502305e-03 -5.39962621e-04 9.99994718e-01 8.87544747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters 0.28592836386430254 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.89 [[ 9.99981883e-01 4.98805135e-03 -3.36946449e-03 3.04580419e+00] [-4.98375890e-03 9.99986760e-01 1.28112453e-03 1.24185822e-02] [ 3.37581020e-03 -1.26430873e-03 9.99993503e-01 8.87764422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters 0.2854539738216083 Centerline is valid? [False, False] Translation: X:3.05, Y:0.01, Z:0.89 [[ 9.99980879e-01 5.11842156e-03 -3.47045502e-03 3.04613765e+00] [-5.11285428e-03 9.99985631e-01 1.61117347e-03 1.10104324e-02] [ 3.47865182e-03 -1.59339873e-03 9.99992680e-01 8.87601317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters 0.28742801093772125 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:0.89 [[ 9.99991969e-01 -2.98195792e-03 -2.67768684e-03 3.06579415e+00] [ 2.98801154e-03 9.99992983e-01 2.25961671e-03 1.62461587e-02] [ 2.67092997e-03 -2.26759953e-03 9.99993862e-01 8.88030131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters 0.2863095295084418 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.89 [[ 9.99992395e-01 -3.16456564e-03 -2.27952353e-03 3.06453078e+00] [ 3.16831163e-03 9.99993633e-01 1.64159104e-03 1.89508754e-02] [ 2.27431410e-03 -1.64880080e-03 9.99996054e-01 8.88692877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.922557844 meters 0.2881917187552183 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:0.89 [[ 9.99992004e-01 -3.42323498e-03 -2.06723170e-03 3.06376752e+00] [ 3.42509358e-03 9.99993733e-01 8.96209281e-04 2.21626222e-02] [ 2.06415081e-03 -9.03282577e-04 9.99997462e-01 8.89156034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.982557844 meters 0.28889991914387964 Centerline is valid? [False, False] Translation: X:3.06, Y:0.03, Z:0.89 [[ 9.99991112e-01 -3.75583930e-03 -1.91542670e-03 3.06334329e+00] [ 3.75584787e-03 9.99992947e-01 8.77189508e-07 2.59194930e-02] [ 1.91540989e-03 -8.07123300e-06 9.99998166e-01 8.89172588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.042557844 meters 0.28754647730185345 Centerline is valid? [False, False] Translation: X:3.04, Y:0.03, Z:0.89 [[ 9.99979639e-01 4.61437189e-03 -4.40780570e-03 3.04257951e+00] [-4.61976060e-03 9.99988593e-01 -1.21313976e-03 3.29576461e-02] [ 4.40215754e-03 1.23347806e-03 9.99989550e-01 8.88985602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.102557844 meters 0.28836850491005783 Centerline is valid? [False, False] Translation: X:3.04, Y:0.04, Z:0.89 [[ 9.99981906e-01 4.16987218e-03 -4.33585220e-03 3.04242611e+00] [-4.18050171e-03 9.99988272e-01 -2.44537897e-03 3.81077206e-02] [ 4.32560443e-03 2.46346076e-03 9.99987610e-01 8.88904273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.162557844 meters 0.2871760847619977 Centerline is valid? [False, False] Translation: X:3.04, Y:0.04, Z:0.89 [[ 0.99998396 0.00381463 -0.00418679 3.04197745] [-0.00382896 0.99998682 -0.00342138 0.04219605] [ 0.00417369 0.00343736 0.99998538 0.88904219] [ 0. 0. 0. 1. ]] SLAMing on 386.222557844 meters 0.28605933066593525 Centerline is valid? [False, False] Translation: X:3.04, Y:0.05, Z:0.89 [[ 0.99998578 0.00326075 -0.0042199 3.04243558] [-0.00328143 0.9999826 -0.00490286 0.0483256 ] [ 0.00420383 0.00491664 0.99997908 0.88827127] [ 0. 0. 0. 1. ]] SLAMing on 386.282557844 meters 0.28660977667242604 Centerline is valid? [False, False] Translation: X:3.04, Y:0.05, Z:0.89 [[ 9.99986048e-01 2.98177368e-03 -4.36026622e-03 3.04295834e+00] [-3.00623295e-03 9.99979724e-01 -5.61382849e-03 5.12992337e-02] [ 4.34343865e-03 5.62685814e-03 9.99974736e-01 8.87851652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.342557844 meters 0.28620671939327164 Centerline is valid? [False, False] Translation: X:3.07, Y:0.06, Z:0.89 [[ 9.99985603e-01 -1.91830322e-03 -5.01147003e-03 3.06649713e+00] [ 1.90409758e-03 9.99994160e-01 -2.83785969e-03 6.19188737e-02] [ 5.01688464e-03 2.82827650e-03 9.99983416e-01 8.87193657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.402557844 meters 0.28711517198144576 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:0.89 [[ 9.99994825e-01 -4.14649743e-04 -3.19037397e-03 3.02495349e+00] [ 4.09343965e-04 9.99998533e-01 -1.66353163e-03 6.74860456e-02] [ 3.19105907e-03 1.66221706e-03 9.99993527e-01 8.85322798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.462557844 meters 0.28701899395979963 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:0.89 [[ 9.99994649e-01 -6.32529207e-04 -3.20957366e-03 3.02500686e+00] [ 6.25476564e-04 9.99997389e-01 -2.19790500e-03 6.97435659e-02] [ 3.21095552e-03 2.19588572e-03 9.99992434e-01 8.85248487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.522557844 meters 0.2867156563877876 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:0.89 [[ 9.99994547e-01 -7.11182368e-04 -3.22502785e-03 3.02492279e+00] [ 7.03419240e-04 9.99996854e-01 -2.40764631e-03 7.06302541e-02] [ 3.22672998e-03 2.40536463e-03 9.99991901e-01 8.85522532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.582557844 meters 0.28717126302583657 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:0.89 [[ 9.99994340e-01 -7.75099099e-04 -3.27388594e-03 3.02524584e+00] [ 7.66711194e-04 9.99996423e-01 -2.56254242e-03 7.12779409e-02] [ 3.27586045e-03 2.56001779e-03 9.99991357e-01 8.85092684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.642557844 meters 0.2872545777834961 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:0.89 [[ 9.99994007e-01 -7.97484128e-04 -3.36901642e-03 3.02548960e+00] [ 7.88644658e-04 9.99996246e-01 -2.62426812e-03 7.15173934e-02] [ 3.37109659e-03 2.62159544e-03 9.99990881e-01 8.85066776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.702557844 meters 0.2855345918887367 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:0.89 [[ 9.99993994e-01 -8.17096600e-04 -3.36817979e-03 3.02531848e+00] [ 8.08088280e-04 9.99996096e-01 -2.67503048e-03 7.17472511e-02] [ 3.37035240e-03 2.67229263e-03 9.99990750e-01 8.85437051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.762557844 meters 0.2867956401538023 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.88 [[ 9.99977278e-01 -6.07681922e-03 -2.91809450e-03 3.04990907e+00] [ 6.07804126e-03 9.99981444e-01 4.10096464e-04 7.58050720e-02] [ 2.91554827e-03 -4.27823445e-04 9.99995658e-01 8.83588207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.822557844 meters 0.28853471908003075 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.88 [[ 9.99976599e-01 -6.22365559e-03 -2.84017018e-03 3.04960840e+00] [ 6.22363940e-03 9.99980633e-01 -1.45396385e-05 7.75760068e-02] [ 2.84020567e-03 -3.13689675e-06 9.99995967e-01 8.83781184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.882557844 meters 0.28784396499976117 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99989759e-01 -4.15546959e-03 -1.79281437e-03 3.04359085e+00] [ 4.15854150e-03 9.99989886e-01 1.71314669e-03 8.03862539e-02] [ 1.78567731e-03 -1.72058464e-03 9.99996925e-01 8.88265601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.942557844 meters 0.28867080255837135 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99988549e-01 -4.46899476e-03 -1.71153459e-03 3.04359739e+00] [ 4.47009433e-03 9.99989805e-01 6.39165521e-04 8.46072910e-02] [ 1.70866071e-03 -6.46808923e-04 9.99998331e-01 8.87722929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.002557844 meters 0.28721145691681704 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:0.89 [[ 9.99987991e-01 4.29253493e-03 -2.36477053e-03 3.02144419e+00] [-4.29271230e-03 9.99990784e-01 -6.99345196e-05 8.49638120e-02] [ 2.36444854e-03 8.00849593e-05 9.99997201e-01 8.88506003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters 0.2867984977245001 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99998247e-01 -1.77914906e-03 5.83187093e-04 3.04206374e+00] [ 1.77758456e-03 9.99994849e-01 2.67231234e-03 8.61296924e-02] [-5.87938531e-04 -2.67127099e-03 9.99996259e-01 8.88121877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters 0.2862330189224097 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:0.89 [[ 9.99994232e-01 3.22840953e-03 -1.05509779e-03 3.01891295e+00] [-3.22928347e-03 9.99994443e-01 -8.27647896e-04 8.39500290e-02] [ 1.05241994e-03 8.31050332e-04 9.99999101e-01 8.89662854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18255784400003 meters 0.2877955140442764 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99994751e-01 -2.76536989e-03 1.68826956e-03 3.04123038e+00] [ 2.76169477e-03 9.99993820e-01 2.17532226e-03 8.11889614e-02] [-1.69427470e-03 -2.17064836e-03 9.99996209e-01 8.88203585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24255784400003 meters 0.2873690010894717 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99994974e-01 -2.64874077e-03 1.74234170e-03 3.04081186e+00] [ 2.64440026e-03 9.99993406e-01 2.48879925e-03 7.98935771e-02] [-1.74892240e-03 -2.48417929e-03 9.99995385e-01 8.88879927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30255784400003 meters 0.28557163726026746 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:0.89 [[ 9.99992169e-01 3.22698529e-03 -2.29087792e-03 3.02351621e+00] [-3.22817542e-03 9.99994656e-01 -5.16001492e-04 7.91370697e-02] [ 2.28920055e-03 5.23392807e-04 9.99997243e-01 8.87919072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters 0.2877508489067487 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.89 [[ 9.99992845e-01 -2.41639184e-03 -2.91043242e-03 3.04768044e+00] [ 2.42402039e-03 9.99993629e-01 2.62043652e-03 8.33301679e-02] [ 2.90408188e-03 -2.62747272e-03 9.99992331e-01 8.86456732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.422557844 meters 0.28711883979506747 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.89 [[ 9.99993002e-01 -2.55261667e-03 -2.73509804e-03 3.04694326e+00] [ 2.55871278e-03 9.99994245e-01 2.22766886e-03 8.49603333e-02] [ 2.72939592e-03 -2.23465160e-03 9.99993778e-01 8.87128558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.482557844 meters 0.28782190126646123 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99993042e-01 -2.58923921e-03 -2.68561472e-03 3.04680336e+00] [ 2.59498316e-03 9.99994349e-01 2.13751212e-03 8.53516452e-02] [ 2.68006501e-03 -2.14446637e-03 9.99994109e-01 8.87143258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.542557844 meters 0.28893458644287506 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.89 [[ 9.99993180e-01 -2.51852020e-03 -2.70122229e-03 3.04689761e+00] [ 2.52476487e-03 9.99994143e-01 2.31087794e-03 8.46113448e-02] [ 2.69538647e-03 -2.31768213e-03 9.99993682e-01 8.87047410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.602557844 meters 0.2871715093261894 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:0.89 [[ 9.99993193e-01 -2.55358141e-03 -2.66330814e-03 3.04673579e+00] [ 2.55950325e-03 9.99994255e-01 2.22245507e-03 8.49922664e-02] [ 2.65761762e-03 -2.22925669e-03 9.99993984e-01 8.87178943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.662557844 meters 0.2892304212092456 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99993417e-01 -2.66965777e-03 -2.45746224e-03 3.04608333e+00] [ 2.67425980e-03 9.99994673e-01 1.87129709e-03 8.64943907e-02] [ 2.45245342e-03 -1.87785666e-03 9.99995230e-01 8.87452602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.722557844 meters 0.28814804280217665 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99992136e-01 -2.94069844e-03 -2.66105208e-03 3.04706011e+00] [ 2.94327186e-03 9.99995204e-01 9.63671758e-04 9.00541700e-02] [ 2.65820545e-03 -9.71496379e-04 9.99995995e-01 8.86076600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.782557844 meters 0.28909095477160607 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.89 [[ 9.99970167e-01 6.01164407e-03 -4.85031283e-03 3.02644767e+00] [-6.01020156e-03 9.99981890e-01 3.11926562e-04 9.35089181e-02] [ 4.85210018e-03 -2.82765899e-04 9.99988189e-01 8.86164890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.842557844 meters 0.28843309156685115 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99990490e-01 -1.90752827e-03 -3.92189097e-03 3.04594275e+00] [ 1.91187530e-03 9.99997562e-01 1.10494995e-03 1.00358883e-01] [ 3.91977369e-03 -1.11243761e-03 9.99991699e-01 8.87791065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.902557844 meters 0.2872662179611166 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991116e-01 -1.92943483e-03 -3.74780240e-03 3.04542207e+00] [ 1.93336344e-03 9.99997585e-01 1.04490294e-03 1.00630903e-01] [ 3.74577727e-03 -1.05213952e-03 9.99992431e-01 8.87990542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.962557844 meters 0.2875845465445568 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991873e-01 -1.83083948e-03 -3.59194448e-03 3.04504473e+00] [ 1.83567607e-03 9.99997412e-01 1.34367692e-03 9.94676757e-02] [ 3.58947513e-03 -1.35025964e-03 9.99992646e-01 8.88057037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.022557844 meters 0.2913459666085937 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991962e-01 -1.69800541e-03 -3.63226099e-03 3.04504528e+00] [ 1.70422788e-03 9.99997085e-01 1.71070492e-03 9.79677697e-02] [ 3.62934562e-03 -1.71688137e-03 9.99991940e-01 8.88319382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.082557844 meters 0.2882243634219387 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991881e-01 -1.61677926e-03 -3.69095872e-03 3.04547631e+00] [ 1.62382652e-03 9.99996863e-01 1.90713299e-03 9.71021355e-02] [ 3.68786373e-03 -1.91311098e-03 9.99991370e-01 8.87751928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.142557844 meters 0.28973783095519057 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991777e-01 -1.65410269e-03 -3.70274484e-03 3.04562297e+00] [ 1.66080183e-03 9.99996988e-01 1.80689375e-03 9.75015390e-02] [ 3.69974491e-03 -1.81302842e-03 9.99991512e-01 8.87457423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.202557844 meters 0.29117134129081057 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99991891e-01 -1.71163715e-03 -3.64527492e-03 3.04551520e+00] [ 1.71763515e-03 9.99997175e-01 1.64292407e-03 9.81769485e-02] [ 3.64245253e-03 -1.64917200e-03 9.99992006e-01 8.87376050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.262557844 meters 0.29045563697198307 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:0.89 [[ 9.99992442e-01 -1.70685045e-03 -3.49329450e-03 3.04527171e+00] [ 1.71262176e-03 9.99997173e-01 1.64978696e-03 9.81425301e-02] [ 3.49046868e-03 -1.65575718e-03 9.99992538e-01 8.87056307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.322557844 meters 0.2904870475798585 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:0.89 [[ 9.99974757e-01 5.79391783e-03 -4.11287124e-03 3.02717015e+00] [-5.79365411e-03 9.99983214e-01 7.60324864e-05 9.19456576e-02] [ 4.11324273e-03 -5.22020138e-05 9.99991539e-01 8.85007116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.382557844 meters 0.2907660043125587 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99993270e-01 -2.10053258e-03 -3.00780193e-03 3.04702694e+00] [ 2.10506663e-03 9.99996652e-01 1.50506085e-03 9.40475162e-02] [ 3.00463043e-03 -1.51138235e-03 9.99994344e-01 8.86168423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.442557844 meters 0.2892959227995918 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99993498e-01 -1.94454628e-03 -3.03693860e-03 3.04705259e+00] [ 1.95045604e-03 9.99996208e-01 1.94421080e-03 9.22486973e-02] [ 3.03314648e-03 -1.95012157e-03 9.99993499e-01 8.86324845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.502557844 meters 0.28767033301955885 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99993065e-01 -1.69165253e-03 -3.31794932e-03 3.04754000e+00] [ 1.70114971e-03 9.99994459e-01 2.86163340e-03 8.86889102e-02] [ 3.31309005e-03 -2.86725788e-03 9.99990401e-01 8.86829276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters 0.2883756902396163 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:0.89 [[ 9.99994082e-01 -1.45518618e-03 -3.11748329e-03 3.04692972e+00] [ 1.46665111e-03 9.99992159e-01 3.67850188e-03 8.54575431e-02] [ 3.11210594e-03 -3.68305237e-03 9.99988375e-01 8.87281584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters 0.28750367805348664 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99997075e-01 -1.45042007e-03 -1.93547837e-03 3.04375423e+00] [ 1.45900606e-03 9.99989069e-01 4.44209455e-03 8.18241528e-02] [ 1.92901431e-03 -4.44490543e-03 9.99988261e-01 8.89049885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters 0.28670417718136354 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99996897e-01 -1.31333004e-03 -2.11699051e-03 3.04420684e+00] [ 1.32362252e-03 9.99987276e-01 4.86779836e-03 8.01009974e-02] [ 2.11057054e-03 -4.87058535e-03 9.99985911e-01 8.89028968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters 0.2874677548785997 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99997621e-01 -1.10969337e-03 -1.87797950e-03 3.04343384e+00] [ 1.12008998e-03 9.99984004e-01 5.54409447e-03 7.73871747e-02] [ 1.87179721e-03 -5.54618479e-03 9.99982868e-01 8.89642752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters 0.28756537818706435 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99997839e-01 -9.76054305e-04 -1.83538903e-03 3.04322777e+00] [ 9.86862117e-04 9.99982126e-01 5.89691098e-03 7.59151318e-02] [ 1.82960052e-03 -5.89870951e-03 9.99980929e-01 8.89890537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters 0.28676733900293516 Centerline is valid? [False, False] Translation: X:3.04, Y:0.07, Z:0.89 [[ 9.99997807e-01 -8.68081834e-04 -1.90614495e-03 3.04368675e+00] [ 8.79845541e-04 9.99980521e-01 6.17932377e-03 7.46887206e-02] [ 1.90074366e-03 -6.18098733e-03 9.99979091e-01 8.89274021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.922557844 meters 0.28557500756277937 Centerline is valid? [False, False] Translation: X:3.04, Y:0.07, Z:0.89 [[ 9.99997844e-01 -8.11485292e-04 -1.91125862e-03 3.04373662e+00] [ 8.23555444e-04 9.99979671e-01 6.32299239e-03 7.40796229e-02] [ 1.90608875e-03 -6.32455279e-03 9.99978183e-01 8.89204861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.982557844 meters 0.2859231622738079 Centerline is valid? [False, False] Translation: X:3.04, Y:0.07, Z:0.89 [[ 9.99998091e-01 -8.06507968e-04 -1.77999233e-03 3.04347959e+00] [ 8.17763063e-04 9.99979622e-01 6.33147037e-03 7.40462879e-02] [ 1.77484967e-03 -6.33291390e-03 9.99978372e-01 8.89042642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.042557844 meters 0.28668644258321313 Centerline is valid? [False, False] Translation: X:3.04, Y:0.07, Z:0.89 [[ 9.99997989e-01 -7.94754622e-04 -1.84152346e-03 3.04367129e+00] [ 8.06456369e-04 9.99979435e-01 6.36237848e-03 7.39067747e-02] [ 1.83642906e-03 -6.36385079e-03 9.99978064e-01 8.88947807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.102557844 meters 0.28749022483883463 Centerline is valid? [False, False] Translation: X:3.04, Y:0.07, Z:0.89 [[ 9.99997422e-01 -8.41146412e-04 -2.10898141e-03 3.04460097e+00] [ 8.54320640e-04 9.99980081e-01 6.25362587e-03 7.43401241e-02] [ 2.10367918e-03 -6.25541149e-03 9.99978222e-01 8.88207556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.162557844 meters 0.2889192934926164 Centerline is valid? [False, False] Translation: X:3.07, Y:0.07, Z:0.89 [[ 9.99954608e-01 9.11916864e-03 -2.76095034e-03 3.06814204e+00] [-9.10279401e-03 9.99941243e-01 5.88638380e-03 7.49054933e-02] [ 2.81446704e-03 -5.86098424e-03 9.99978864e-01 8.86978254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.222557844 meters 0.28660635209262736 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99998816e-01 -4.80777613e-04 -1.46196552e-03 3.04390388e+00] [ 4.88969640e-04 9.99984154e-01 5.60824849e-03 8.06126344e-02] [ 1.45924603e-03 -5.60895671e-03 9.99983205e-01 8.87785425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.282557844 meters 0.2857515817386484 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99999168e-01 -6.18489216e-04 -1.13237389e-03 3.04293136e+00] [ 6.24365905e-04 9.99986302e-01 5.19673007e-03 8.22151847e-02] [ 1.12914426e-03 -5.19743276e-03 9.99985856e-01 8.88208031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.342557844 meters 0.2850340465623808 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99999384e-01 -7.02686865e-04 -8.58697623e-04 3.04233876e+00] [ 7.06910088e-04 9.99987608e-01 4.92780571e-03 8.32643264e-02] [ 8.55224278e-04 -4.92840969e-03 9.99987490e-01 8.88084711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.402557844 meters 0.2860353574241735 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:0.89 [[ 9.99999521e-01 -8.02922307e-04 -5.59156252e-04 3.04145330e+00] [ 8.05521177e-04 9.99988803e-01 4.66323135e-03 8.43868751e-02] [ 5.55405779e-04 -4.66367953e-03 9.99988971e-01 8.88505854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.462557844 meters 0.285280002247243 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99999305e-01 -1.05857087e-03 -5.18422494e-04 3.04134598e+00] [ 1.06066133e-03 9.99991241e-01 4.04881083e-03 8.69728636e-02] [ 5.14132000e-04 -4.04935789e-03 9.99991669e-01 8.88509381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.522557844 meters 0.28443529639120785 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99998875e-01 -1.44778949e-03 -3.92399384e-04 3.04102326e+00] [ 1.44896610e-03 9.99994405e-01 3.01497232e-03 9.12880790e-02] [ 3.88032143e-04 -3.01553750e-03 9.99995378e-01 8.88452304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.582557844 meters 0.2847644520352989 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.89 [[ 9.99998266e-01 -1.83823297e-03 -2.97997372e-04 3.04075166e+00] [ 1.83884986e-03 9.99996139e-01 2.08323516e-03 9.52145660e-02] [ 2.94166750e-04 -2.08377952e-03 9.99997786e-01 8.88494624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.642557844 meters 0.2860597609996707 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.89 [[ 9.99997949e-01 -1.89089307e-03 -7.25662559e-04 3.04205604e+00] [ 1.89231128e-03 9.99996291e-01 1.95868189e-03 9.57587571e-02] [ 7.21956210e-04 -1.96005105e-03 9.99997818e-01 8.87740462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.702557844 meters 0.28660804044640464 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.89 [[ 9.99997871e-01 -1.84671806e-03 -9.20713808e-04 3.04258367e+00] [ 1.84863812e-03 9.99996109e-01 2.08893280e-03 9.52087600e-02] [ 9.16852556e-04 -2.09063042e-03 9.99997394e-01 8.87590208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.762557844 meters 0.2877573200772301 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:0.89 [[ 9.99978536e-01 5.97626685e-03 -2.68544252e-03 3.02469047e+00] [-5.97438593e-03 9.99981903e-01 7.07890588e-04 9.06555378e-02] [ 2.68962446e-03 -6.91831524e-04 9.99996144e-01 8.85632436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.822557844 meters 0.28680654406587575 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99994929e-01 -2.65859616e-03 -1.75337514e-03 3.04416170e+00] [ 2.66153070e-03 9.99995058e-01 1.67344602e-03 9.30835454e-02] [ 1.74891746e-03 -1.67810420e-03 9.99997063e-01 8.86365586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.882557844 meters 0.28580771024153234 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99994989e-01 -2.70150120e-03 -1.65017322e-03 3.04392341e+00] [ 2.70406788e-03 9.99995135e-01 1.55515206e-03 9.35557166e-02] [ 1.64596395e-03 -1.55960644e-03 9.99997429e-01 8.86340406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.942557844 meters 0.28481820585682077 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:0.89 [[ 9.99995331e-01 -2.63287916e-03 -1.55110003e-03 3.04388378e+00] [ 2.63556222e-03 9.99995030e-01 1.73028399e-03 9.28193099e-02] [ 1.54653669e-03 -1.73436393e-03 9.99997300e-01 8.85873356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.002557844 meters 0.2857259739777095 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.89 [[ 9.99990955e-01 4.23918404e-03 -3.46024266e-04 3.06470289e+00] [-4.23945701e-03 9.99990700e-01 -7.91979012e-04 8.90622883e-02] [ 3.42663703e-04 7.93438803e-04 9.99999627e-01 8.85854435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters 0.28456447787658257 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.89 [[ 9.99990716e-01 4.29045900e-03 -3.99178358e-04 3.06488254e+00] [-4.29071819e-03 9.99990583e-01 -6.50733363e-04 8.84736201e-02] [ 3.96382654e-04 6.52440084e-04 9.99999709e-01 8.85721438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters 0.2864385350740932 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99992645e-01 -3.83165886e-03 1.70425861e-04 3.08442062e+00] [ 3.83159254e-03 9.99992584e-01 3.87766050e-04 9.34945044e-02] [-1.71910384e-04 -3.87110196e-04 9.99999910e-01 8.86856940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters 0.2843979480936837 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:0.89 [[ 9.99987612e-01 4.97010746e-03 -2.69966002e-04 3.06266021e+00] [-4.97021777e-03 9.99987565e-01 -4.09471288e-04 9.38650398e-02] [ 2.67927529e-04 4.10808005e-04 9.99999880e-01 8.86291840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters 0.285281621034013 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.89 [[ 9.99988526e-01 4.78367104e-03 -2.52057930e-04 3.06276018e+00] [-4.78391180e-03 9.99988093e-01 -9.63378474e-04 9.61470895e-02] [ 2.47446443e-04 9.64573244e-04 9.99999504e-01 8.85976570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters 0.285134194493692 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:0.89 [[ 9.99989230e-01 4.62669080e-03 -3.65555626e-04 3.06301791e+00] [-4.62718984e-03 9.99988347e-01 -1.37631345e-03 9.78728013e-02] [ 3.59183589e-04 1.37799012e-03 9.99998986e-01 8.86040092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36255784400004 meters 0.28662545301369535 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:0.89 [[ 9.99998201e-01 -1.77273951e-03 -6.74120245e-04 3.03956514e+00] [ 1.77342773e-03 9.99997906e-01 1.02168871e-03 1.04290609e-01] [ 6.72307645e-04 -1.02288237e-03 9.99999251e-01 8.87415067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.422557844 meters 0.28497813063800786 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:0.89 [[ 9.99965133e-01 8.26800369e-03 1.17165141e-03 3.06205804e+00] [-8.26937079e-03 9.99965127e-01 1.16681160e-03 1.08279581e-01] [-1.16196335e-03 -1.17645973e-03 9.99998633e-01 8.85883429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.482557844 meters 0.28554360593323513 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999583e-01 -8.14127865e-04 4.13932232e-04 3.08217095e+00] [ 8.13769415e-04 9.99999294e-01 8.65395334e-04 1.17031191e-01] [-4.14636482e-04 -8.65058128e-04 9.99999540e-01 8.87043723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.542557844 meters 0.2848448336295965 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999376e-01 -9.72536628e-04 5.50250617e-04 3.08184619e+00] [ 9.72279772e-04 9.99999418e-01 4.66874387e-04 1.18712370e-01] [-5.50704350e-04 -4.66339098e-04 9.99999740e-01 8.86992238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.602557844 meters 0.2849094357636968 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999383e-01 -9.22854746e-04 6.18428587e-04 3.08164976e+00] [ 9.22488900e-04 9.99999400e-01 5.91597084e-04 1.18185627e-01] [-6.18974174e-04 -5.91026225e-04 9.99999634e-01 8.87045262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.662557844 meters 0.28403108504730046 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999519e-01 -8.96581295e-04 3.98233498e-04 3.08234634e+00] [ 8.96317755e-04 9.99999380e-01 6.61459268e-04 1.17888437e-01] [-3.98826302e-04 -6.61102006e-04 9.99999702e-01 8.86667374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.722557844 meters 0.2857488657506306 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999538e-01 -8.70497089e-04 -4.07243796e-04 3.08465680e+00] [ 8.70758359e-04 9.99999415e-01 6.41818857e-04 1.17868459e-01] [ 4.06684856e-04 -6.42173172e-04 9.99999711e-01 8.85260962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.782557844 meters 0.2858990606093115 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999556e-01 -9.41651989e-04 -1.80209164e-05 3.08352688e+00] [ 9.41659150e-04 9.99999476e-01 4.01624295e-04 1.18880472e-01] [ 1.76427166e-05 -4.01641086e-04 9.99999919e-01 8.85814341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.842557844 meters 0.28413371459795583 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999280e-01 -9.83839952e-04 6.87699077e-04 3.08148369e+00] [ 9.83784508e-04 9.99999513e-01 8.09554168e-05 1.20297973e-01] [-6.87778389e-04 -8.02788108e-05 9.99999760e-01 8.86952562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.902557844 meters 0.2845539858657055 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999204e-01 -1.11155070e-03 5.96893485e-04 3.08185027e+00] [ 1.11174837e-03 9.99999327e-01 -3.30927532e-04 1.21955702e-01] [-5.96525241e-04 3.31590864e-04 9.99999767e-01 8.86546343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.962557844 meters 0.28632785493847895 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999075e-01 -1.25737075e-03 5.19500651e-04 3.08220648e+00] [ 1.25777849e-03 9.99998901e-01 -7.85291434e-04 1.23783523e-01] [-5.18512677e-04 7.85944124e-04 9.99999557e-01 8.86105336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.022557844 meters 0.28487220550831216 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999000e-01 -1.29376447e-03 5.71736104e-04 3.08195239e+00] [ 1.29426724e-03 9.99998775e-01 -8.79887818e-04 1.24186925e-01] [-5.70597036e-04 8.80626917e-04 9.99999449e-01 8.86370719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.082557844 meters 0.28452022543739014 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99998974e-01 -1.27581569e-03 6.50714080e-04 3.08187622e+00] [ 1.27636074e-03 9.99998834e-01 -8.37881968e-04 1.24006920e-01] [-6.49644339e-04 8.38711654e-04 9.99999437e-01 8.86101577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.142557844 meters 0.28498590526128526 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99998913e-01 -1.28718835e-03 7.18441015e-04 3.08189836e+00] [ 1.28781176e-03 9.99998794e-01 -8.67938804e-04 1.24124682e-01] [-7.17322948e-04 8.68863078e-04 9.99999365e-01 8.85669998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.202557844 meters 0.28564134204499997 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99998924e-01 -1.27284621e-03 7.29158938e-04 3.08192428e+00] [ 1.27345166e-03 9.99998844e-01 -8.30484957e-04 1.23965043e-01] [-7.28101016e-04 8.31412612e-04 9.99999389e-01 8.85551528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.262557844 meters 0.28600529642453143 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999037e-01 -1.20414657e-03 6.89880820e-04 3.08210625e+00] [ 1.20460281e-03 9.99999056e-01 -6.61302741e-04 1.23244584e-01] [-6.89083864e-04 6.62133136e-04 9.99999543e-01 8.85391644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.322557844 meters 0.2854434150287864 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99999077e-01 -1.17941525e-03 6.74974091e-04 3.08226435e+00] [ 1.17981969e-03 9.99999125e-01 -5.99113030e-04 1.22969897e-01] [-6.74266897e-04 5.99908824e-04 9.99999593e-01 8.85131926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.382557844 meters 0.2852742094801449 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.88 [[ 9.99999170e-01 -1.12060867e-03 6.36467088e-04 3.08263533e+00] [ 1.12089108e-03 9.99999273e-01 -4.43527904e-04 1.22299325e-01] [-6.35969605e-04 4.44240946e-04 9.99999699e-01 8.84491465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.442557844 meters 0.28486945212999815 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.88 [[ 9.99999262e-01 -1.10965480e-03 4.94693818e-04 3.08303626e+00] [ 1.10986057e-03 9.99999298e-01 -4.15874884e-04 1.22166296e-01] [-4.94231993e-04 4.16423619e-04 9.99999791e-01 8.84375703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.502557844 meters 0.2871282672176972 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:0.88 [[ 9.99969487e-01 7.80491417e-03 -3.30137911e-04 3.10635134e+00] [-7.80526480e-03 9.99968961e-01 -1.07447920e-03 1.19198127e-01] [ 3.21741446e-04 1.07702323e-03 9.99999368e-01 8.84304340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.562557844 meters 0.28732596018282697 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:0.88 [[ 9.99994161e-01 3.41554233e-03 -1.05445003e-04 3.10587023e+00] [-3.41608263e-03 9.99978267e-01 -5.63886315e-03 1.20906094e-01] [ 8.61829356e-05 5.63919043e-03 9.99984096e-01 8.84042390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters 0.28460085896786985 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99994249e-01 -3.23999552e-03 -1.00240360e-03 3.08294963e+00] [ 3.23740617e-03 9.99991447e-01 -2.57406977e-03 1.19976301e-01] [ 1.01073501e-03 2.57080978e-03 9.99996185e-01 8.85158190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters 0.28820129465733696 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:0.89 [[ 9.99998605e-01 -1.33248375e-03 -1.00685050e-03 3.12090576e+00] [ 1.33090321e-03 9.99997884e-01 -1.56882939e-03 1.24376680e-01] [ 1.00893881e-03 1.56748718e-03 9.99998263e-01 8.88448230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters 0.28446805993678026 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:0.89 [[ 9.99998215e-01 -6.45875742e-04 1.77536041e-03 3.07882773e+00] [ 6.47340523e-04 9.99999450e-01 -8.24610384e-04 1.24182555e-01] [-1.77482684e-03 8.25758175e-04 9.99998084e-01 8.86296733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters 0.2851236500040738 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998217e-01 -7.39946061e-04 1.73732554e-03 3.07890578e+00] [ 7.41794380e-04 9.99999159e-01 -1.06348394e-03 1.25175980e-01] [-1.73653716e-03 1.06477078e-03 9.99997925e-01 8.86311075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters 0.2857055030600439 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998296e-01 -7.87574153e-04 1.66943545e-03 3.07937875e+00] [ 7.89557226e-04 9.99998983e-01 -1.18754468e-03 1.25679230e-01] [-1.66849847e-03 1.18886077e-03 9.99997901e-01 8.85582230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.922557844 meters 0.28500204796841294 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99999374e-01 -1.60974483e-04 1.10733440e-03 3.11597151e+00] [ 1.62283847e-04 9.99999288e-01 -1.18245901e-03 1.29236988e-01] [-1.10714326e-03 1.18263797e-03 9.99998688e-01 8.90518452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.982557844 meters 0.28593867894326536 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99999565e-01 -2.04998175e-04 9.10133852e-04 3.11671455e+00] [ 2.06183788e-04 9.99999130e-01 -1.30277757e-03 1.29722461e-01] [-9.09865993e-04 1.30296466e-03 9.99998737e-01 8.89814882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.042557844 meters 0.2838647289248766 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99999688e-01 -1.80432730e-04 7.69344712e-04 3.11737852e+00] [ 1.81383579e-04 9.99999220e-01 -1.23602933e-03 1.29396868e-01] [-7.69121091e-04 1.23616849e-03 9.99998940e-01 8.89005666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.102557844 meters 0.2847629909992003 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99999667e-01 -1.36444221e-04 8.05006304e-04 3.11735749e+00] [ 1.37342139e-04 9.99999368e-01 -1.11546868e-03 1.28891802e-01] [-8.04853596e-04 1.11557887e-03 9.99999054e-01 8.88857020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.162557844 meters 0.2867098869178919 Centerline is valid? [False, False] Translation: X:3.16, Y:0.13, Z:0.89 [[ 9.99999251e-01 4.18296537e-04 -1.14989146e-03 3.15868228e+00] [-4.19612718e-04 9.99999257e-01 -1.14461065e-03 1.30682395e-01] [ 1.14941181e-03 1.14509231e-03 9.99998684e-01 8.91103010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.222557844 meters 0.28630658474336473 Centerline is valid? [False, False] Translation: X:3.16, Y:0.13, Z:0.89 [[ 9.99999242e-01 4.92437766e-04 -1.12855207e-03 3.15868433e+00] [-4.93523678e-04 9.99999415e-01 -9.62139833e-04 1.29900435e-01] [ 1.12807762e-03 9.62696071e-04 9.99998900e-01 8.90995799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.282557844 meters 0.28525977846024186 Centerline is valid? [False, False] Translation: X:3.16, Y:0.13, Z:0.89 [[ 9.99999460e-01 6.82665773e-04 -7.83530354e-04 3.15704292e+00] [-6.82790563e-04 9.99999754e-01 -1.59010096e-04 1.26118275e-01] [ 7.83421611e-04 1.59544998e-04 9.99999680e-01 8.93292401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.342557844 meters 0.28652559661853083 Centerline is valid? [False, False] Translation: X:3.16, Y:0.12, Z:0.89 [[ 9.99999384e-01 8.59166788e-04 -7.02939686e-04 3.15686774e+00] [-8.58948295e-04 9.99999583e-01 3.11070520e-04 1.24163870e-01] [ 7.03206655e-04 -3.10466540e-04 9.99999705e-01 8.93236909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.402557844 meters 0.28704569152735193 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:0.89 [[ 9.99980827e-01 5.97834903e-03 -1.61412477e-03 3.13362456e+00] [-5.98353327e-03 9.99976894e-01 -3.22630096e-03 1.20427247e-01] [ 1.59479953e-03 3.23589727e-03 9.99993493e-01 8.94046138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.462557844 meters 0.28390697942578386 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:0.89 [[ 9.99980726e-01 6.00053918e-03 -1.59408222e-03 3.13345389e+00] [-6.00557202e-03 9.99976937e-01 -3.17139747e-03 1.20204241e-01] [ 1.57501536e-03 3.18090972e-03 9.99993701e-01 8.94311183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.522557844 meters 0.2845814932516958 Centerline is valid? [False, False] Translation: X:3.15, Y:0.12, Z:0.90 [[ 9.99998523e-01 -1.71391348e-03 1.32147582e-04 3.15111709e+00] [ 1.71411549e-03 9.99997339e-01 -1.54402889e-03 1.24523137e-01] [-1.29500898e-04 1.54425312e-03 9.99998799e-01 8.96306906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.582557844 meters 0.2864824423543228 Centerline is valid? [False, False] Translation: X:3.15, Y:0.12, Z:0.90 [[ 9.99998827e-01 -1.52858843e-03 -1.01021085e-04 3.15206931e+00] [ 1.52848461e-03 9.99998312e-01 -1.01984069e-03 1.22163134e-01] [ 1.02579831e-04 1.01968509e-03 9.99999475e-01 8.95438609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.642557844 meters 0.2840353188469471 Centerline is valid? [False, False] Translation: X:3.15, Y:0.12, Z:0.90 [[ 9.99999093e-01 -1.34478164e-03 -7.51286404e-05 3.15185747e+00] [ 1.34473847e-03 9.99998932e-01 -5.71869572e-04 1.20261696e-01] [ 7.58975999e-05 5.71768025e-04 9.99999834e-01 8.95758851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.702557844 meters 0.28495185117762944 Centerline is valid? [False, False] Translation: X:3.15, Y:0.12, Z:0.90 [[ 9.99999241e-01 -1.21536549e-03 -1.99753743e-04 3.15223316e+00] [ 1.21531488e-03 9.99999229e-01 -2.53288290e-04 1.18908440e-01] [ 2.00061427e-04 2.53045334e-04 9.99999948e-01 8.95678407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.762557844 meters 0.28843513260559706 Centerline is valid? [False, False] Translation: X:3.18, Y:0.12, Z:0.89 [[ 9.99964287e-01 8.42801654e-03 -6.26486396e-04 3.17650110e+00] [-8.42818767e-03 9.99964445e-01 -2.71026362e-04 1.17239779e-01] [ 6.24179907e-04 2.76296828e-04 9.99999767e-01 8.94689622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.822557844 meters 0.28680826212082683 Centerline is valid? [False, False] Translation: X:3.16, Y:0.12, Z:0.89 [[ 9.99995374e-01 -6.31599278e-04 -2.97555422e-03 3.15731499e+00] [ 6.32526179e-04 9.99999752e-01 3.10574256e-04 1.18218383e-01] [ 2.97535732e-03 -3.12454935e-04 9.99995525e-01 8.93797852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.882557844 meters 0.2851634055780302 Centerline is valid? [False, False] Translation: X:3.16, Y:0.12, Z:0.89 [[ 9.99995210e-01 -5.36563120e-04 -3.04818050e-03 3.15753944e+00] [ 5.38269063e-04 9.99999699e-01 5.58866643e-04 1.17179078e-01] [ 3.04787971e-03 -5.60504708e-04 9.99995198e-01 8.93734660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.942557844 meters 0.2850220883777479 Centerline is valid? [False, False] Translation: X:3.16, Y:0.12, Z:0.89 [[ 9.99993953e-01 -4.25142976e-04 -3.45151220e-03 3.15855206e+00] [ 4.28515089e-04 9.99999432e-01 9.76315142e-04 1.15373783e-01] [ 3.45109516e-03 -9.77788264e-04 9.99993567e-01 8.93709376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.002557844 meters 0.2859086059770461 Centerline is valid? [False, False] Translation: X:3.16, Y:0.11, Z:0.89 [[ 9.99993811e-01 -3.21296232e-04 -3.50351305e-03 3.15843046e+00] [ 3.25639455e-04 9.99999179e-01 1.23917653e-03 1.14276150e-01] [ 3.50311203e-03 -1.24030974e-03 9.99993095e-01 8.94285614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.062557844 meters 0.2847560281244266 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:0.90 [[ 9.99960011e-01 6.39052588e-03 -6.25601061e-03 3.13636688e+00] [-6.39676135e-03 9.99979063e-01 -9.77215232e-04 1.15352102e-01] [ 6.24963470e-03 1.01719436e-03 9.99979953e-01 8.96084988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.122557844 meters 0.2846706876954623 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:0.90 [[ 9.99962922e-01 6.16300156e-03 -6.01429728e-03 3.13555936e+00] [-6.17340598e-03 9.99979477e-01 -1.71291834e-03 1.18387753e-01] [ 6.00361713e-03 1.74998353e-03 9.99980447e-01 8.96551427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18255784400003 meters 0.28442463138255536 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:0.90 [[ 9.99964797e-01 5.94144940e-03 -5.92491957e-03 3.13531875e+00] [-5.95530725e-03 9.99979566e-01 -2.32401755e-03 1.20924407e-01] [ 5.91099047e-03 2.35922046e-03 9.99979747e-01 8.96571403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24255784400003 meters 0.28657505271776446 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:0.90 [[ 9.99966002e-01 5.81827233e-03 -5.84318323e-03 3.13508934e+00] [-5.83374550e-03 9.99979513e-01 -2.63452887e-03 1.22242194e-01] [ 5.82773511e-03 2.66852694e-03 9.99979458e-01 8.96589212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters 0.2865324570898719 Centerline is valid? [False, False] Translation: X:3.13, Y:0.13, Z:0.90 [[ 0.99997064 0.00529471 -0.00553863 3.13374274] [-0.00531619 0.99997838 -0.00387009 0.12791508] [ 0.00551802 0.00389942 0.99997717 0.89732291] [ 0. 0. 0. 1. ]] SLAMing on 393.36255784400004 meters 0.2840051696736778 Centerline is valid? [False, False] Translation: X:3.13, Y:0.13, Z:0.90 [[ 0.99997231 0.00502428 -0.00548873 3.13336932] [-0.00504907 0.99997707 -0.00451188 0.13062193] [ 0.00546594 0.00453946 0.99997476 0.8977655 ] [ 0. 0. 0. 1. ]] SLAMing on 393.422557844 meters 0.28427987037847724 Centerline is valid? [False, False] Translation: X:3.13, Y:0.13, Z:0.90 [[ 0.9999731 0.00473441 -0.00560308 3.1335862 ] [-0.00476322 0.99997544 -0.00514044 0.13330008] [ 0.00557861 0.00516699 0.99997109 0.89786773] [ 0. 0. 0. 1. ]] SLAMing on 393.482557844 meters 0.2862089853581162 Centerline is valid? [False, False] Translation: X:3.16, Y:0.14, Z:0.90 [[ 9.99991473e-01 -1.54724592e-03 -3.82876911e-03 3.15642924e+00] [ 1.53773543e-03 9.99995728e-01 -2.48565338e-03 1.35099244e-01] [ 3.83259868e-03 2.47974455e-03 9.99989581e-01 8.95993352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.542557844 meters 0.2843809652167741 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99996397e-01 -7.37361812e-04 -2.58100661e-03 3.11666059e+00] [ 7.34397323e-04 9.99999070e-01 -1.14933814e-03 1.32094716e-01] [ 2.58185168e-03 1.14743851e-03 9.99996009e-01 8.93415717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.602557844 meters 0.28495849333612355 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99996154e-01 -7.67208933e-04 -2.66509207e-03 3.11722183e+00] [ 7.63940689e-04 9.99998955e-01 -1.22711721e-03 1.32370530e-01] [ 2.66603074e-03 1.22507652e-03 9.99995696e-01 8.92589655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.662557844 meters 0.28457232762983986 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99996373e-01 -7.25563666e-04 -2.59374858e-03 3.11682262e+00] [ 7.22649445e-04 9.99999107e-01 -1.12431663e-03 1.31950846e-01] [ 2.59456202e-03 1.12243818e-03 9.99996004e-01 8.93091096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.722557844 meters 0.28340039537801165 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:0.89 [[ 9.99968408e-01 7.28232144e-03 -3.18616122e-03 3.09813213e+00] [-7.28875248e-03 9.99971414e-01 -2.01149311e-03 1.23606151e-01] [ 3.17142180e-03 2.03465270e-03 9.99992901e-01 8.92156315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.782557844 meters 0.28487811883037956 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99995455e-01 -1.41419427e-03 -2.66270098e-03 3.11937808e+00] [ 1.41078076e-03 9.99998181e-01 -1.28341548e-03 1.25772709e-01] [ 2.66451113e-03 1.27965316e-03 9.99995631e-01 8.92389153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.842557844 meters 0.2848763208775125 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:0.89 [[ 9.99995533e-01 -1.33010461e-03 -2.67656386e-03 3.11949752e+00] [ 1.32726725e-03 9.99998556e-01 -1.06157295e-03 1.24846189e-01] [ 2.67797200e-03 1.05801569e-03 9.99995855e-01 8.92225840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.902557844 meters 0.2848500758464566 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99994721e-01 -1.37302377e-03 -2.94487123e-03 3.12034149e+00] [ 1.36951587e-03 9.99998351e-01 -1.19287646e-03 1.25314713e-01] [ 2.94650422e-03 1.18883711e-03 9.99994952e-01 8.91665962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.962557844 meters 0.2860637733364686 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99994664e-01 -1.51583754e-03 -2.89381282e-03 3.12022746e+00] [ 1.51109544e-03 9.99997513e-01 -1.64018947e-03 1.27091882e-01] [ 2.89629188e-03 1.63580789e-03 9.99994468e-01 8.91600989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.022557844 meters 0.2857960629839222 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99996582e-01 -1.76717387e-03 -1.92689983e-03 3.11755486e+00] [ 1.76186794e-03 9.99994662e-01 -2.75183684e-03 1.32021256e-01] [ 1.93175252e-03 2.74843249e-03 9.99994357e-01 8.92537068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.082557844 meters 0.28654350633245856 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99995018e-01 2.36312978e-03 -2.09289779e-03 3.11810928e+00] [-2.36109466e-03 9.99996738e-01 9.74333121e-04 1.34390873e-01] [ 2.09519343e-03 -9.69386736e-04 9.99997335e-01 8.92125212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.142557844 meters 0.2858288965321576 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99995228e-01 2.09493833e-03 -2.27063732e-03 3.11846284e+00] [-2.09425651e-03 9.99997761e-01 3.02614571e-04 1.37135041e-01] [ 2.27126619e-03 -2.97857830e-04 9.99997376e-01 8.92202010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.202557844 meters 0.28631396691116817 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99995263e-01 1.81740036e-03 -2.48421215e-03 3.11899337e+00] [-1.81818746e-03 9.99998298e-01 -3.14620031e-04 1.39750055e-01] [ 2.48363613e-03 3.19135304e-04 9.99996865e-01 8.92169413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.262557844 meters 0.2856080522339466 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99996072e-01 1.35774528e-03 -2.45199615e-03 3.11901572e+00] [-1.36112136e-03 9.99998127e-01 -1.37572707e-03 1.44192132e-01] [ 2.45012367e-03 1.37905913e-03 9.99996048e-01 8.91815354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.322557844 meters 0.2857643709513827 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99996640e-01 1.03122583e-03 -2.37850583e-03 3.11859598e+00] [-1.03626151e-03 9.99997222e-01 -2.11690117e-03 1.47381774e-01] [ 2.37631622e-03 2.11935881e-03 9.99994931e-01 8.92153383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.382557844 meters 0.2848183436912095 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99996333e-01 8.71671185e-04 -2.56406135e-03 3.11876282e+00] [-8.78234612e-04 9.99996338e-01 -2.55976633e-03 1.49127255e-01] [ 2.56182069e-03 2.56200879e-03 9.99993437e-01 8.92716651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.442557844 meters 0.28567714367004715 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99995761e-01 8.95257149e-04 -2.77069717e-03 3.11929615e+00] [-9.02157514e-04 9.99996492e-01 -2.49023258e-03 1.48827450e-01] [ 2.76845806e-03 2.49272163e-03 9.99993061e-01 8.92660449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.502557844 meters 0.28600995068992524 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99995678e-01 9.65418589e-04 -2.77714376e-03 3.11935439e+00] [-9.71847656e-04 9.99996849e-01 -2.31457529e-03 1.48089861e-01] [ 2.77490047e-03 2.31726424e-03 9.99993465e-01 8.92582643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.562557844 meters 0.2854820207698405 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99996066e-01 9.87666489e-04 -2.62539230e-03 3.11864295e+00] [-9.93602598e-04 9.99996951e-01 -2.26069494e-03 1.47830121e-01] [ 2.62315148e-03 2.26329464e-03 9.99993998e-01 8.93360012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters 0.28639970671964876 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99995921e-01 1.02513609e-03 -2.66585720e-03 3.11896442e+00] [-1.03089366e-03 9.99997137e-01 -2.15926683e-03 1.47405741e-01] [ 2.66363603e-03 2.16200624e-03 9.99994115e-01 8.92858494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters 0.28715842590802687 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99995881e-01 1.03646593e-03 -2.67655988e-03 3.11918589e+00] [-1.04215086e-03 9.99997202e-01 -2.12344913e-03 1.47260757e-01] [ 2.67435151e-03 2.12622976e-03 9.99994163e-01 8.92414375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters 0.28596176116383004 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99995994e-01 1.04268978e-03 -2.63145453e-03 3.11888865e+00] [-1.04824711e-03 9.99997222e-01 -2.11139125e-03 1.47214198e-01] [ 2.62924569e-03 2.11414120e-03 9.99994309e-01 8.92816320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters 0.28635065296925954 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99996134e-01 8.03635115e-04 -2.66197418e-03 3.11937824e+00] [-8.10924162e-04 9.99995922e-01 -2.73826456e-03 1.49870613e-01] [ 2.65976276e-03 2.74041264e-03 9.99992708e-01 8.91896107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters 0.28528127878838533 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:0.89 [[ 9.99959876e-01 -7.82678116e-03 -4.35739934e-03 3.09907745e+00] [ 7.81641550e-03 9.99966593e-01 -2.39083293e-03 1.54368831e-01] [ 4.37596630e-03 2.35667776e-03 9.99987648e-01 8.91107980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.922557844 meters 0.2858613479753835 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:0.89 [[ 9.99981890e-01 -3.77702298e-03 -4.68549762e-03 3.09937762e+00] [ 3.78214294e-03 9.99992260e-01 1.08434522e-03 1.57677116e-01] [ 4.68136576e-03 -1.10204680e-03 9.99988435e-01 8.91811302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.982557844 meters 0.2863252202473512 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99987485e-01 4.65152002e-03 -1.84212043e-03 3.11770898e+00] [-4.65217577e-03 9.99989117e-01 -3.51851447e-04 1.59262818e-01] [ 1.84046374e-03 3.60416912e-04 9.99998241e-01 8.92301417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.042557844 meters 0.2865911640386048 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99987431e-01 4.60801581e-03 -1.97578574e-03 3.11790561e+00] [-4.60893061e-03 9.99989274e-01 -4.58700340e-04 1.59724337e-01] [ 1.97365084e-03 4.67800834e-04 9.99997943e-01 8.92574710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.102557844 meters 0.28524873284678526 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:0.89 [[ 9.99988237e-01 -3.59970531e-03 -3.25089126e-03 3.09786696e+00] [ 3.60211729e-03 9.99993241e-01 7.36393088e-04 1.61736267e-01] [ 3.24821849e-03 -7.48094517e-04 9.99994445e-01 8.91447345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.162557844 meters 0.28681788465344993 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99996554e-01 2.29086722e-03 -1.28232876e-03 3.12090082e+00] [-2.29373623e-03 9.99994860e-01 -2.24035764e-03 1.63207210e-01] [ 1.27718981e-03 2.24329124e-03 9.99996668e-01 8.90790434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.222557844 meters 0.285525631336053 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99996650e-01 2.33821244e-03 -1.10998797e-03 3.12023524e+00] [-2.34055510e-03 9.99995027e-01 -2.11394510e-03 1.62729585e-01] [ 1.10503960e-03 2.11653600e-03 9.99997150e-01 8.91386737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.282557844 meters 0.2847226626273915 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:0.89 [[ 9.99985094e-01 -3.78017236e-03 -3.93985513e-03 3.09798006e+00] [ 3.78282390e-03 9.99992623e-01 6.65767488e-04 1.59864503e-01] [ 3.93730935e-03 -6.80661342e-04 9.99992017e-01 8.92941171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.342557844 meters 0.28582842808085657 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99988385e-01 4.61405109e-03 -1.39272343e-03 3.11703798e+00] [-4.61435031e-03 9.99989331e-01 -2.11710465e-04 1.57774868e-01] [ 1.39173173e-03 2.18134520e-04 9.99999008e-01 8.93962029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.402557844 meters 0.2872344106473409 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:0.89 [[ 9.99988110e-01 4.66889240e-03 -1.40727135e-03 3.11730725e+00] [-4.66900520e-03 9.99989097e-01 -7.68801009e-05 1.57212110e-01] [ 1.40689706e-03 8.34497441e-05 9.99999007e-01 8.93485865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.462557844 meters 0.28476357412266473 Centerline is valid? [False, False] Translation: X:3.08, Y:0.15, Z:0.89 [[ 9.99992259e-01 3.93470747e-03 2.09387615e-05 3.07669729e+00] [-3.93470311e-03 9.99992238e-01 -2.04522730e-04 1.52552353e-01] [-2.17433360e-05 2.04438759e-04 9.99999979e-01 8.91219414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.522557844 meters 0.28675782252661647 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99994039e-01 3.05541752e-03 -1.60815030e-03 3.11665814e+00] [-3.05663941e-03 9.99995041e-01 -7.57897411e-04 1.51943030e-01] [ 1.60582663e-03 7.62808429e-04 9.99998420e-01 8.94429257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.582557844 meters 0.28483709331453594 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:0.90 [[ 9.99980538e-01 -3.37919822e-03 -5.24447370e-03 3.09597102e+00] [ 3.39004754e-03 9.99992129e-01 2.06120658e-03 1.46546453e-01] [ 5.23746720e-03 -2.07894548e-03 9.99984123e-01 8.95565037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.642557844 meters 0.28659264590430567 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99980608e-01 2.89243403e-03 -5.51527246e-03 3.12122366e+00] [-2.89692778e-03 9.99995478e-01 -8.06969136e-04 1.44596737e-01] [ 5.51291341e-03 8.22930833e-04 9.99984465e-01 8.93453625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.702557844 meters 0.2868634316657257 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99980598e-01 2.97743527e-03 -5.47152242e-03 3.12091302e+00] [-2.98070407e-03 9.99995384e-01 -5.89363505e-04 1.43697811e-01] [ 5.46974237e-03 6.05661060e-04 9.99984857e-01 8.93916989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.762557844 meters 0.28617956667874683 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99979096e-01 3.11946162e-03 -5.66354448e-03 3.12137064e+00] [-3.12071634e-03 9.99995108e-01 -2.12717971e-04 1.42129639e-01] [ 5.66285321e-03 2.30387840e-04 9.99983939e-01 8.94005265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.822557844 meters 0.2875784671000827 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99978258e-01 3.17413631e-03 -5.78008261e-03 3.12208243e+00] [-3.17453909e-03 9.99994959e-01 -6.05114676e-05 1.41471369e-01] [ 5.77986140e-03 7.88592502e-05 9.99983293e-01 8.92942137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.882557844 meters 0.286084692157952 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:0.89 [[ 9.99979726e-01 3.24431400e-03 -5.47927158e-03 3.12100318e+00] [-3.24371086e-03 9.99994732e-01 1.18959188e-04 1.40804411e-01] [ 5.47962865e-03 -1.01183604e-04 9.99984982e-01 8.93885829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.942557844 meters 0.2888039413060984 Centerline is valid? [False, False] Translation: X:3.14, Y:0.15, Z:0.89 [[ 9.99966633e-01 -6.28155817e-03 -5.22246402e-03 3.14177285e+00] [ 6.28129973e-03 9.99980270e-01 -6.58866316e-05 1.46468224e-01] [ 5.22277485e-03 3.30805713e-05 9.99986361e-01 8.93958465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.002557844 meters 0.2874081352265455 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99973491e-01 2.90021313e-03 -6.67882952e-03 3.12096410e+00] [-2.90340638e-03 9.99995675e-01 -4.68468588e-04 1.46158922e-01] [ 6.67744198e-03 4.87847526e-04 9.99977587e-01 8.93469082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.062557844 meters 0.2878798910668781 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99977640e-01 2.70424394e-03 -6.11613693e-03 3.11939689e+00] [-2.71137118e-03 9.99995655e-01 -1.15732627e-03 1.48992128e-01] [ 6.11298066e-03 1.17388351e-03 9.99980627e-01 8.94019792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.122557844 meters 0.2866757221898541 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99978330e-01 2.54159877e-03 -6.07280720e-03 3.11929213e+00] [-2.55111291e-03 9.99995530e-01 -1.55944771e-03 1.50669302e-01] [ 6.06881657e-03 1.57490633e-03 9.99980344e-01 8.93975846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters 0.288112332604737 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99979191e-01 2.55817260e-03 -5.92231510e-03 3.11851411e+00] [-2.56723256e-03 9.99995545e-01 -1.52270318e-03 1.50527963e-01] [ 5.91839338e-03 1.53787545e-03 9.99981304e-01 8.94992865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters 0.28663372822686933 Centerline is valid? [False, False] Translation: X:3.14, Y:0.15, Z:0.89 [[ 9.99985379e-01 -4.34914784e-03 -3.21365933e-03 3.13962701e+00] [ 4.35207023e-03 9.99990122e-01 9.02932405e-04 1.50079287e-01] [ 3.20970060e-03 -9.16905274e-04 9.99994429e-01 8.94222954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters 0.2863207467347597 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99985920e-01 1.24706853e-03 -5.15793761e-03 3.11794162e+00] [-1.26033188e-03 9.99995906e-01 -2.56899417e-03 1.48467321e-01] [ 5.15471278e-03 2.57545871e-03 9.99983398e-01 8.94397502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters 0.28618146729405475 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99985488e-01 1.14865380e-03 -5.26353558e-03 3.11830001e+00] [-1.16349846e-03 9.99995352e-01 -2.81808954e-03 1.49519473e-01] [ 5.26027411e-03 2.82417276e-03 9.99982177e-01 8.94177214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.422557844 meters 0.2860385078516758 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99985972e-01 1.21347921e-03 -5.15590333e-03 3.11802965e+00] [-1.22723155e-03 9.99995696e-01 -2.66497375e-03 1.48869524e-01] [ 5.15264725e-03 2.67126385e-03 9.99983157e-01 8.94175480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.482557844 meters 0.28560709036234155 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99985879e-01 1.26897095e-03 -5.16048259e-03 3.11812476e+00] [-1.28194256e-03 9.99996025e-01 -2.51111359e-03 1.48243905e-01] [ 5.15727555e-03 2.51769357e-03 9.99983532e-01 8.93993418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.542557844 meters 0.28641101978642053 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:0.89 [[ 9.99985647e-01 1.34368104e-03 -5.18650184e-03 3.11810631e+00] [-1.35569847e-03 9.99996403e-01 -2.31423814e-03 1.47430951e-01] [ 5.18337358e-03 2.32123626e-03 9.99983872e-01 8.94197891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.602557844 meters 0.28510261779607987 Centerline is valid? [False, False] Translation: X:3.10, Y:0.14, Z:0.90 [[ 9.99952721e-01 -5.45417645e-03 -8.05038422e-03 3.09721812e+00] [ 5.45854965e-03 9.99984966e-01 5.21356513e-04 1.42928659e-01] [ 8.04741962e-03 -5.65275286e-04 9.99967459e-01 8.95003585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.662557844 meters 0.28542158197013817 Centerline is valid? [False, False] Translation: X:3.10, Y:0.14, Z:0.89 [[ 9.99951702e-01 -5.18673342e-03 -8.34811868e-03 3.09825784e+00] [ 5.19789199e-03 9.99985626e-01 1.31551483e-03 1.39569041e-01] [ 8.34117545e-03 -1.35884391e-03 9.99964289e-01 8.94374060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.722557844 meters 0.2859514935447594 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:0.90 [[ 9.99982617e-01 2.29271500e-03 -5.43229149e-03 3.11499665e+00] [-2.29297967e-03 9.99997370e-01 -4.24952581e-05 1.33146251e-01] [ 5.43217977e-03 5.49506533e-05 9.99985244e-01 8.96886959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.782557844 meters 0.28532066935751355 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:0.90 [[ 9.99982213e-01 2.52655787e-03 -5.40275804e-03 3.11475225e+00] [-2.52369101e-03 9.99996671e-01 5.37380183e-04 1.30726323e-01] [ 5.40409778e-03 -5.23735733e-04 9.99985261e-01 8.97303138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.842557844 meters 0.2870754384879758 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.90 [[ 9.99980692e-01 2.44269346e-03 -5.71387365e-03 3.11580436e+00] [-2.44105754e-03 9.99996978e-01 2.93263578e-04 1.31696331e-01] [ 5.71457273e-03 -2.79310021e-04 9.99983633e-01 8.96483751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.902557844 meters 0.2865074090715335 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.90 [[ 9.99982544e-01 2.31219732e-03 -5.43743469e-03 3.11509744e+00] [-2.31290617e-03 9.99997318e-01 -1.24081165e-04 1.33453851e-01] [ 5.43713320e-03 1.36655275e-04 9.99985209e-01 8.96565916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.962557844 meters 0.2879705597850559 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:0.90 [[ 9.99985073e-01 2.08711524e-03 -5.04961450e-03 3.11423232e+00] [-2.09138135e-03 9.99997461e-01 -8.39705845e-04 1.36278177e-01] [ 5.04784912e-03 8.50253980e-04 9.99986898e-01 8.96426161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.022557844 meters 0.2859626569944996 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:0.90 [[ 9.99985601e-01 1.96285832e-03 -4.99446069e-03 3.11412896e+00] [-1.96864941e-03 9.99997395e-01 -1.15485094e-03 1.37590460e-01] [ 4.99218087e-03 1.16466665e-03 9.99986861e-01 8.96320249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.082557844 meters 0.28531950120074534 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:0.90 [[ 9.99987020e-01 1.70877522e-03 -4.79997707e-03 3.11347107e+00] [-1.71725615e-03 9.99996971e-01 -1.76330518e-03 1.40210715e-01] [ 4.79694944e-03 1.77152508e-03 9.99986925e-01 8.96599717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.142557844 meters 0.2872003830153722 Centerline is valid? [False, False] Translation: X:3.13, Y:0.14, Z:0.90 [[ 9.99989271e-01 -4.11667444e-03 -2.12380509e-03 3.13485500e+00] [ 4.11959447e-03 9.99990573e-01 1.37236629e-03 1.41558791e-01] [ 2.11813548e-03 -1.38110078e-03 9.99996803e-01 8.95689112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.202557844 meters 0.28559983763879804 Centerline is valid? [False, False] Translation: X:3.10, Y:0.14, Z:0.89 [[ 9.99989455e-01 -4.40010614e-03 -1.31469825e-03 3.09666585e+00] [ 4.40263916e-03 9.99988446e-01 1.93004843e-03 1.36059740e-01] [ 1.30619064e-03 -1.93581622e-03 9.99997273e-01 8.92009833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.262557844 meters 0.28578925219860485 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99997844e-01 1.99888555e-03 -5.62680490e-04 3.11997716e+00] [-1.99932129e-03 9.99997701e-01 -7.74909987e-04 1.34039729e-01] [ 5.61130240e-04 7.76033295e-04 9.99999541e-01 8.91043816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.322557844 meters 0.28563836716114943 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99997643e-01 2.11537044e-03 -4.88781325e-04 3.11975566e+00] [-2.11561100e-03 9.99997641e-01 -4.92163875e-04 1.32862581e-01] [ 4.87739063e-04 4.93196786e-04 9.99999759e-01 8.91150774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.382557844 meters 0.28535182626972333 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99997615e-01 2.15014739e-03 -3.83230867e-04 3.11960602e+00] [-2.15030254e-03 9.99997606e-01 -4.04911777e-04 1.32496858e-01] [ 3.82359329e-04 4.05734873e-04 9.99999845e-01 8.90898236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.442557844 meters 0.286972768906199 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:0.89 [[ 9.99997475e-01 2.11000993e-03 -7.73046623e-04 3.12104893e+00] [-2.11043847e-03 9.99997620e-01 -5.53962720e-04 1.33235805e-01] [ 7.71875916e-04 5.55592789e-04 9.99999548e-01 8.89481265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.502557844 meters 0.28706247165514726 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998291e-01 1.47373493e-03 1.11590490e-03 3.08087682e+00] [-1.47261777e-03 9.99998414e-01 -1.00128631e-03 1.31498574e-01] [-1.11737876e-03 9.99641297e-04 9.99998876e-01 8.86119263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.562557844 meters 0.28573899797370284 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998256e-01 1.43841123e-03 1.19135462e-03 3.08058919e+00] [-1.43711108e-03 9.99998372e-01 -1.09145655e-03 1.31902364e-01] [-1.19292265e-03 1.08974253e-03 9.99998695e-01 8.86337255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters 0.28631474816635905 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998529e-01 1.44259633e-03 9.27834037e-04 3.08146059e+00] [-1.44160626e-03 9.99998392e-01 -1.06686913e-03 1.31765746e-01] [-9.29371606e-04 1.06552999e-03 9.99999000e-01 8.85843074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters 0.2853115098674613 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:0.89 [[ 9.99998184e-01 1.60862838e-03 1.02237322e-03 3.08088872e+00] [-1.60804527e-03 9.99998544e-01 -5.70916493e-04 1.29750480e-01] [-1.02329012e-03 5.69271433e-04 9.99999314e-01 8.86731295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters 0.2867835154592694 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:0.89 [[ 9.99961214e-01 -8.00831454e-03 3.66573435e-03 3.10071377e+00] [ 8.00803047e-03 9.99967931e-01 9.21646087e-05 1.21958022e-01] [-3.66635488e-03 -6.28057216e-05 9.99993277e-01 8.86710450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters 0.28507262064484173 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.88 [[ 9.99999030e-01 -1.76899196e-05 1.39257036e-03 3.08378600e+00] [ 1.78970056e-05 9.99999989e-01 -1.48695420e-04 1.10244219e-01] [-1.39256772e-03 1.48720198e-04 9.99999019e-01 8.84483127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters 0.28500661671903244 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.88 [[ 9.99998918e-01 6.95276669e-04 1.29661719e-03 3.08388260e+00] [-6.97210874e-04 9.99998644e-01 1.49187717e-03 1.03258358e-01] [-1.29557816e-03 -1.49277957e-03 9.99998047e-01 8.84778294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.922557844 meters 0.28579594827158794 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.88 [[ 9.99998492e-01 1.08783271e-03 1.35365216e-03 3.08392537e+00] [-1.09108593e-03 9.99996513e-01 2.40487476e-03 9.94726357e-02] [-1.35103134e-03 -2.40634808e-03 9.99996192e-01 8.84514440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.982557844 meters 0.2859128362709425 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.88 [[ 9.99998215e-01 1.25320213e-03 1.41434605e-03 3.08383214e+00] [-1.25714292e-03 9.99995321e-01 2.78885851e-03 9.78702751e-02] [-1.41084443e-03 -2.79063157e-03 9.99995111e-01 8.84428695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.042557844 meters 0.2860647998207769 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99996560e-01 -1.08651041e-03 2.38735781e-03 3.07899191e+00] [ 1.08355359e-03 9.99998645e-01 1.23947448e-03 9.18087292e-02] [-2.38870127e-03 -1.23688338e-03 9.99996382e-01 8.87657080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.102557844 meters 0.2864641313376617 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99996940e-01 -8.69279694e-04 2.31610380e-03 3.07924266e+00] [ 8.65113457e-04 9.99998007e-01 1.79920780e-03 8.94393727e-02] [-2.31766320e-03 -1.79719860e-03 9.99995699e-01 8.87528616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.162557844 meters 0.28591811583254567 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99997460e-01 -7.26850502e-04 2.13359159e-03 3.07994578e+00] [ 7.22234730e-04 9.99997399e-01 2.16335539e-03 8.78557944e-02] [-2.13515847e-03 -2.16180894e-03 9.99995384e-01 8.87008969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.222557844 meters 0.287499108147538 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99996997e-01 -7.57881087e-04 2.33066044e-03 3.07952709e+00] [ 7.53044466e-04 9.99997563e-01 2.07539254e-03 8.82351460e-02] [-2.33222766e-03 -2.07363122e-03 9.99995130e-01 8.86818273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.282557844 meters 0.28799519308414123 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.89 [[ 9.99967887e-01 5.89757143e-03 5.42616307e-03 3.10065756e+00] [-5.89131554e-03 9.99981964e-01 -1.16817383e-03 9.42418028e-02] [-5.43295459e-03 1.13616908e-03 9.99984596e-01 8.85388528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.342557844 meters 0.2858219800004349 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99996483e-01 -5.84861309e-04 2.58700612e-03 3.07886796e+00] [ 5.82113625e-04 9.99999266e-01 1.06273524e-03 9.78489396e-02] [-2.58762577e-03 -1.06122557e-03 9.99996089e-01 8.86779419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.402557844 meters 0.2863455630116176 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99990659e-01 3.51159430e-03 2.52012949e-03 3.07902312e+00] [-3.52341966e-03 9.99982732e-01 4.70336234e-03 1.00603017e-01] [-2.50356968e-03 -4.71219788e-03 9.99985764e-01 8.86810991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.462557844 meters 0.28593129852293825 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99991633e-01 3.27981339e-03 2.44475344e-03 3.07911184e+00] [-3.28984652e-03 9.99986137e-01 4.11128229e-03 1.03057699e-01] [-2.43123531e-03 -4.11929075e-03 9.99988560e-01 8.86953460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.522557844 meters 0.2854287438831629 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99992064e-01 3.14899293e-03 2.44034624e-03 3.07890080e+00] [-3.15819932e-03 9.99987876e-01 3.77794774e-03 1.04502146e-01] [-2.42841993e-03 -3.78562486e-03 9.99989886e-01 8.87440782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.582557844 meters 0.28603100034841966 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.89 [[ 9.99992630e-01 2.85282484e-03 2.56931880e-03 3.07847844e+00] [-2.86049167e-03 9.99991453e-01 2.98527583e-03 1.07907907e-01] [-2.56078037e-03 -2.99260335e-03 9.99992243e-01 8.87568745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.642557844 meters 0.285188397977096 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.89 [[ 9.99992665e-01 2.66172860e-03 2.75411353e-03 3.07765166e+00] [-2.66845244e-03 9.99993461e-01 2.44059315e-03 1.10347990e-01] [-2.74759932e-03 -2.44792447e-03 9.99993229e-01 8.88358211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.702557844 meters 0.28565605713865083 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.89 [[ 9.99993291e-01 2.55366900e-03 2.62619924e-03 3.07825232e+00] [-2.55934673e-03 9.99994390e-01 2.16087383e-03 1.11526673e-01] [-2.62066635e-03 -2.16758068e-03 9.99994217e-01 8.87648821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.762557844 meters 0.286152554775234 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.89 [[ 9.99993873e-01 2.57936337e-03 2.36656019e-03 3.07909559e+00] [-2.58468483e-03 9.99994132e-01 2.24830839e-03 1.11064736e-01] [-2.36074710e-03 -2.25441142e-03 9.99994672e-01 8.87143132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.822557844 meters 0.28706263227243534 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99997885 -0.00448574 0.00470925 3.10059096] [ 0.00446423 0.99997959 0.00457025 0.11004172] [-0.00472965 -0.00454913 0.99997847 0.88654242] [ 0. 0. 0. 1. ]] SLAMing on 398.882557844 meters 0.28683642091254213 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99998056 -0.00433385 0.00448243 3.10129231] [ 0.0043115 0.99997829 0.00498396 0.10826747] [-0.00450393 -0.00496454 0.99997753 0.88628782] [ 0. 0. 0. 1. ]] SLAMing on 398.942557844 meters 0.2863806062311104 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99998081 -0.0042624 0.00449545 3.10132347] [ 0.00423917 0.99997768 0.00516457 0.10750278] [-0.00451737 -0.00514542 0.99997656 0.88616285] [ 0. 0. 0. 1. ]] SLAMing on 399.002557844 meters 0.28790436839949063 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99998108 -0.00403238 0.00464607 3.10090633] [ 0.00400592 0.99997578 0.00569054 0.10526397] [-0.00466891 -0.00567182 0.99997302 0.88626384] [ 0. 0. 0. 1. ]] SLAMing on 399.062557844 meters 0.2872777781024925 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99998099 -0.00403229 0.00466565 3.10089454] [ 0.0040057 0.99997575 0.00569608 0.10525052] [-0.0046885 -0.00567728 0.99997289 0.88617637] [ 0. 0. 0. 1. ]] SLAMing on 399.122557844 meters 0.28665328127994 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99997836 -0.00412931 0.00512106 3.09969047] [ 0.00410179 0.99997715 0.00537283 0.10666411] [-0.00514313 -0.00535171 0.99997245 0.88644708] [ 0. 0. 0. 1. ]] SLAMing on 399.18255784400003 meters 0.2872962233933446 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99997902 -0.0041715 0.00495601 3.10014133] [ 0.00414538 0.99997752 0.00526964 0.10709296] [-0.00497788 -0.00524899 0.99997383 0.88635482] [ 0. 0. 0. 1. ]] SLAMing on 399.24255784400003 meters 0.2861500812084297 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99990631e-01 2.08208003e-03 3.79512711e-03 3.07913186e+00] [-2.09078128e-03 9.99995192e-01 2.29022140e-03 1.04431999e-01] [-3.79034043e-03 -2.29813472e-03 9.99990176e-01 8.86573951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters 0.2867684451346618 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99989912e-01 2.19906603e-03 3.91664053e-03 3.07875924e+00] [-2.20935592e-03 9.99994114e-01 2.62483773e-03 1.03032869e-01] [-3.91084529e-03 -2.63346450e-03 9.99988885e-01 8.86760263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters 0.28776520666562067 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99990256e-01 2.18496168e-03 3.83597911e-03 3.07900373e+00] [-2.19492984e-03 9.99994221e-01 2.59631176e-03 1.03155337e-01] [-3.83028410e-03 -2.60470616e-03 9.99989272e-01 8.86674850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.422557844 meters 0.289113344155756 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:0.89 [[ 0.99997096 -0.00567044 0.00509242 3.09721987] [ 0.00565037 0.99997625 0.00394662 0.1088515 ] [-0.00511468 -0.00391773 0.99997925 0.88830589] [ 0. 0. 0. 1. ]] SLAMing on 399.482557844 meters 0.28827330829253056 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:0.89 [[ 9.99989184e-01 2.50352221e-03 3.91984588e-03 3.07717827e+00] [-2.51530423e-03 9.99992325e-01 3.00369684e-03 1.05030782e-01] [-3.91229597e-03 -3.01352396e-03 9.99987806e-01 8.87451084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.542557844 meters 0.2869836124687742 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99988260e-01 2.78357178e-03 3.96640477e-03 3.07703938e+00] [-2.79866445e-03 9.99988846e-01 3.80466952e-03 1.01713857e-01] [-3.95576996e-03 -3.81572549e-03 9.99984896e-01 8.87510922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.602557844 meters 0.28878642319399295 Centerline is valid? [False, False] Translation: X:3.10, Y:0.10, Z:0.89 [[ 0.99996869 -0.0059486 0.00521798 3.09804679] [ 0.00592407 0.99997139 0.00470462 0.10126656] [-0.00524581 -0.00467356 0.99997532 0.88796542] [ 0. 0. 0. 1. ]] SLAMing on 399.662557844 meters 0.2863100519270339 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:0.89 [[ 9.99998632e-01 -1.16869967e-03 1.17012399e-03 3.07851680e+00] [ 1.16690304e-03 9.99998141e-01 1.53492935e-03 9.70377092e-02] [-1.17191568e-03 -1.53356183e-03 9.99998137e-01 8.88402031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.722557844 meters 0.2869494358761892 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99999126e-01 -7.88705774e-04 1.06144100e-03 3.07886934e+00] [ 7.86039240e-04 9.99996540e-01 2.51025972e-03 9.29466384e-02] [-1.06341719e-03 -2.50942319e-03 9.99996286e-01 8.88312077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.782557844 meters 0.2866221343581616 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99999165e-01 -6.01878712e-04 1.14357273e-03 3.07841131e+00] [ 5.98470996e-04 9.99995387e-01 2.97789437e-03 9.09842016e-02] [-1.14535978e-03 -2.97720749e-03 9.99994912e-01 8.88927854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.842557844 meters 0.28686314068036406 Centerline is valid? [False, False] Translation: X:3.08, Y:0.09, Z:0.89 [[ 9.99999476e-01 -3.03439921e-04 9.78125749e-04 3.07920244e+00] [ 2.99797739e-04 9.99993030e-01 3.72163161e-03 8.77774887e-02] [-9.79248223e-04 -3.72133642e-03 9.99992596e-01 8.88158528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.902557844 meters 0.28868097773471935 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.89 [[ 9.99978477e-01 6.35387723e-03 1.63521559e-03 3.10272543e+00] [-6.35564814e-03 9.99979219e-01 1.08007271e-03 8.37403706e-02] [-1.62831896e-03 -1.09044232e-03 9.99998080e-01 8.86536855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.962557844 meters 0.28864903093805266 Centerline is valid? [False, False] Translation: X:3.10, Y:0.08, Z:0.89 [[ 9.99978057e-01 6.38835377e-03 1.75331424e-03 3.10225562e+00] [-6.39040864e-03 9.99978898e-01 1.16890611e-03 8.34044969e-02] [-1.74580985e-03 -1.18008486e-03 9.99997780e-01 8.86938411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.022557844 meters 0.2909896968136947 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:0.89 [[ 9.99998123e-01 -1.62284836e-03 1.05842533e-03 3.12161516e+00] [ 1.62079034e-03 9.99996800e-01 1.94238778e-03 9.14813741e-02] [-1.06157415e-03 -1.94066865e-03 9.99997553e-01 8.87865134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.082557844 meters 0.2868108519588066 Centerline is valid? [False, False] Translation: X:3.10, Y:0.09, Z:0.89 [[ 9.99991099e-01 4.21054652e-03 2.70705911e-04 3.09757309e+00] [-4.21008824e-03 9.99989740e-01 -1.67176935e-03 9.43378070e-02] [-2.77742196e-04 1.67061477e-03 9.99998566e-01 8.90070117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.142557844 meters 0.28769988338678004 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:0.89 [[ 9.99990234e-01 -4.03470484e-03 1.80341643e-03 3.11722398e+00] [ 4.03612760e-03 9.99991546e-01 -7.85984444e-04 9.74221996e-02] [-1.80022997e-03 7.93255587e-04 9.99998065e-01 8.92000097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.202557844 meters 0.2870872572707938 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:0.89 [[ 9.99989969e-01 -3.94640460e-03 2.11864744e-03 3.11604596e+00] [ 3.94740729e-03 9.99992099e-01 -4.69299889e-04 9.62789433e-02] [-2.11677865e-03 4.77658345e-04 9.99997646e-01 8.93049794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.262557844 meters 0.2861531881142162 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:0.89 [[ 9.99990151e-01 -3.78202548e-03 2.32262080e-03 3.11525313e+00] [ 3.78185006e-03 9.99992846e-01 7.99149219e-05 9.40792408e-02] [-2.32290643e-03 -7.11303312e-05 9.99997300e-01 8.93813491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.322557844 meters 0.2877443642172401 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:0.89 [[ 9.99983567e-01 5.61102641e-03 -1.17605610e-03 3.14018289e+00] [-5.61028248e-03 9.99984061e-01 6.34914962e-04 8.56713168e-02] [ 1.17959988e-03 -6.28306521e-04 9.99999107e-01 8.93527425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.382557844 meters 0.28674900154672844 Centerline is valid? [False, False] Translation: X:3.12, Y:0.08, Z:0.90 [[ 9.99979930e-01 -5.19629931e-03 -3.62457273e-03 3.11883872e+00] [ 5.19764303e-03 9.99986427e-01 3.61406395e-04 7.75931107e-02] [ 3.62264555e-03 -3.80238377e-04 9.99993366e-01 8.95285352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.442557844 meters 0.28765628608746857 Centerline is valid? [False, False] Translation: X:3.14, Y:0.07, Z:0.90 [[ 9.99991307e-01 3.45964716e-03 -2.32729695e-03 3.13833425e+00] [-3.45875148e-03 9.99993943e-01 3.88773892e-04 6.66455602e-02] [ 2.32862788e-03 -3.80720971e-04 9.99997216e-01 8.96375218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.502557844 meters 0.28696025219331134 Centerline is valid? [False, False] Translation: X:3.12, Y:0.06, Z:0.90 [[ 9.99971994e-01 -6.07966032e-03 -4.36442051e-03 3.11737969e+00] [ 6.08407565e-03 9.99980993e-01 9.99102492e-04 6.30650646e-02] [ 4.35826336e-03 -1.02562798e-03 9.99989977e-01 8.96633498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.562557844 meters 0.28699577650352914 Centerline is valid? [False, False] Translation: X:3.12, Y:0.06, Z:0.90 [[ 9.99973046e-01 -5.71178541e-03 -4.61322329e-03 3.11804261e+00] [ 5.72138994e-03 9.99981487e-01 2.07145083e-03 5.86093434e-02] [ 4.60130620e-03 -2.09778904e-03 9.99987214e-01 8.96568377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters 0.2877289962258033 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.90 [[ 0.99997486 -0.00534159 -0.00466246 3.11797938] [ 0.00535619 0.99998077 0.00312617 0.05426479] [ 0.00464567 -0.00315107 0.99998424 0.8970012 ] [ 0. 0. 0. 1. ]] SLAMing on 400.68255784400003 meters 0.28667477993052937 Centerline is valid? [False, False] Translation: X:3.12, Y:0.05, Z:0.90 [[ 0.99997912 -0.00483615 -0.00428643 3.11665955] [ 0.00485682 0.99997656 0.00482565 0.04735747] [ 0.00426299 -0.00484637 0.99997917 0.89780725] [ 0. 0. 0. 1. ]] SLAMing on 400.74255784400003 meters 0.2861653096136048 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:0.89 [[ 9.99999678e-01 1.35091015e-04 -7.90420743e-04 3.10278148e+00] [-1.32566325e-04 9.99994893e-01 3.19328923e-03 4.10425389e-02] [ 7.90848091e-04 -3.19318342e-03 9.99994589e-01 8.91148248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters 0.2866446912361827 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:0.89 [[ 9.99999659e-01 1.87327221e-04 -8.04113974e-04 3.10277386e+00] [-1.84650035e-04 9.99994445e-01 3.32814560e-03 4.04853643e-02] [ 8.04732959e-04 -3.32799599e-03 9.99994138e-01 8.91248891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.862557844 meters 0.28702526825785823 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:0.89 [[ 9.99999619e-01 3.21917662e-04 -8.11965568e-04 3.10268136e+00] [-3.18951181e-04 9.99993284e-01 3.65094384e-03 3.91346357e-02] [ 8.13135419e-04 -3.65068347e-03 9.99993006e-01 8.91499586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.922557844 meters 0.28754055509046783 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:0.89 [[ 9.99999245e-01 5.01292521e-04 -1.12233596e-03 3.10367347e+00] [-4.96595163e-04 9.99991133e-01 4.18171401e-03 3.67802994e-02] [ 1.12442227e-03 -4.18115350e-03 9.99990627e-01 8.90999353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.982557844 meters 0.2885400573161685 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99998613e-01 8.13787945e-04 -1.45322045e-03 3.10443188e+00] [-8.06135205e-04 9.99985847e-01 5.25889982e-03 3.24845446e-02] [ 1.45747951e-03 -5.25772103e-03 9.99985116e-01 8.91106249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.042557844 meters 0.2874248025257239 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99993755e-01 -3.26592373e-03 -1.35041557e-03 3.10404148e+00] [ 3.26813554e-03 9.99993317e-01 1.63892357e-03 2.96300093e-02] [ 1.34505394e-03 -1.64332668e-03 9.99997745e-01 8.91457793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.102557844 meters 0.28897465754453006 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99993776e-01 -3.20250368e-03 -1.48031541e-03 3.10441502e+00] [ 3.20519142e-03 9.99993213e-01 1.81685636e-03 2.88805016e-02] [ 1.47448688e-03 -1.82158975e-03 9.99997254e-01 8.91344147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.162557844 meters 0.2882032136883556 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99994894e-01 -3.07543918e-03 -8.67736676e-04 3.10287055e+00] [ 3.07728568e-03 9.99992987e-01 2.13469921e-03 2.77868679e-02] [ 8.61165453e-04 -2.13735858e-03 9.99997345e-01 8.91670025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.222557844 meters 0.28896664375090764 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:0.89 [[ 9.99989657e-01 4.31977814e-03 1.42310294e-03 3.12312749e+00] [-4.31908364e-03 9.99990552e-01 -4.90728726e-04 2.83879536e-02] [-1.42520933e-03 4.84577150e-04 9.99998867e-01 8.91611405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.282557844 meters 0.28704730951518337 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99990340e-01 -4.39516673e-03 -4.37372516e-05 3.10470143e+00] [ 4.39520148e-03 9.99989997e-01 8.28967164e-04 3.24839781e-02] [ 4.00933652e-05 -8.29151391e-04 9.99999655e-01 8.90333032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.342557844 meters 0.28710181878626695 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99990161e-01 -4.43488707e-03 9.36505142e-05 3.10409811e+00] [ 4.43481894e-03 9.99989910e-01 7.15562075e-04 3.30273903e-02] [-9.68230062e-05 -7.15139712e-04 9.99999740e-01 8.90962234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.402557844 meters 0.2868668622074116 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99989645e-01 -4.55073969e-03 8.68184580e-06 3.10441597e+00] [ 4.55073571e-03 9.99989560e-01 4.13905176e-04 3.42716416e-02] [-1.05653299e-05 -4.13861381e-04 9.99999914e-01 8.90707004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.462557844 meters 0.2863567334386231 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99989386e-01 -4.60711767e-03 -4.79571392e-05 3.10456120e+00] [ 4.60713053e-03 9.99989350e-01 2.71646879e-04 3.48605004e-02] [ 4.67051193e-05 -2.71864940e-04 9.99999962e-01 8.90691032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.522557844 meters 0.2868109376679288 Centerline is valid? [False, False] Translation: X:3.10, Y:0.03, Z:0.89 [[ 9.99989531e-01 -4.57567551e-03 2.64982679e-05 3.10443258e+00] [ 4.57566601e-03 9.99989471e-01 3.48446534e-04 3.45297666e-02] [-2.80923671e-05 -3.48321639e-04 9.99999939e-01 8.90561506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.582557844 meters 0.28889346682999184 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99994537e-01 2.93644954e-03 1.51779791e-03 3.12624350e+00] [-2.93325785e-03 9.99993491e-01 -2.10081140e-03 3.40485465e-02] [-1.52395696e-03 2.09634783e-03 9.99996641e-01 8.89402945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.642557844 meters 0.2883203254260218 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99994249e-01 2.96440176e-03 1.64742350e-03 3.12573157e+00] [-2.96104846e-03 9.99993547e-01 -2.03420701e-03 3.38182787e-02] [-1.65344308e-03 2.02931721e-03 9.99996574e-01 8.89847410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.702557844 meters 0.2879338954961294 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99994161e-01 2.92426113e-03 1.76838525e-03 3.12540575e+00] [-2.92045924e-03 9.99993427e-01 -2.14869616e-03 3.43147157e-02] [-1.77465698e-03 2.14351912e-03 9.99996128e-01 8.89887051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.762557844 meters 0.2894788660256735 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99994468e-01 2.88660735e-03 1.65244571e-03 3.12610483e+00] [-2.88289353e-03 9.99993323e-01 -2.24545858e-03 3.46459692e-02] [-1.65891644e-03 2.24068233e-03 9.99996114e-01 8.88804695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.822557844 meters 0.28947001786288745 Centerline is valid? [False, False] Translation: X:3.11, Y:0.04, Z:0.89 [[ 9.99982842e-01 -5.82627689e-03 6.08117998e-04 3.10601536e+00] [ 5.82674548e-03 9.99982727e-01 -7.71655471e-04 3.58292025e-02] [-6.03611616e-04 7.75185580e-04 9.99999517e-01 8.88275373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.882557844 meters 0.2874451736500858 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99983673e-01 -5.66993179e-03 7.11325931e-04 3.10546489e+00] [ 5.67017937e-03 9.99983864e-01 -3.46519223e-04 3.40481612e-02] [-7.09349713e-04 3.50546911e-04 9.99999687e-01 8.88994792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.942557844 meters 0.2875910545375061 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99984724e-01 -5.48499568e-03 6.82815470e-04 3.10550838e+00] [ 5.48487245e-03 9.99984941e-01 1.82206641e-04 3.18573916e-02] [-6.83804590e-04 -1.78458702e-04 9.99999750e-01 8.89076692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.002557844 meters 0.28762812641661417 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99985504e-01 -5.34484925e-03 6.51803541e-04 3.10535111e+00] [ 5.34451132e-03 9.99985583e-01 5.19099811e-04 3.04371456e-02] [-6.54568654e-04 -5.15608714e-04 9.99999653e-01 8.89590225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.062557844 meters 0.2869215185638559 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99985459e-01 -5.36060872e-03 5.87401823e-04 3.10551903e+00] [ 5.36032582e-03 9.99985517e-01 4.82147256e-04 3.05867689e-02] [-5.89977918e-04 -4.78991580e-04 9.99999711e-01 8.89564565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters 0.2874541417005973 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99985599e-01 -5.32437437e-03 6.73193749e-04 3.10532964e+00] [ 5.32398897e-03 9.99985663e-01 5.73002439e-04 3.02018549e-02] [-6.76234977e-04 -5.69410111e-04 9.99999609e-01 8.89511126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters 0.28595922781809074 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:0.89 [[ 9.99997465e-01 2.16033827e-03 6.34700776e-04 3.08594810e+00] [-2.15996271e-03 9.99997492e-01 -5.91809583e-04 2.37724824e-02] [-6.35977693e-04 5.90437153e-04 9.99999623e-01 8.88034857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters 0.28732813789044676 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:0.89 [[ 9.99997095e-01 2.35886406e-03 4.96459168e-04 3.08620729e+00] [-2.35886016e-03 9.99997218e-01 -8.44199308e-06 2.13989307e-02] [-4.96477701e-04 7.27089080e-06 9.99999877e-01 8.88267318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters 0.2884064313602026 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99978803e-01 -6.07532121e-03 2.34184414e-03 3.10732045e+00] [ 6.07369642e-03 9.99981310e-01 7.00297639e-04 1.96948793e-02] [-2.34605490e-03 -6.86059144e-04 9.99997013e-01 8.88267040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.362557844 meters 0.2863824710942972 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:0.89 [[ 9.99998872e-01 1.49347543e-03 1.62375095e-04 3.08967694e+00] [-1.49356834e-03 9.99998720e-01 5.73590721e-04 8.02921345e-03] [-1.61518243e-04 -5.73832592e-04 9.99999822e-01 8.87473092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.422557844 meters 0.2897213302597949 Centerline is valid? [False, False] Translation: X:3.13, Y:0.00, Z:0.89 [[ 9.99997105e-01 1.26867411e-03 -2.04441259e-03 3.13076279e+00] [-1.26866786e-03 9.99999195e-01 4.35366718e-06 3.82072203e-03] [ 2.04441647e-03 -1.75997402e-06 9.99997910e-01 8.90685107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.482557844 meters 0.28781374465979287 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.89 [[ 9.99999586e-01 -2.78010708e-04 -8.66267220e-04 3.09301780e+00] [ 2.79636758e-04 9.99998198e-01 1.87752197e-03 -7.80356765e-03] [ 8.65743688e-04 -1.87776343e-03 9.99997862e-01 8.87848664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.542557844 meters 0.2894446369254583 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.89 [[ 9.99975734e-01 6.82933096e-03 1.37557033e-03 3.11415468e+00] [-6.82830356e-03 9.99976405e-01 -7.50210932e-04 -9.68855009e-03] [-1.38066131e-03 7.40799915e-04 9.99998772e-01 8.86834083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.602557844 meters 0.2876310926465573 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.89 [[ 9.99999808e-01 -5.02919513e-04 -3.61203073e-04 3.09219258e+00] [ 5.03719819e-04 9.99997411e-01 2.21900502e-03 -1.16566939e-02] [ 3.60086157e-04 -2.21918654e-03 9.99997473e-01 8.87973509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.662557844 meters 0.2891542721033446 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.01, Z:0.89 [[ 9.99973826e-01 6.58852571e-03 2.98980324e-03 3.11283445e+00] [-6.58694839e-03 9.99978162e-01 -5.37107562e-04 -8.99036324e-03] [-2.99327669e-03 5.17399825e-04 9.99995386e-01 8.86697828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.722557844 meters 0.2896054884081355 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.00, Z:0.89 [[ 9.99990947e-01 -1.05815510e-03 4.12150788e-03 3.13174764e+00] [ 1.05614042e-03 9.99999322e-01 4.90966741e-04 -4.21167528e-03] [-4.12202461e-03 -4.86609406e-04 9.99991386e-01 8.87801750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.782557844 meters 0.28889322947955864 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.00, Z:0.89 [[ 9.99989490e-01 -1.20323931e-03 4.42412045e-03 3.13109277e+00] [ 1.20322379e-03 9.99999276e-01 6.16963415e-06 -2.26803641e-03] [-4.42412467e-03 -8.46362339e-07 9.99990214e-01 8.87548158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.842557844 meters 0.286541106215749 Centerline is valid? [False, False] Translation: X:3.11, Y:0.00, Z:0.89 [[ 9.99988320e-01 4.53928847e-03 1.65986459e-03 3.10764120e+00] [-4.53447715e-03 9.99985540e-01 -2.89098654e-03 2.79212814e-03] [-1.67296361e-03 2.88342615e-03 9.99994444e-01 8.90383467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.902557844 meters 0.288510879160298 Centerline is valid? [False, False] Translation: X:3.13, Y:0.01, Z:0.89 [[ 9.99996912e-01 -4.28997630e-04 2.44775092e-03 3.13160941e+00] [ 4.29612950e-04 9.99999876e-01 -2.50861624e-04 9.77888988e-03] [-2.44764300e-03 2.51912435e-04 9.99996973e-01 8.88557263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.962557844 meters 0.28816165256327975 Centerline is valid? [False, False] Translation: X:3.13, Y:0.01, Z:0.89 [[ 9.99996797e-01 -6.34293216e-04 2.45008875e-03 3.13173775e+00] [ 6.36170373e-04 9.99999505e-01 -7.65455136e-04 1.19285350e-02] [-2.44960202e-03 7.67011359e-04 9.99996706e-01 8.88234857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.022557844 meters 0.2895304583201296 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99996266e-01 -1.00917398e-03 2.53948476e-03 3.13148114e+00] [ 1.01337409e-03 9.99998120e-01 -1.65318141e-03 1.57189767e-02] [-2.53781163e-03 1.65574869e-03 9.99995409e-01 8.88216003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.082557844 meters 0.28974077257909847 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99995949e-01 -1.28033390e-03 2.54228143e-03 3.13170290e+00] [ 1.28621593e-03 9.99996497e-01 -2.31339438e-03 1.84797259e-02] [-2.53931061e-03 2.31665493e-03 9.99994092e-01 8.87701152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.142557844 meters 0.2881741334846862 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99986345e-01 -4.62668686e-03 -2.42982250e-03 3.11217786e+00] [ 4.63475476e-03 9.99983731e-01 3.32529890e-03 1.55884317e-02] [ 2.41439785e-03 -3.33651512e-03 9.99991519e-01 8.89483268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.202557844 meters 0.2890104311857531 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99985116e-01 -4.88483609e-03 -2.43007667e-03 3.11226264e+00] [ 4.89145050e-03 9.99984328e-01 2.72343653e-03 1.81356368e-02] [ 2.41673504e-03 -2.73528260e-03 9.99993339e-01 8.89246742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.262557844 meters 0.2888505319291281 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99985008e-01 -4.95863425e-03 -2.32276636e-03 3.11189168e+00] [ 4.96450202e-03 9.99984483e-01 2.52728088e-03 1.89929116e-02] [ 2.31019846e-03 -2.53877437e-03 9.99994109e-01 8.89467620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.322557844 meters 0.2887841333801596 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99984262e-01 -5.21712089e-03 -2.06336113e-03 3.11152687e+00] [ 5.22088342e-03 9.99984711e-01 1.82233311e-03 2.18754452e-02] [ 2.05382225e-03 -1.83307699e-03 9.99996211e-01 8.88732298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.382557844 meters 0.28829379873250205 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:0.89 [[ 9.99983046e-01 -5.44765670e-03 -2.05665185e-03 3.11175344e+00] [ 5.45004734e-03 9.99984477e-01 1.15858487e-03 2.45640335e-02] [ 2.05030835e-03 -1.16977408e-03 9.99997214e-01 8.88100944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.442557844 meters 0.28993048339941013 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99994124e-01 3.42711281e-03 -8.08317359e-05 3.13177386e+00] [-3.42714194e-03 9.99994061e-01 -3.63039249e-04 2.74754462e-02] [ 7.95870794e-05 3.63314138e-04 9.99999931e-01 8.88519199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.502557844 meters 0.2881778119378347 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:0.89 [[ 9.99990063e-01 -3.95142313e-03 -2.06387093e-03 3.11068297e+00] [ 3.95587877e-03 9.99989844e-01 2.15927521e-03 2.76223206e-02] [ 2.05531776e-03 -2.16741818e-03 9.99995539e-01 8.89161008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.562557844 meters 0.2891416195356854 Centerline is valid? [False, False] Translation: X:3.13, Y:0.03, Z:0.89 [[ 9.99995999e-01 2.73971761e-03 -7.04377621e-04 3.13283948e+00] [-2.74038476e-03 9.99995796e-01 -9.47937860e-04 2.60860939e-02] [ 7.01777578e-04 9.49864332e-04 9.99999303e-01 8.88093904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters 0.28889213601017083 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99995649e-01 2.87565115e-03 -6.57891079e-04 3.13252858e+00] [-2.87603437e-03 9.99995695e-01 -5.82294843e-04 2.45988619e-02] [ 6.56213770e-04 5.84184427e-04 9.99999614e-01 8.88551239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters 0.28944689496712855 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99995115e-01 3.05254641e-03 -6.72097751e-04 3.13255078e+00] [-3.05262563e-03 9.99995334e-01 -1.16865649e-04 2.26539135e-02] [ 6.71737877e-04 1.18916741e-04 9.99999767e-01 8.88599222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters 0.28846231664044736 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99994892e-01 3.13318531e-03 -6.31431070e-04 3.13248448e+00] [-3.13313405e-03 9.99995088e-01 8.21537617e-05 2.18104935e-02] [ 6.31685372e-04 -8.01749839e-05 9.99999797e-01 8.88525242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters 0.2881601362610857 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99994357e-01 3.32057680e-03 -5.08751285e-04 3.13200051e+00] [-3.32029689e-03 9.99994337e-01 5.50040037e-04 1.98785209e-02] [ 5.10574854e-04 -5.48347729e-04 9.99999719e-01 8.88931722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.862557844 meters 0.2886969067357574 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:0.89 [[ 9.99993753e-01 3.51719544e-03 -3.51254796e-04 3.13158193e+00] [-3.51679303e-03 9.99993167e-01 1.13975947e-03 1.74724199e-02] [ 3.55261152e-04 -1.13851706e-03 9.99999289e-01 8.89024591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.922557844 meters 0.2883163633418202 Centerline is valid? [False, False] Translation: X:3.13, Y:0.01, Z:0.89 [[ 9.99993012e-01 3.73281627e-03 -2.06250116e-04 3.13114908e+00] [-3.73243343e-03 9.99991367e-01 1.82642435e-03 1.47684588e-02] [ 2.13066042e-04 -1.82564178e-03 9.99998311e-01 8.89257059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.982557844 meters 0.28703982386126725 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.89 [[ 9.99972944e-01 -6.52793938e-03 -3.39074071e-03 3.11223787e+00] [ 6.53464829e-03 9.99976706e-01 1.97130058e-03 9.82283610e-03] [ 3.37779319e-03 -1.99340454e-03 9.99992308e-01 8.88938185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.042557844 meters 0.287933974530032 Centerline is valid? [False, False] Translation: X:3.11, Y:0.01, Z:0.89 [[ 9.99973818e-01 -6.34786647e-03 -3.47399347e-03 3.11290733e+00] [ 6.35640866e-03 9.99976788e-01 2.45340574e-03 7.61829369e-03] [ 3.45833894e-03 -2.47542363e-03 9.99990956e-01 8.87868628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.102557844 meters 0.28791182891223743 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.00, Z:0.89 [[ 9.99992856e-01 8.53260586e-04 -3.68249455e-03 3.09474637e+00] [-8.49126367e-04 9.99999008e-01 1.12408531e-03 -3.94651088e-04] [ 3.68345004e-03 -1.12095038e-03 9.99992588e-01 8.85222545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.162557844 meters 0.28842691386158414 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.89 [[ 9.99993091e-01 1.24998606e-03 -3.50068772e-03 3.09423889e+00] [-1.24206740e-03 9.99996667e-01 2.26329127e-03 -5.05244325e-03] [ 3.50350513e-03 -2.25892755e-03 9.99991311e-01 8.85462122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.222557844 meters 0.28845142623146186 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.89 [[ 9.99991805e-01 1.61107227e-03 -3.71420624e-03 3.09470013e+00] [-1.59859478e-03 9.99993078e-01 3.35991938e-03 -9.49231864e-03] [ 3.71959360e-03 -3.35395434e-03 9.99987458e-01 8.85639279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.282557844 meters 0.2877719263341837 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.01, Z:0.89 [[ 9.99991315e-01 2.00820086e-03 -3.65187114e-03 3.09433655e+00] [-1.99171747e-03 9.99987839e-01 4.51173304e-03 -1.41128851e-02] [ 3.66088719e-03 -4.50442036e-03 9.99983154e-01 8.86092126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.342557844 meters 0.28705486900230975 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.02, Z:0.89 [[ 9.99992987e-01 -1.69186419e-03 -3.34126704e-03 3.09349097e+00] [ 1.69761454e-03 9.99997082e-01 1.71892372e-03 -2.04736682e-02] [ 3.33834910e-03 -1.72458385e-03 9.99992941e-01 8.86562550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.402557844 meters 0.2878628885528459 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.03, Z:0.89 [[ 9.99992814e-01 -1.20757311e-03 -3.59357645e-03 3.09428553e+00] [ 1.21806603e-03 9.99994997e-01 2.91915521e-03 -2.55871476e-02] [ 3.59003338e-03 -2.92351144e-03 9.99989282e-01 8.86376540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.462557844 meters 0.2888604354846615 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.04, Z:0.89 [[ 9.99980618e-01 5.06316588e-03 -3.62323240e-03 3.11676729e+00] [-5.06266063e-03 9.99987174e-01 1.48606714e-04 -3.60630154e-02] [ 3.62393835e-03 -1.30260638e-04 9.99993425e-01 8.86674554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.522557844 meters 0.2877400776035964 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:0.89 [[ 9.99982149e-01 -4.19202928e-03 -4.25768737e-03 3.09689347e+00] [ 4.20071620e-03 9.99989110e-01 2.03340135e-03 -3.93934559e-02] [ 4.24911692e-03 -2.05125039e-03 9.99988869e-01 8.85899152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.582557844 meters 0.2876458357051094 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.89 [[ 9.99972685e-01 5.57975374e-03 -4.84712870e-03 3.11901617e+00] [-5.57089153e-03 9.99982790e-01 1.83992240e-03 -4.50421319e-02] [ 4.85731159e-03 -1.81286932e-03 9.99986560e-01 8.85961572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.642557844 meters 0.2889137175172502 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.04, Z:0.89 [[ 9.99972342e-01 5.56943730e-03 -4.92914052e-03 3.11932325e+00] [-5.56053524e-03 9.99982888e-01 1.81787175e-03 -4.49690300e-02] [ 4.93918069e-03 -1.79041281e-03 9.99986199e-01 8.85748239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.702557844 meters 0.28735605092637306 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.89 [[ 9.99972953e-01 5.58690223e-03 -4.78327761e-03 3.11874193e+00] [-5.57807106e-03 9.99982717e-01 1.85761366e-03 -4.50635158e-02] [ 4.79357325e-03 -1.83088196e-03 9.99986835e-01 8.86261070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.762557844 meters 0.28650945341943473 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.04, Z:0.89 [[ 9.99988875e-01 1.24154183e-03 -4.55058382e-03 3.11787940e+00] [-1.25270196e-03 9.99996213e-01 -2.45043246e-03 -4.49430355e-02] [ 4.54752427e-03 2.45610573e-03 9.99986644e-01 8.86811709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.822557844 meters 0.287834382739365 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.89 [[ 9.99987971e-01 1.30450606e-03 -4.72825970e-03 3.11856242e+00] [-1.31524319e-03 9.99996562e-01 -2.26844287e-03 -4.57722569e-02] [ 4.72528425e-03 2.27463439e-03 9.99986249e-01 8.86221976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.882557844 meters 0.2876654152929955 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.89 [[ 9.99987629e-01 1.41183966e-03 -4.76944381e-03 3.11844173e+00] [-1.42133395e-03 9.99997014e-01 -1.98784735e-03 -4.68997898e-02] [ 4.76662305e-03 1.99460173e-03 9.99986650e-01 8.86721807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.942557844 meters 0.28673600727162074 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:0.89 [[ 9.99987686e-01 1.39786268e-03 -4.76174324e-03 3.11830473e+00] [-1.40751087e-03 9.99996962e-01 -2.02343889e-03 -4.67218253e-02] [ 4.75890028e-03 2.03011618e-03 9.99986616e-01 8.86998869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.002557844 meters 0.28900699408784686 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.04, Z:0.89 [[ 9.99986059e-01 -3.32329978e-03 -4.10327486e-03 3.14116328e+00] [ 3.32872601e-03 9.99993593e-01 1.31629251e-03 -4.15874872e-02] [ 4.09887414e-03 -1.32993283e-03 9.99990715e-01 8.85859857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.062557844 meters 0.2875031015663004 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.04, Z:0.88 [[ 9.99961718e-01 5.70633402e-03 -6.63324144e-03 3.12156254e+00] [-5.70100593e-03 9.99983411e-01 8.21870664e-04 -3.67326083e-02] [ 6.63782128e-03 -7.84023053e-04 9.99977662e-01 8.84669205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters 0.2876694917716595 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.03, Z:0.88 [[ 9.99962608e-01 5.46485719e-03 -6.70213103e-03 3.12196764e+00] [-5.46472128e-03 9.99985068e-01 3.85922303e-05 -3.36987000e-02] [ 6.70224185e-03 -1.96550921e-06 9.99977540e-01 8.84095960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters 0.29400691657929356 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.88 [[ 9.99968013e-01 5.97835911e-04 -7.97590102e-03 3.14634344e+00] [-5.77333003e-04 9.99996524e-01 2.57266188e-03 -2.38345308e-02] [ 7.97741133e-03 -2.56797484e-03 9.99964883e-01 8.82564237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters 0.28903524911591655 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.88 [[ 9.99969298e-01 3.47788721e-04 -7.82823028e-03 3.14599191e+00] [-3.32703150e-04 9.99998085e-01 1.92829269e-03 -2.11528130e-02] [ 7.82888593e-03 -1.92562901e-03 9.99967500e-01 8.82436263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters 0.2887194040097375 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.88 [[ 9.99968936e-01 1.65855924e-04 -7.88032142e-03 3.14595924e+00] [-1.54162664e-04 9.99998886e-01 1.48443992e-03 -1.92707884e-02] [ 7.88055884e-03 -1.48317896e-03 9.99967848e-01 8.82746633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.362557844 meters 0.2890027224925886 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.88 [[ 9.99968178e-01 1.04661630e-04 -7.97693493e-03 3.14625923e+00] [-9.39996080e-05 9.99999102e-01 1.33696952e-03 -1.86732504e-02] [ 7.97706769e-03 -1.33617714e-03 9.99967290e-01 8.82625782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.422557844 meters 0.28961176938364935 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.02, Z:0.88 [[ 9.99967355e-01 -2.08536781e-04 -8.07741731e-03 3.14675781e+00] [ 2.12791701e-04 9.99999839e-01 5.25911558e-04 -1.53443155e-02] [ 8.07730634e-03 -5.27613197e-04 9.99967239e-01 8.81977190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.482557844 meters 0.28839014692876846 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.01, Z:0.88 [[ 9.99970214e-01 -5.10637632e-04 -7.70127667e-03 3.14580450e+00] [ 5.07461603e-04 9.99999785e-01 -4.14351331e-04 -1.14580615e-02] [ 7.70148660e-03 4.10430887e-04 9.99970259e-01 8.81910710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.542557844 meters 0.28733480380136833 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.01, Z:0.88 [[ 9.99971719e-01 -8.71052665e-04 -7.47013860e-03 3.14526680e+00] [ 8.59988962e-04 9.99998529e-01 -1.48414155e-03 -7.12635066e-03] [ 7.47142037e-03 1.47767534e-03 9.99970997e-01 8.81781298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.602557844 meters 0.29083785328348205 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:0.88 [[ 9.99972861e-01 4.49549647e-04 -7.35362457e-03 3.18535387e+00] [-4.72711565e-04 9.99994932e-01 -3.14829324e-03 7.19801355e-03] [ 7.35217199e-03 3.15168394e-03 9.99968006e-01 8.82998481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.662557844 meters 0.28795744460964134 Centerline is valid? [False, False] Translation: X:3.15, Y:0.01, Z:0.88 [[ 9.99981410e-01 -3.50862338e-04 -6.08738458e-03 3.14686054e+00] [ 3.32431745e-04 9.99995359e-01 -3.02841794e-03 1.18507746e-02] [ 6.08841888e-03 3.02633800e-03 9.99976886e-01 8.78962671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.722557844 meters 0.2868060975614329 Centerline is valid? [False, False] Translation: X:3.14, Y:0.01, Z:0.88 [[ 9.99986501e-01 1.20753707e-03 -5.05370378e-03 3.14175065e+00] [-1.21646919e-03 9.99997703e-01 -1.76473901e-03 1.48806573e-02] [ 5.05156119e-03 1.77086286e-03 9.99985673e-01 8.82257794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.782557844 meters 0.28697001566105906 Centerline is valid? [False, False] Translation: X:3.14, Y:0.02, Z:0.88 [[ 9.99984500e-01 1.05893868e-03 -5.46607989e-03 3.14289574e+00] [-1.07076189e-03 9.99997093e-01 -2.16054154e-03 1.62733395e-02] [ 5.46377611e-03 2.16636092e-03 9.99982727e-01 8.81810843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.842557844 meters 0.2892980892035072 Centerline is valid? [False, False] Translation: X:3.17, Y:0.02, Z:0.88 [[ 9.99983898e-01 -4.81603928e-03 -3.00154866e-03 3.16510839e+00] [ 4.81791075e-03 9.99988204e-01 6.16582412e-04 1.60467987e-02] [ 2.99854377e-03 -6.31033678e-04 9.99995305e-01 8.80161433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.902557844 meters 0.2876996579075233 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99984465e-01 -4.93709713e-03 -2.58760858e-03 3.16377939e+00] [ 4.93759217e-03 9.99987793e-01 1.84955501e-04 1.80614489e-02] [ 2.58666385e-03 -1.97729184e-04 9.99996635e-01 8.80843421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.962557844 meters 0.2887094842249208 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99983433e-01 -5.12015919e-03 -2.63022576e-03 3.16383775e+00] [ 5.11915237e-03 9.99986821e-01 -3.89380378e-04 2.03387653e-02] [ 2.63218478e-03 3.75909401e-04 9.99996465e-01 8.80903057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.022557844 meters 0.28936350111099274 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99982340e-01 -5.27744575e-03 -2.73284053e-03 3.16432403e+00] [ 5.27513934e-03 9.99985725e-01 -8.50480699e-04 2.21768729e-02] [ 2.73728988e-03 8.36049565e-04 9.99995904e-01 8.80295830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.082557844 meters 0.28928967778105547 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99981707e-01 -5.30156116e-03 -2.91192069e-03 3.16481480e+00] [ 5.29893703e-03 9.99985548e-01 -9.08144863e-04 2.23730886e-02] [ 2.91669320e-03 8.92698166e-04 9.99995348e-01 8.80188963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.142557844 meters 0.288314760235165 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99981994e-01 -5.23599775e-03 -2.93199832e-03 3.16465508e+00] [ 5.23389998e-03 9.99986042e-01 -7.22691594e-04 2.16486576e-02] [ 2.93574141e-03 7.07332795e-04 9.99995441e-01 8.80698978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.202557844 meters 0.2891835992360629 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:0.88 [[ 9.99982624e-01 -5.14369989e-03 -2.88001626e-03 3.16442381e+00] [ 5.14239376e-03 9.99986672e-01 -4.60737749e-04 2.06106785e-02] [ 2.88234777e-03 4.45919565e-04 9.99995747e-01 8.80967030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.262557844 meters 0.289375726555502 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:0.88 [[ 9.99993962e-01 3.45074842e-03 4.09305277e-04 3.18078449e+00] [-3.45010818e-03 9.99992840e-01 -1.55473691e-03 1.65466214e-02] [-4.14667352e-04 1.55331537e-03 9.99998708e-01 8.82707650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.322557844 meters 0.2893074710589159 Centerline is valid? [False, False] Translation: X:3.18, Y:0.02, Z:0.88 [[ 9.99993734e-01 3.54003961e-03 -3.11978522e-06 3.18199120e+00] [-3.54004076e-03 9.99992966e-01 -1.23901376e-03 1.51686819e-02] [-1.26639453e-06 1.23901704e-03 9.99999232e-01 8.82189758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.382557844 meters 0.2893351684739472 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:0.88 [[ 9.99993496e-01 3.60169473e-03 -1.89880918e-04 3.18244972e+00] [-3.60189815e-03 9.99992928e-01 -1.08205378e-03 1.45079784e-02] [ 1.85982348e-04 1.08273067e-03 9.99999397e-01 8.82237262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.442557844 meters 0.28884619233170167 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:0.88 [[ 9.99992453e-01 -3.57232002e-03 1.52694914e-03 3.19913634e+00] [ 3.57140334e-03 9.99993441e-01 6.02638011e-04 2.07078409e-02] [-1.52909194e-03 -5.97180112e-04 9.99998653e-01 8.84730771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.502557844 meters 0.2885821658894614 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:0.88 [[ 9.99991969e-01 -3.63060541e-03 1.69747541e-03 3.19879819e+00] [ 3.62986202e-03 9.99993315e-01 4.40811722e-04 2.13710703e-02] [-1.69906447e-03 -4.34646580e-04 9.99998462e-01 8.84522152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.562557844 meters 0.2885677979234764 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:0.88 [[ 9.99992183e-01 -3.57814824e-03 1.68235488e-03 3.19887978e+00] [ 3.57718956e-03 9.99993438e-01 5.72504569e-04 2.08102196e-02] [-1.68439234e-03 -5.66481992e-04 9.99998421e-01 8.84434758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters 0.2901738812494568 Centerline is valid? [False, False] Translation: X:3.22, Y:0.02, Z:0.89 [[ 9.99977425e-01 5.72927418e-03 3.51065509e-03 3.21788066e+00] [-5.72955081e-03 9.99983584e-01 6.87444975e-05 1.59651777e-02] [-3.51020360e-03 -8.88574224e-05 9.99993835e-01 8.85100606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters 0.28940313782033783 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.89 [[ 9.99977773e-01 5.85024810e-03 3.19823229e-03 3.21863049e+00] [-5.85200841e-03 9.99982730e-01 5.41321728e-04 1.40952542e-02] [-3.19501019e-03 -5.60025778e-04 9.99994739e-01 8.85079452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters 0.2873955262645576 Centerline is valid? [False, False] Translation: X:3.20, Y:0.01, Z:0.89 [[ 9.99998420e-01 -1.66681484e-03 6.17372326e-04 3.19818105e+00] [ 1.66482294e-03 9.99993452e-01 3.21299993e-03 1.22903137e-02] [-6.22723760e-04 -3.21196704e-03 9.99994648e-01 8.85871477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters 0.2891002189195361 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99984230e-01 4.72628952e-03 3.03360323e-03 3.21992951e+00] [-4.72620501e-03 9.99988831e-01 -3.50280830e-05 1.21563694e-02] [-3.03373490e-03 2.06900998e-05 9.99995398e-01 8.84507866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.862557844 meters 0.2902133213463327 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99983551e-01 4.75870250e-03 3.20202722e-03 3.21941829e+00] [-4.75886698e-03 9.99988676e-01 4.37491567e-05 1.18447957e-02] [-3.20178277e-03 -5.89864586e-05 9.99994873e-01 8.84742863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.922557844 meters 0.2896110357391312 Centerline is valid? [False, False] Translation: X:3.20, Y:0.01, Z:0.88 [[ 9.99989313e-01 -4.62267316e-03 6.63257206e-05 3.20208816e+00] [ 4.62260532e-03 9.99988827e-01 9.88889113e-04 1.06866786e-02] [-7.08962907e-05 -9.88571948e-04 9.99999509e-01 8.83298034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.982557844 meters 0.2870223526461434 Centerline is valid? [False, False] Translation: X:3.18, Y:0.01, Z:0.88 [[ 9.99998475e-01 3.48176368e-04 -1.71131612e-03 3.17912132e+00] [-3.52279891e-04 9.99997062e-01 -2.39815952e-03 9.56437965e-03] [ 1.71047611e-03 2.39875873e-03 9.99995660e-01 8.84451422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.042557844 meters 0.2890972642235074 Centerline is valid? [False, False] Translation: X:3.20, Y:0.01, Z:0.88 [[ 9.99984807e-01 -5.37760259e-03 1.21126259e-03 3.20055716e+00] [ 5.37699021e-03 9.99985415e-01 5.08263988e-04 9.24407453e-03] [-1.21397816e-03 -5.01743319e-04 9.99999137e-01 8.83225566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.102557844 meters 0.2902144910072485 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988723e-01 4.32913605e-03 1.95262195e-03 3.22103024e+00] [-4.32869656e-03 9.99990605e-01 -2.29244495e-04 7.77792393e-03] [-1.95359604e-03 2.20789602e-04 9.99998067e-01 8.82716905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.162557844 meters 0.288901803580766 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99989255e-01 4.25550722e-03 1.83881998e-03 3.22133310e+00] [-4.25472995e-03 9.99990858e-01 -4.26408899e-04 8.58661929e-03] [-1.84061776e-03 4.18580635e-04 9.99998218e-01 8.82672187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.222557844 meters 0.28825576525257846 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988735e-01 4.27181273e-03 2.06923018e-03 3.22079466e+00] [-4.27102727e-03 9.99990805e-01 -3.83864153e-04 8.42781682e-03] [-2.07085095e-03 3.75022090e-04 9.99997785e-01 8.82622841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.282557844 meters 0.2878610561913429 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99987761e-01 4.30808017e-03 2.43263342e-03 3.21987835e+00] [-4.30742145e-03 9.99990685e-01 -2.75958132e-04 7.99824767e-03] [-2.43379961e-03 2.65476377e-04 9.99997003e-01 8.82734502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.342557844 meters 0.28850612508880263 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988192e-01 4.29645602e-03 2.27083617e-03 3.22048314e+00] [-4.29577051e-03 9.99990726e-01 -3.06665519e-04 8.09807892e-03] [-2.27213269e-03 2.96906907e-04 9.99997375e-01 8.82220824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.402557844 meters 0.2890622818067437 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988474e-01 4.27874096e-03 2.17801575e-03 3.22097202e+00] [-4.27799593e-03 9.99990789e-01 -3.46610237e-04 8.25768895e-03] [-2.17947874e-03 3.37288700e-04 9.99997568e-01 8.81648605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.462557844 meters 0.289954701919745 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988684e-01 4.16717977e-03 2.29476997e-03 3.22069762e+00] [-4.16573542e-03 9.99991122e-01 -6.33827815e-04 9.46179246e-03] [-2.29739087e-03 6.24261239e-04 9.99997166e-01 8.81628016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.522557844 meters 0.28853232844879523 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99990418e-01 3.86869249e-03 2.04888427e-03 3.22150615e+00] [-3.86573594e-03 9.99991484e-01 -1.44500585e-03 1.28407969e-02] [-2.05445711e-03 1.43707156e-03 9.99996857e-01 8.81264658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.582557844 meters 0.28839983372534267 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99990954e-01 3.72905139e-03 2.04590683e-03 3.22152991e+00] [-3.72536125e-03 9.99991433e-01 -1.80452996e-03 1.43401795e-02] [-2.05261848e-03 1.79689189e-03 9.99996279e-01 8.81264258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.642557844 meters 0.28762057890488213 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99990055e-01 3.73080192e-03 2.44374975e-03 3.22040532e+00] [-3.72641017e-03 9.99991438e-01 -1.79922822e-03 1.43453640e-02] [-2.45044139e-03 1.79010391e-03 9.99995395e-01 8.81732759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.702557844 meters 0.28804841126827535 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99989770e-01 3.76248358e-03 2.51085696e-03 3.22009664e+00] [-3.75821678e-03 9.99991490e-01 -1.70190053e-03 1.39506854e-02] [-2.51723897e-03 1.69244677e-03 9.99995400e-01 8.82112250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.762557844 meters 0.2889381027713229 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99990074e-01 3.82585875e-03 2.28378534e-03 3.22085566e+00] [-3.82242537e-03 9.99991561e-01 -1.50584557e-03 1.31439119e-02] [-2.28952722e-03 1.49710103e-03 9.99996258e-01 8.81504357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.822557844 meters 0.2869767343789858 Centerline is valid? [False, False] Translation: X:3.22, Y:0.01, Z:0.88 [[ 9.99988838e-01 3.99189204e-03 2.52758018e-03 3.22010490e+00] [-3.98938744e-03 9.99991547e-01 -9.95174183e-04 1.10526433e-02] [-2.53153145e-03 9.85079578e-04 9.99996310e-01 8.81829655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.882557844 meters 0.2887799724499462 Centerline is valid? [False, False] Translation: X:3.26, Y:0.01, Z:0.88 [[ 9.99979750e-01 4.77301498e-03 4.20933276e-03 3.25839668e+00] [-4.76968945e-03 9.99988305e-01 -7.99722076e-04 8.78919507e-03] [-4.21310062e-03 7.79628671e-04 9.99990821e-01 8.84423457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.942557844 meters 0.2881389447164382 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:0.88 [[ 9.99992946e-01 -3.42669196e-03 1.53792878e-03 3.24007399e+00] [ 3.42558576e-03 9.99993873e-01 7.21334505e-04 1.04824901e-02] [-1.54039115e-03 -7.16061110e-04 9.99998557e-01 8.82727671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.002557844 meters 0.28796055585164027 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:0.88 [[ 9.99992637e-01 -3.50243002e-03 1.56784292e-03 3.23990442e+00] [ 3.50161735e-03 9.99993734e-01 5.20784189e-04 1.13380229e-02] [-1.56965711e-03 -5.15290368e-04 9.99998635e-01 8.82955916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.062557844 meters 0.28869569609327944 Centerline is valid? [False, False] Translation: X:3.26, Y:0.01, Z:0.88 [[ 9.99978188e-01 6.06441234e-03 2.61644927e-03 3.26108411e+00] [-6.06435194e-03 9.99981611e-01 -3.10175018e-05 1.05974192e-02] [-2.61658926e-03 1.51497560e-05 9.99996577e-01 8.82945042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.122557844 meters 0.28925486131212813 Centerline is valid? [False, False] Translation: X:3.26, Y:0.01, Z:0.88 [[ 9.99978775e-01 5.97864884e-03 2.58934412e-03 3.26125455e+00] [-5.97802538e-03 9.99982101e-01 -2.48449888e-04 1.15071401e-02] [-2.59078317e-03 2.32965450e-04 9.99996617e-01 8.82734545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters 0.28886017886675874 Centerline is valid? [False, False] Translation: X:3.26, Y:0.01, Z:0.88 [[ 9.99980010e-01 5.78927990e-03 2.54242669e-03 3.26156585e+00] [-5.78748270e-03 9.99982998e-01 -7.13675890e-04 1.34671572e-02] [-2.54651513e-03 6.98947373e-04 9.99996513e-01 8.82371505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters 0.2882243258603895 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:0.88 [[ 9.99981463e-01 5.55898170e-03 2.48438267e-03 3.26176584e+00] [-5.55575067e-03 9.99983714e-01 -1.30555282e-03 1.59298707e-02] [-2.49159975e-03 1.29172601e-03 9.99996062e-01 8.82326461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters 0.28775815503516367 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:0.88 [[ 9.99982950e-01 5.29015126e-03 2.47262710e-03 3.26183319e+00] [-5.28534537e-03 9.99984139e-01 -1.94614729e-03 1.86229019e-02] [-2.48288330e-03 1.93304542e-03 9.99995049e-01 8.82314597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.362557844 meters 0.28902506427461305 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:0.88 [[ 9.99984162e-01 5.06366192e-03 2.45656705e-03 3.26236135e+00] [-5.05741827e-03 9.99983982e-01 -2.54120560e-03 2.09406717e-02] [-2.46939550e-03 2.52874147e-03 9.99993754e-01 8.81302495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.422557844 meters 0.287608646679498 Centerline is valid? [False, False] Translation: X:3.24, Y:0.03, Z:0.88 [[ 9.99992837e-01 -3.35694339e-03 1.74857586e-03 3.24311730e+00] [ 3.35917900e-03 9.99993542e-01 -1.27716638e-03 2.63854750e-02] [-1.74427720e-03 1.28303101e-03 9.99997656e-01 8.79626044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.482557844 meters 0.288947024520562 Centerline is valid? [False, False] Translation: X:3.24, Y:0.03, Z:0.88 [[ 9.99992731e-01 -3.45839877e-03 1.60512667e-03 3.24375998e+00] [ 3.46085250e-03 9.99992843e-01 -1.52842806e-03 2.74135492e-02] [-1.59982927e-03 1.53397205e-03 9.99997544e-01 8.79024449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.542557844 meters 0.286819374821608 Centerline is valid? [False, False] Translation: X:3.24, Y:0.03, Z:0.88 [[ 9.99997884e-01 -8.76276593e-04 1.86129018e-03 3.24155103e+00] [ 8.76663734e-04 9.99999594e-01 -2.07190022e-04 3.40230568e-02] [-1.86110786e-03 2.08821309e-04 9.99998246e-01 8.80853789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.602557844 meters 0.2874431092153292 Centerline is valid? [False, False] Translation: X:3.24, Y:0.04, Z:0.88 [[ 9.99997745e-01 -1.00374792e-03 1.87151843e-03 3.24186642e+00] [ 1.00471275e-03 9.99999363e-01 -5.14664596e-04 3.53319611e-02] [-1.87100065e-03 5.16543774e-04 9.99998116e-01 8.80157750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.662557844 meters 0.2891625307196931 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:0.88 [[ 0.99997524 0.00558902 0.00427561 3.26386081] [-0.0055737 0.99997804 -0.00358612 0.03688854] [-0.00429556 0.0035622 0.99998443 0.87875762] [ 0. 0. 0. 1. ]] SLAMing on 408.722557844 meters 0.2883324772720991 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:0.88 [[ 0.99997543 0.0054477 0.00441047 3.26327084] [-0.00542992 0.99997713 -0.00403282 0.03873422] [-0.00443234 0.00400877 0.99998214 0.87946495] [ 0. 0. 0. 1. ]] SLAMing on 408.782557844 meters 0.28802292867165025 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:0.88 [[ 0.99997666 0.00523617 0.00438985 3.26346416] [-0.00521505 0.99997484 -0.00480831 0.04174017] [-0.00441491 0.00478531 0.9999788 0.87924048] [ 0. 0. 0. 1. ]] SLAMing on 408.842557844 meters 0.285255277365924 Centerline is valid? [False, False] Translation: X:3.24, Y:0.05, Z:0.88 [[ 9.99996488e-01 -3.96558402e-04 2.62047087e-03 3.24111393e+00] [ 4.00461045e-04 9.99998811e-01 -1.48893353e-03 4.62793751e-02] [-2.61987731e-03 1.48997770e-03 9.99995458e-01 8.80811887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.902557844 meters 0.2876963214784279 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:0.88 [[ 9.99999677e-01 3.84064445e-04 7.05440431e-04 3.28148115e+00] [-3.82725215e-04 9.99998126e-01 -1.89758577e-03 4.87446869e-02] [-7.06167904e-04 1.89731517e-03 9.99997951e-01 8.83694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.962557844 meters 0.2889911559225428 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:0.88 [[ 9.99999717e-01 3.41544519e-04 6.70610852e-04 3.28177336e+00] [-3.40189120e-04 9.99997901e-01 -2.02021608e-03 4.92299158e-02] [-6.71299438e-04 2.01998737e-03 9.99997735e-01 8.83215139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.022557844 meters 0.28614740062023813 Centerline is valid? [False, False] Translation: X:3.28, Y:0.05, Z:0.88 [[ 9.99989145e-01 4.48134605e-03 1.27558266e-03 3.28031412e+00] [-4.48359881e-03 9.99988384e-01 1.76871833e-03 5.09757590e-02] [-1.26764160e-03 -1.77441833e-03 9.99997622e-01 8.83481757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.082557844 meters 0.28559147373699645 Centerline is valid? [False, False] Translation: X:3.26, Y:0.05, Z:0.88 [[ 9.99990390e-01 -4.38212851e-03 -1.26494637e-04 3.26146573e+00] [ 4.38247245e-03 9.99986306e-01 2.86048474e-03 5.46038120e-02] [ 1.13957893e-04 -2.86101161e-03 9.99995901e-01 8.81549489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.142557844 meters 0.2875571652492282 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:0.88 [[ 9.99997921e-01 1.97269787e-03 5.15279301e-04 3.28550566e+00] [-1.97259221e-03 9.99998033e-01 -2.05496640e-04 5.19061619e-02] [-5.15683670e-04 2.04479777e-04 9.99999846e-01 8.79187922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.202557844 meters 0.28747150927359916 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:0.88 [[ 9.99997912e-01 1.99689559e-03 4.33259701e-04 3.28578345e+00] [-1.99683515e-03 9.99997997e-01 -1.39884715e-04 5.16421802e-02] [-4.33538168e-04 1.39019275e-04 9.99999896e-01 8.78990165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.262557844 meters 0.2875925654714033 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:0.88 [[ 9.99998002e-01 1.96266998e-03 3.78113874e-04 3.28590898e+00] [-1.96258427e-03 9.99998048e-01 -2.26916402e-04 5.20098746e-02] [-3.78558498e-04 2.26173868e-04 9.99999903e-01 8.79039733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.322557844 meters 0.28620619526317653 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:0.88 [[ 9.99998338e-01 1.72544733e-03 5.89348678e-04 3.28524109e+00] [-1.72485926e-03 9.99998016e-01 -9.96885716e-04 5.51676819e-02] [-5.91067582e-04 9.95867516e-04 9.99999329e-01 8.79433782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.382557844 meters 0.28679790583281684 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:0.88 [[ 9.99998761e-01 1.47344299e-03 5.54431872e-04 3.28525128e+00] [-1.47247611e-03 9.99997402e-01 -1.74029479e-03 5.81741603e-02] [-5.56994656e-04 1.73947624e-03 9.99998332e-01 8.79701834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.442557844 meters 0.2859979769323575 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:0.88 [[ 9.99999168e-01 1.13008300e-03 6.21988212e-04 3.28503259e+00] [-1.12839323e-03 9.99995690e-01 -2.71040179e-03 6.21702223e-02] [-6.25048510e-04 2.70969769e-03 9.99996133e-01 8.79902373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.502557844 meters 0.2849178272996336 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:0.88 [[ 9.99987361e-01 4.97741564e-03 7.09034884e-04 3.28538383e+00] [-4.97765310e-03 9.99987556e-01 3.33536112e-04 6.73289920e-02] [-7.07365913e-04 -3.37061226e-04 9.99999693e-01 8.78974655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.562557844 meters 0.2877892650009001 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99994125e-01 -3.42100305e-03 -2.15184134e-04 3.30714720e+00] [ 3.42108118e-03 9.99994082e-01 3.63770368e-04 7.69217279e-02] [ 2.13938401e-04 -3.64504394e-04 9.99999911e-01 8.80151224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters 0.2870322915824534 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.88 [[ 9.99999400e-01 -7.02396199e-04 8.40640491e-04 3.30298442e+00] [ 7.00623842e-04 9.99997535e-01 2.10678148e-03 8.30272668e-02] [-8.42118214e-04 -2.10619124e-03 9.99997427e-01 8.82306595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters 0.2886091534453667 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.88 [[ 9.99999369e-01 -8.97691713e-04 6.75393901e-04 3.30400093e+00] [ 8.96572285e-04 9.99998227e-01 1.65592593e-03 8.49214401e-02] [-6.76879214e-04 -1.65531935e-03 9.99998401e-01 8.81152694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters 0.2857442058591281 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99973897e-01 6.41364182e-03 -3.32715820e-03 3.28655055e+00] [-6.41433391e-03 9.99979408e-01 -1.97383699e-04 8.71545001e-02] [ 3.32582374e-03 2.18720051e-04 9.99994446e-01 8.79990299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters 0.2862704109675007 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99974621e-01 6.19750391e-03 -3.51394816e-03 3.28730802e+00] [-6.20014497e-03 9.99980504e-01 -7.41200098e-04 8.95023992e-02] [ 3.50928606e-03 7.62968275e-04 9.99993551e-01 8.79478236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.862557844 meters 0.2867585989155275 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99976694e-01 5.84766508e-03 -3.52355557e-03 3.28727949e+00] [-5.85341977e-03 9.99981548e-01 -1.62511130e-03 9.32298797e-02] [ 3.51398745e-03 1.64569828e-03 9.99992472e-01 8.79689270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.922557844 meters 0.286287958849631 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99977426e-01 5.68623010e-03 -3.57962289e-03 3.28739018e+00] [-5.69353365e-03 9.99981724e-01 -2.03343921e-03 9.49426528e-02] [ 3.56799487e-03 2.05377402e-03 9.99991526e-01 8.79825659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.982557844 meters 0.28561384324819294 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99993491e-01 -2.31996347e-03 -2.76320748e-03 3.30642156e+00] [ 2.31821423e-03 9.99997111e-01 -6.36082171e-04 9.95081004e-02] [ 2.76467518e-03 6.29672324e-04 9.99995980e-01 8.81819492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.042557844 meters 0.2858846654152703 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99993658e-01 -2.36194803e-03 -2.66541033e-03 3.30612143e+00] [ 2.35998622e-03 9.99996942e-01 -7.38930565e-04 9.99298833e-02] [ 2.66714750e-03 7.32635547e-04 9.99996175e-01 8.81950517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.102557844 meters 0.284685336314994 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998529e-01 -5.08668768e-04 -1.63821986e-03 3.30054968e+00] [ 5.10152910e-04 9.99999460e-01 9.05657788e-04 1.00660576e-01] [ 1.63775830e-03 -9.06492198e-04 9.99998248e-01 8.85970482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.162557844 meters 0.2852152609357334 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998546e-01 -5.71472254e-04 -1.60642015e-03 3.30035544e+00] [ 5.72677568e-04 9.99999555e-01 7.49951167e-04 1.01308511e-01] [ 1.60599086e-03 -7.50870038e-04 9.99998428e-01 8.86239419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.222557844 meters 0.28451739428585876 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998908e-01 -5.70307196e-04 -1.36342848e-03 3.29970431e+00] [ 5.71346498e-04 9.99999546e-01 7.62002860e-04 1.01241338e-01] [ 1.36299329e-03 -7.62781018e-04 9.99998780e-01 8.86333199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.282557844 meters 0.28462478157726845 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99999014e-01 -5.16795895e-04 -1.30554843e-03 3.29972980e+00] [ 5.17980725e-04 9.99999454e-01 9.07359260e-04 1.00638875e-01] [ 1.30507879e-03 -9.08034615e-04 9.99998736e-01 8.85919480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.342557844 meters 0.2854192126740975 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998894e-01 -4.47242121e-04 -1.41827306e-03 3.30013410e+00] [ 4.48779329e-04 9.99999312e-01 1.08372583e-03 9.99039284e-02] [ 1.41778740e-03 -1.08436112e-03 9.99998407e-01 8.85615153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.402557844 meters 0.285511990115713 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998718e-01 -3.42828625e-04 -1.56427754e-03 3.30067023e+00] [ 3.44940263e-04 9.99999029e-01 1.34984293e-03 9.88051682e-02] [ 1.56381326e-03 -1.35038078e-03 9.99997865e-01 8.85183840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.462557844 meters 0.28713147321774135 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998671e-01 -3.20639907e-04 -1.59824077e-03 3.30070782e+00] [ 3.22892201e-04 9.99998955e-01 1.40917419e-03 9.85609184e-02] [ 1.59778726e-03 -1.40968838e-03 9.99997730e-01 8.85287229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.522557844 meters 0.2853288837756177 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99997981e-01 -3.36467739e-04 -1.98090596e-03 3.30173580e+00] [ 3.39144107e-04 9.99999030e-01 1.35090186e-03 9.88457392e-02] [ 1.98044950e-03 -1.35157094e-03 9.99997126e-01 8.85049601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.582557844 meters 0.28629440445524496 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99998092e-01 -4.04995586e-04 -1.91075844e-03 3.30143609e+00] [ 4.07187630e-04 9.99999259e-01 1.14696184e-03 9.96615179e-02] [ 1.91029251e-03 -1.14773769e-03 9.99997517e-01 8.85399640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.642557844 meters 0.28351712724554473 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99997886e-01 -5.51636761e-04 -1.98071213e-03 3.30136121e+00] [ 5.52975844e-04 9.99999619e-01 6.75577154e-04 1.01597986e-01] [ 1.98033870e-03 -6.76671011e-04 9.99997810e-01 8.86023789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.702557844 meters 0.28480455977917757 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99996547e-01 -7.37059944e-04 -2.52248810e-03 3.30295836e+00] [ 7.37043931e-04 9.99999728e-01 -7.27757058e-06 1.04515673e-01] [ 2.52249278e-03 5.41836090e-06 9.99996818e-01 8.85307676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.762557844 meters 0.2854078183508782 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99996259e-01 -9.43511635e-04 -2.56754270e-03 3.30314531e+00] [ 9.42069937e-04 9.99999398e-01 -5.62660271e-04 1.06814570e-01] [ 2.56807203e-03 5.60239361e-04 9.99996546e-01 8.85193056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.822557844 meters 0.28553665748119234 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99995919e-01 -1.26054724e-03 -2.56375879e-03 3.30317204e+00] [ 1.25711587e-03 9.99998313e-01 -1.33958260e-03 1.10066935e-01] [ 2.56544307e-03 1.33635419e-03 9.99995816e-01 8.85191361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.882557844 meters 0.2857559390632228 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.88 [[ 9.99995506e-01 -1.42231886e-03 -2.63893902e-03 3.30358006e+00] [ 1.41772143e-03 9.99997476e-01 -1.74320420e-03 1.11777705e-01] [ 2.64141175e-03 1.73945509e-03 9.99994999e-01 8.84764416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.942557844 meters 0.285643406248323 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99995436e-01 -1.58586744e-03 -2.57142283e-03 3.30323521e+00] [ 1.58037834e-03 9.99996471e-01 -2.13528566e-03 1.13425588e-01] [ 2.57480003e-03 2.13121209e-03 9.99994414e-01 8.85161261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.002557844 meters 0.28462475783045005 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99995402e-01 -1.66639518e-03 -2.53377940e-03 3.30299963e+00] [ 1.66047320e-03 9.99995889e-01 -2.33752167e-03 1.14260578e-01] [ 2.53766422e-03 2.33330365e-03 9.99994058e-01 8.85492651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.062557844 meters 0.28377757182414504 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99993908e-01 2.62635103e-03 -2.29928932e-03 3.30231282e+00] [-2.62210619e-03 9.99994856e-01 1.84722581e-03 1.14831811e-01] [ 2.30412896e-03 -1.84118558e-03 9.99995651e-01 8.85773489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters 0.2832498582870823 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.89 [[ 9.99994169e-01 2.54219057e-03 -2.28016009e-03 3.30215177e+00] [-2.53846334e-03 9.99995440e-01 1.63604378e-03 1.15714882e-01] [ 2.28430883e-03 -1.63024614e-03 9.99996062e-01 8.86049441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters 0.2837850253096582 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.89 [[ 9.99994082e-01 2.43560212e-03 -2.42962877e-03 3.30225232e+00] [-2.43227970e-03 9.99996104e-01 1.36947893e-03 1.16884706e-01] [ 2.43295481e-03 -1.36356128e-03 9.99996111e-01 8.86691586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters 0.28533822343409176 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:0.88 [[ 9.99993595e-01 4.62704969e-04 -3.54900633e-03 3.30801771e+00] [-4.64350282e-04 9.99999785e-01 -4.62788365e-04 1.16294857e-01] [ 3.54879144e-03 4.64433383e-04 9.99993595e-01 8.82959011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters 0.2838083523175555 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:0.88 [[ 9.99994484e-01 6.82630928e-04 -3.25063712e-03 3.30706364e+00] [-6.82006931e-04 9.99999749e-01 1.93066172e-04 1.13532541e-01] [ 3.25076809e-03 -1.90848149e-04 9.99994698e-01 8.83372262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.362557844 meters 0.28513854820332185 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:0.88 [[ 9.99993213e-01 1.07880292e-03 -3.52274898e-03 3.30790873e+00] [-1.07331006e-03 9.99998206e-01 1.56077408e-03 1.08087126e-01] [ 3.52442643e-03 -1.55698248e-03 9.99992577e-01 8.82749234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.422557844 meters 0.2839240469213263 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99993232e-01 1.55364596e-03 -3.33496987e-03 3.30701401e+00] [-1.54449660e-03 9.99995042e-01 2.74428751e-03 1.03097580e-01] [ 3.33921698e-03 -2.73911809e-03 9.99990673e-01 8.83353590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.482557844 meters 0.28456028110699155 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99992888e-01 1.79573702e-03 -3.31662154e-03 3.30663834e+00] [-1.78471735e-03 9.99992888e-01 3.32253544e-03 1.00622580e-01] [ 3.32256435e-03 -3.31659258e-03 9.99988980e-01 8.83980770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.542557844 meters 0.2835297361990919 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99992185e-01 2.18105563e-03 -3.29736729e-03 3.30707107e+00] [-2.16689093e-03 9.99988436e-01 4.29324875e-03 9.62845233e-02] [ 3.30669297e-03 -4.28607017e-03 9.99985348e-01 8.82914769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.602557844 meters 0.28634209969243124 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99991671e-01 2.35698882e-03 -3.33193068e-03 3.30715784e+00] [-2.34113658e-03 9.99985961e-01 4.75359436e-03 9.43685693e-02] [ 3.34308807e-03 -4.74575426e-03 9.99983151e-01 8.82877261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.662557844 meters 0.28488666886228664 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99992713e-01 -1.76292865e-03 -3.38623363e-03 3.30679871e+00] [ 1.76625253e-03 9.99997961e-01 9.78846236e-04 9.19818579e-02] [ 3.38450109e-03 -9.84820046e-04 9.99993788e-01 8.83842212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.722557844 meters 0.2839184895633672 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99993589e-01 -1.51678301e-03 -3.24377921e-03 3.30640274e+00] [ 1.52218383e-03 9.99997458e-01 1.66315711e-03 8.91496782e-02] [ 3.24124831e-03 -1.66808407e-03 9.99993356e-01 8.83828791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.782557844 meters 0.284934335514697 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99994417e-01 -1.32823120e-03 -3.06614410e-03 3.30580356e+00] [ 1.33482941e-03 9.99996796e-01 2.15091297e-03 8.70342416e-02] [ 3.06327737e-03 -2.15499374e-03 9.99992986e-01 8.84069927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.842557844 meters 0.2840631238324157 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99994431e-01 -1.31455623e-03 -3.06762044e-03 3.30552206e+00] [ 1.32130374e-03 9.99996710e-01 2.19860236e-03 8.68733711e-02] [ 3.06472016e-03 -2.20264337e-03 9.99992878e-01 8.84748468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.902557844 meters 0.28459986246916186 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99993509e-01 -1.37863781e-03 -3.32871708e-03 3.30637933e+00] [ 1.38529629e-03 9.99997043e-01 1.99884028e-03 8.77643710e-02] [ 3.32595156e-03 -2.00343856e-03 9.99992462e-01 8.84200680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.962557844 meters 0.2849771130091101 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99993314e-01 -1.33537873e-03 -3.40429971e-03 3.30664503e+00] [ 1.34255523e-03 9.99996880e-01 2.10665607e-03 8.73160929e-02] [ 3.40147590e-03 -2.11121245e-03 9.99991986e-01 8.84021942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.022557844 meters 0.28644638451747095 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99993082e-01 -1.22876584e-03 -3.51084670e-03 3.30710031e+00] [ 1.23712246e-03 9.99996405e-01 2.37904908e-03 8.61692544e-02] [ 3.50791078e-03 -2.38337597e-03 9.99991007e-01 8.83572823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.082557844 meters 0.287169509014582 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99992836e-01 -1.20177152e-03 -3.58941208e-03 3.30758140e+00] [ 1.21054203e-03 9.99996285e-01 2.44226563e-03 8.58982845e-02] [ 3.58646370e-03 -2.44659326e-03 9.99990576e-01 8.82963394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.142557844 meters 0.28626067728518867 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99991857e-01 -1.35223520e-03 -3.80239466e-03 3.30813047e+00] [ 1.35991479e-03 9.99997040e-01 2.01781161e-03 8.76750078e-02] [ 3.79965485e-03 -2.02296611e-03 9.99990735e-01 8.82941467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.202557844 meters 0.28538489873787654 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99989763e-01 -1.53739385e-03 -4.25553800e-03 3.30939801e+00] [ 1.54302755e-03 9.99997937e-01 1.32088619e-03 9.04878739e-02] [ 4.25349850e-03 -1.32743908e-03 9.99990073e-01 8.82534294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.262557844 meters 0.28598212799806993 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99989381e-01 -1.59809233e-03 -4.32256747e-03 3.30959775e+00] [ 1.60314708e-03 9.99998035e-01 1.16617258e-03 9.11393368e-02] [ 4.32069532e-03 -1.17308991e-03 9.99989978e-01 8.82484074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.322557844 meters 0.28670077640732894 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99989239e-01 -1.80772668e-03 -4.27239447e-03 3.30933560e+00] [ 1.81037752e-03 9.99998171e-01 6.16671300e-04 9.34417612e-02] [ 4.27127189e-03 -6.24399311e-04 9.99990683e-01 8.82820976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.382557844 meters 0.2864895615328129 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99989558e-01 -1.89065092e-03 -4.16038952e-03 3.30884792e+00] [ 1.89239026e-03 9.99998124e-01 4.14175855e-04 9.43010055e-02] [ 4.15959865e-03 -4.22044611e-04 9.99991260e-01 8.83277967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.442557844 meters 0.2854070700269777 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99989794e-01 -1.87800104e-03 -4.10919319e-03 3.30852644e+00] [ 1.87985478e-03 9.99998133e-01 4.47303280e-04 9.41500288e-02] [ 4.10834548e-03 -4.55023401e-04 9.99991457e-01 8.83702168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.502557844 meters 0.28631565672714 Centerline is valid? [False, False] Translation: X:3.31, Y:0.09, Z:0.88 [[ 9.99990063e-01 -1.95497165e-03 -4.00645914e-03 3.30800103e+00] [ 1.95602259e-03 9.99998054e-01 2.58409489e-04 9.49719963e-02] [ 4.00594616e-03 -2.66243645e-04 9.99991941e-01 8.84324287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.562557844 meters 0.2841938337260069 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.89 [[ 9.99990413e-01 -2.05835653e-03 -3.86487358e-03 3.30730663e+00] [ 2.05831355e-03 9.99997882e-01 -1.50988981e-05 9.61350393e-02] [ 3.86489648e-03 7.14363169e-06 9.99992531e-01 8.85204886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters 0.28481517247745947 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99988669e-01 -2.30653036e-03 -4.16429109e-03 3.30820467e+00] [ 2.30347557e-03 9.99997075e-01 -7.38214711e-04 9.91901129e-02] [ 4.16598162e-03 7.28614004e-04 9.99991057e-01 8.84945815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters 0.2861195903725605 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99987557e-01 -2.44048686e-03 -4.35076695e-03 3.30877542e+00] [ 2.43577439e-03 9.99996442e-01 -1.08810597e-03 1.00680436e-01] [ 4.35340698e-03 1.07749494e-03 9.99989943e-01 8.84759814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters 0.2848476790388407 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99986215e-01 -2.70717506e-03 -4.49910514e-03 3.30933386e+00] [ 2.69883924e-03 9.99994632e-01 -1.85781338e-03 1.03880426e-01] [ 4.50411042e-03 1.84564541e-03 9.99988153e-01 8.84379749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters 0.28602560478952466 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:0.88 [[ 9.99983787e-01 -9.68145034e-04 -5.61146483e-03 3.31494918e+00] [ 9.67527019e-04 9.99999526e-01 -1.12847898e-04 1.03196057e-01] [ 5.61157143e-03 1.07416825e-04 9.99984249e-01 8.80581397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.862557844 meters 0.2861288772933978 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.88 [[ 9.99981787e-01 -1.16709029e-03 -5.92151126e-03 3.31595724e+00] [ 1.16269774e-03 9.99999046e-01 -7.45183176e-04 1.05834581e-01] [ 5.92237531e-03 7.38284676e-04 9.99982190e-01 8.79952028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.922557844 meters 0.28583904578634706 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.88 [[ 9.99980274e-01 -1.30471372e-03 -6.14400067e-03 3.31673225e+00] [ 1.29763148e-03 9.99998489e-01 -1.15655378e-03 1.07587079e-01] [ 6.14550036e-03 1.14855832e-03 9.99980457e-01 8.79462990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.982557844 meters 0.2877184106051992 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.88 [[ 9.99975852e-01 -1.50886641e-03 -6.78373986e-03 3.31833819e+00] [ 1.49626065e-03 9.99997145e-01 -1.86292289e-03 1.10415615e-01] [ 6.78653139e-03 1.85272766e-03 9.99975255e-01 8.79223731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.042557844 meters 0.28628961059178365 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.88 [[ 9.99976827e-01 -1.62820091e-03 -6.61022793e-03 3.31763006e+00] [ 1.61321078e-03 9.99996117e-01 -2.27241647e-03 1.12097393e-01] [ 6.61390221e-03 2.26170012e-03 9.99975570e-01 8.79942508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.102557844 meters 0.2854034842528086 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.88 [[ 9.99977646e-01 -1.80221467e-03 -6.43896104e-03 3.31705498e+00] [ 1.78362832e-03 9.99994230e-01 -2.89112228e-03 1.14510919e-01] [ 6.44413431e-03 2.87957293e-03 9.99975090e-01 8.80408406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.162557844 meters 0.28658117684362916 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 9.99977404e-01 -1.89625947e-03 -6.44945824e-03 3.31708310e+00] [ 1.87577839e-03 9.99993184e-01 -3.18019604e-03 1.15692757e-01] [ 6.45544476e-03 3.16802643e-03 9.99974145e-01 8.80419721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.222557844 meters 0.28480321336280606 Centerline is valid? [False, False] Translation: X:3.29, Y:0.12, Z:0.88 [[ 0.99995998 0.00604171 -0.00659786 3.29337684] [-0.00607337 0.99997009 -0.00478919 0.11510705] [ 0.00656873 0.00482907 0.99996677 0.88129063] [ 0. 0. 0. 1. ]] SLAMing on 413.282557844 meters 0.2860254463283102 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.88 [[ 9.99989087e-01 7.47953743e-04 -4.61152303e-03 3.31530616e+00] [-7.52443686e-04 9.99999245e-01 -9.71977725e-04 1.15297183e-01] [ 4.61079255e-03 9.75437029e-04 9.99988894e-01 8.80861547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.342557844 meters 0.2848167510731155 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:0.88 [[ 9.99990533e-01 7.82636926e-04 -4.28038463e-03 3.31426663e+00] [-7.86474149e-04 9.99999290e-01 -8.94857111e-04 1.14963347e-01] [ 4.27968124e-03 8.98215051e-04 9.99990439e-01 8.81415401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.402557844 meters 0.2836788935049425 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:0.88 [[ 9.99996509e-01 7.84390687e-04 -2.52336706e-03 3.27372434e+00] [-7.86343722e-04 9.99999392e-01 -7.73080616e-04 1.14592376e-01] [ 2.52275913e-03 7.75062151e-04 9.99996517e-01 8.78671249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.462557844 meters 0.2849708142525804 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:0.88 [[ 9.99996368e-01 8.59964585e-04 -2.55429235e-03 3.27376538e+00] [-8.61452114e-04 9.99999460e-01 -5.81321373e-04 1.13788457e-01] [ 2.55379106e-03 5.83519662e-04 9.99996569e-01 8.78748920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.522557844 meters 0.2847481767371467 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:0.88 [[ 9.99996090e-01 1.18962837e-03 -2.53095457e-03 3.27391855e+00] [-1.18920615e-03 9.99999279e-01 1.68322854e-04 1.10528621e-01] [ 2.53115298e-03 -1.65312369e-04 9.99996783e-01 8.78318363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.582557844 meters 0.28439596347579726 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.88 [[ 9.99990628e-01 -4.27222943e-03 -7.01988542e-04 3.29685724e+00] [ 4.27501573e-03 9.99982795e-01 4.01677973e-03 1.08115094e-01] [ 6.84815859e-04 -4.01974309e-03 9.99991686e-01 8.76787478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.642557844 meters 0.28480481275288944 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.88 [[ 9.99991250e-01 -4.11627790e-03 -7.46200302e-04 3.29718143e+00] [ 4.11954172e-03 9.99981718e-01 4.42646331e-03 1.06440316e-01] [ 7.27966106e-04 -4.42949858e-03 9.99989925e-01 8.76325309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.702557844 meters 0.28465031955015957 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.88 [[ 9.99991743e-01 1.57851569e-03 -3.74474273e-03 3.27666050e+00] [-1.57277941e-03 9.99997586e-01 1.53427209e-03 1.02487913e-01] [ 3.74715556e-03 -1.52836977e-03 9.99991811e-01 8.76766812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.762557844 meters 0.28517112686031565 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.87 [[ 9.99988396e-01 -2.22579042e-04 -4.81236918e-03 3.28189468e+00] [ 2.22265854e-04 9.99999973e-01 -6.56144422e-05 1.00249538e-01] [ 4.81238366e-03 6.45440554e-05 9.99988418e-01 8.73416291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.822557844 meters 0.2851744050083455 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.87 [[ 9.99988659e-01 3.12007428e-04 -4.75234185e-03 3.28174237e+00] [-3.06746731e-04 9.99999339e-01 1.10765802e-03 9.53017315e-02] [ 4.75268431e-03 -1.10618769e-03 9.99988094e-01 8.73428024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.882557844 meters 0.2858177358284779 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.87 [[ 9.99979756e-01 5.96056216e-03 -2.22695020e-03 3.30185647e+00] [-5.96533064e-03 9.99979916e-01 -2.14079169e-03 8.96733916e-02] [ 2.21414515e-03 2.15403285e-03 9.99995229e-01 8.73725579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.942557844 meters 0.2866746914756926 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:0.87 [[ 9.99996894e-01 -2.19082166e-03 -1.18870501e-03 3.32197002e+00] [ 2.19023901e-03 9.99997481e-01 -4.91233297e-04 8.94710864e-02] [ 1.18977822e-03 4.88628223e-04 9.99999173e-01 8.74636293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.002557844 meters 0.28514042816112467 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.87 [[ 9.99983483e-01 5.72855774e-03 4.65486173e-04 3.30109795e+00] [-5.72819899e-03 9.99983299e-01 -7.68402058e-04 7.93661981e-02] [-4.69880234e-04 7.65722969e-04 9.99999596e-01 8.73152730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.062557844 meters 0.28611361089553544 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.87 [[ 9.99994995e-01 -1.92605839e-03 2.50986514e-03 3.31999597e+00] [ 1.92372435e-03 9.99997715e-01 9.32031441e-04 8.01511673e-02] [-2.51165455e-03 -9.27198488e-04 9.99996416e-01 8.74664710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters 0.28647974539896426 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.87 [[ 9.99995637e-01 -1.88601832e-03 2.27368723e-03 3.32079888e+00] [ 1.88363106e-03 9.99997673e-01 1.05163372e-03 7.95845415e-02] [-2.27566534e-03 -1.04734634e-03 9.99996862e-01 8.74097105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters 0.2850821745727901 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.87 [[ 9.99995668e-01 -1.86193297e-03 2.27954002e-03 3.32075451e+00] [ 1.85940453e-03 9.99997654e-01 1.11080898e-03 7.93326287e-02] [-2.28160292e-03 -1.10656558e-03 9.99996785e-01 8.74164586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters 0.28425989265479856 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99993179e-01 3.28064289e-06 3.69362759e-03 3.31449994e+00] [-1.38159629e-05 9.99995932e-01 2.85227432e-03 8.04001239e-02] [-3.69360321e-03 -2.85230590e-03 9.99989111e-01 8.78426191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters 0.28515214428688396 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99993402e-01 -1.05579464e-04 3.63116306e-03 3.31464829e+00] [ 9.63499190e-05 9.99996765e-01 2.54184097e-03 8.16736544e-02] [-3.63141968e-03 -2.54147433e-03 9.99990177e-01 8.78416384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.362557844 meters 0.2862839680426008 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.88 [[ 9.99995046e-01 -3.07216216e-04 3.13275668e-03 3.31613795e+00] [ 3.00923143e-04 9.99997937e-01 2.00907100e-03 8.37869036e-02] [-3.13336744e-03 -2.00811833e-03 9.99993075e-01 8.77642676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.422557844 meters 0.28540420630769825 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.88 [[ 9.99994903e-01 -3.06436413e-04 3.17803270e-03 3.31598276e+00] [ 3.00045507e-04 9.99997932e-01 2.01124484e-03 8.37995202e-02] [-3.17864245e-03 -2.01028104e-03 9.99992927e-01 8.77744502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.482557844 meters 0.28562300602725416 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.88 [[ 9.99997613e-01 -5.07656817e-04 2.12532622e-03 3.31891871e+00] [ 5.03944786e-04 9.99998347e-01 1.74674157e-03 8.43490571e-02] [-2.12620945e-03 -1.74566635e-03 9.99996216e-01 8.76250120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.542557844 meters 0.2848126454318727 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.88 [[ 9.99988482e-01 4.78491426e-03 3.76020518e-04 3.29617628e+00] [-4.78424758e-03 9.99987017e-01 -1.75431290e-03 8.33471625e-02] [-3.84409873e-04 1.75249372e-03 9.99998390e-01 8.77608854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.602557844 meters 0.28579717854561365 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.88 [[ 9.99987967e-01 4.89590767e-03 3.10775368e-04 3.29643427e+00] [-4.89545346e-03 9.99986972e-01 -1.44583593e-03 8.20731271e-02] [-3.17849998e-04 1.44429714e-03 9.99998906e-01 8.77355848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.662557844 meters 0.286395394557285 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:0.88 [[ 9.99992600e-01 -3.79753709e-03 6.15016178e-04 3.31807925e+00] [ 3.79797486e-03 9.99992534e-01 -7.12193272e-04 8.40420853e-02] [-6.12307006e-04 7.14523818e-04 9.99999557e-01 8.77301461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.722557844 meters 0.2855903337916467 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.88 [[ 9.99993952e-01 3.41993391e-03 6.32101008e-04 3.29279778e+00] [-3.41831232e-03 9.99990909e-01 -2.54892361e-03 8.32249968e-02] [-6.40812412e-04 2.54674747e-03 9.99996552e-01 8.79957905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.782557844 meters 0.2857049126031091 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.88 [[ 9.99993889e-01 3.44852672e-03 5.74011344e-04 3.29290311e+00] [-3.44709526e-03 9.99990993e-01 -2.47636493e-03 8.29189407e-02] [-5.82545984e-04 2.47437112e-03 9.99996769e-01 8.80046488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.842557844 meters 0.28660738853267487 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99990735e-01 -2.65984109e-03 3.38467699e-03 3.31166931e+00] [ 2.65777586e-03 9.99996279e-01 6.14520894e-04 8.37809869e-02] [-3.38629892e-03 -6.05519488e-04 9.99994083e-01 8.81076530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.902557844 meters 0.28687294866664464 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99990599e-01 -2.69617207e-03 3.39596099e-03 3.31148850e+00] [ 2.69441248e-03 9.99996234e-01 5.22612591e-04 8.41660376e-02] [-3.39735725e-03 -5.13457559e-04 9.99994097e-01 8.81410691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.962557844 meters 0.2864140040493554 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.88 [[ 9.99990903e-01 -2.70509920e-03 3.29807465e-03 3.31180752e+00] [ 2.70348306e-03 9.99996223e-01 4.94385097e-04 8.42685088e-02] [-3.29939956e-03 -4.85464311e-04 9.99994439e-01 8.81244673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.022557844 meters 0.28473379838778556 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99994088e-01 3.06610207e-03 1.55680822e-03 3.28730399e+00] [-3.06184821e-03 9.99991593e-01 -2.72749137e-03 8.72877828e-02] [-1.56515790e-03 2.72270854e-03 9.99995069e-01 8.83945626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.082557844 meters 0.28503766056523555 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99994125e-01 3.01934528e-03 1.62270814e-03 3.28706326e+00] [-3.01469128e-03 9.99991358e-01 -2.86288009e-03 8.78379151e-02] [-1.63133814e-03 2.85797130e-03 9.99994585e-01 8.84140958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.142557844 meters 0.2857914169880158 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99993457e-01 2.98517833e-03 2.04303396e-03 3.28606485e+00] [-2.97913666e-03 9.99991200e-01 -2.95388968e-03 8.82432471e-02] [-2.05183386e-03 2.94778388e-03 9.99993550e-01 8.84161941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.202557844 meters 0.28623300123728945 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99993633e-01 2.97831113e-03 1.96544766e-03 3.28644591e+00] [-2.97244453e-03 9.99991139e-01 -2.98106749e-03 8.83315695e-02] [-1.97430879e-03 2.97520632e-03 9.99993625e-01 8.83701635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.262557844 meters 0.28768959394142657 Centerline is valid? [False, False] Translation: X:3.29, Y:0.09, Z:0.88 [[ 9.99994202e-01 2.90370006e-03 1.77887941e-03 3.28720320e+00] [-2.89805206e-03 9.99990778e-01 -3.16942142e-03 8.91597953e-02] [-1.78806606e-03 3.16424776e-03 9.99993395e-01 8.83052846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.322557844 meters 0.28444764592853217 Centerline is valid? [False, False] Translation: X:3.25, Y:0.10, Z:0.88 [[ 9.99986428e-01 3.56148526e-03 3.80245529e-03 3.24515011e+00] [-3.54931226e-03 9.99988571e-01 -3.20331617e-03 9.63585556e-02] [-3.81382039e-03 3.18977660e-03 9.99987640e-01 8.81268032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.382557844 meters 0.2861165963326493 Centerline is valid? [False, False] Translation: X:3.27, Y:0.10, Z:0.88 [[ 9.99988946e-01 -2.18265655e-03 4.16468594e-03 3.26921098e+00] [ 2.18382002e-03 9.99997578e-01 -2.74839651e-04 1.01197396e-01] [-4.16407597e-03 2.83931538e-04 9.99991290e-01 8.79826987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.442557844 meters 0.28520787495933275 Centerline is valid? [False, False] Translation: X:3.25, Y:0.11, Z:0.88 [[ 9.99977251e-01 6.73535289e-03 3.63072454e-04 3.25018316e+00] [-6.73496822e-03 9.99976768e-01 -1.05051281e-03 1.09374290e-01] [-3.70139593e-04 1.04804363e-03 9.99999382e-01 8.79798624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.502557844 meters 0.2838863821659165 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:0.88 [[ 9.99998250e-01 -1.84802355e-03 2.90755977e-04 3.22981835e+00] [ 1.84821826e-03 9.99998067e-01 -6.70828310e-04 1.17456772e-01] [-2.89515708e-04 6.71364517e-04 9.99999733e-01 8.78925704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.562557844 meters 0.28616365754680534 Centerline is valid? [False, False] Translation: X:3.27, Y:0.12, Z:0.88 [[ 9.99998204e-01 -1.86558180e-03 -3.33810734e-04 3.27452947e+00] [ 1.86521643e-03 9.99997665e-01 -1.09152550e-03 1.21147246e-01] [ 3.35846284e-04 1.09090091e-03 9.99999349e-01 8.77919258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters 0.28522863055048164 Centerline is valid? [False, False] Translation: X:3.27, Y:0.12, Z:0.88 [[ 9.99997941e-01 -2.01333176e-03 -2.52830644e-04 3.27437669e+00] [ 2.01295881e-03 9.99996898e-01 -1.46679781e-03 1.22711319e-01] [ 2.55783010e-04 1.46628585e-03 9.99998892e-01 8.77841816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters 0.285957528419567 Centerline is valid? [False, False] Translation: X:3.27, Y:0.12, Z:0.88 [[ 9.99997625e-01 -2.17794506e-03 -8.40881838e-05 3.27374499e+00] [ 2.17778451e-03 9.99995891e-01 -1.86435625e-03 1.24403569e-01] [ 8.81483038e-05 1.86416870e-03 9.99998259e-01 8.78346829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters 0.2878349652683469 Centerline is valid? [False, False] Translation: X:3.27, Y:0.12, Z:0.88 [[ 9.99997543e-01 -2.21637746e-03 -2.78256416e-05 3.27368721e+00] [ 2.21631859e-03 9.99995618e-01 -1.96241084e-03 1.24814001e-01] [ 3.21749629e-05 1.96234435e-03 9.99998074e-01 8.78163710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters 0.2844074617050797 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:0.87 [[ 9.99997640e-01 -2.17063313e-03 -8.69339314e-05 3.23918294e+00] [ 2.17045248e-03 9.99995591e-01 -2.02683743e-03 1.25512546e-01] [ 9.13330685e-05 2.02664396e-03 9.99997942e-01 8.71791802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.862557844 meters 0.28605841569300744 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99997829e-01 -2.07896298e-03 -1.42192750e-04 3.23944589e+00] [ 2.07870470e-03 9.99996232e-01 -1.79308649e-03 1.24530642e-01] [ 1.45919974e-04 1.79278702e-03 9.99998382e-01 8.71488554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.922557844 meters 0.2856767656511613 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99998099e-01 -1.94921154e-03 -4.97425368e-05 3.23907192e+00] [ 1.94913596e-03 9.99997010e-01 -1.47673919e-03 1.23151130e-01] [ 5.26208652e-05 1.47663943e-03 9.99998908e-01 8.71759157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.982557844 meters 0.28646369008924355 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99998128e-01 -1.93446540e-03 -5.00491656e-05 3.23904786e+00] [ 1.93439141e-03 9.99997094e-01 -1.43854557e-03 1.22990600e-01] [ 5.28318368e-05 1.43844606e-03 9.99998964e-01 8.71811988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.042557844 meters 0.2847719875220041 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99997978e-01 -2.00813625e-03 -1.04131569e-04 3.23928878e+00] [ 2.00796348e-03 9.99996650e-01 -1.63353243e-03 1.23823265e-01] [ 1.07411576e-04 1.63332004e-03 9.99998660e-01 8.71582572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.102557844 meters 0.28426075966924075 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99997903e-01 -2.04795450e-03 5.47074912e-06 3.23895056e+00] [ 2.04796091e-03 9.99996397e-01 -1.73555755e-03 1.24242905e-01] [-1.91638650e-06 1.73556512e-03 9.99998494e-01 8.71737994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.162557844 meters 0.2852328751299397 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99997900e-01 -2.04572323e-03 -1.20579613e-04 3.23936341e+00] [ 2.04551162e-03 9.99996412e-01 -1.72969599e-03 1.24214509e-01] [ 1.24117660e-04 1.72944571e-03 9.99998497e-01 8.71517926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.222557844 meters 0.2867021364099945 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.87 [[ 9.99997954e-01 -2.00657734e-03 -2.55069432e-04 3.23982356e+00] [ 2.00615946e-03 9.99996662e-01 -1.62815539e-03 1.23791135e-01] [ 2.58335600e-04 1.62764035e-03 9.99998642e-01 8.71191694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.282557844 meters 0.2858572627816741 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:0.87 [[ 9.99997537e-01 -2.20906860e-03 -2.13536983e-04 3.23927142e+00] [ 2.20859756e-03 9.99995182e-01 -2.18152675e-03 1.26104399e-01] [ 2.18355097e-04 2.18104976e-03 9.99997598e-01 8.72382135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.342557844 meters 0.286302987005596 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:0.87 [[ 9.99996698e-01 -2.55566372e-03 -2.70177695e-04 3.23937822e+00] [ 2.55478696e-03 9.99991626e-01 -3.19714121e-03 1.30236653e-01] [ 2.78346250e-04 3.19644041e-03 9.99994853e-01 8.72497774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.402557844 meters 0.284103369067472 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:0.87 [[ 9.99998772e-01 1.56163531e-03 -1.31424195e-04 3.23915388e+00] [-1.56156002e-03 9.99998618e-01 5.71055570e-04 1.32620823e-01] [ 1.32315794e-04 -5.70849642e-04 9.99999828e-01 8.72295328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.462557844 meters 0.2854548797504832 Centerline is valid? [False, False] Translation: X:3.26, Y:0.14, Z:0.87 [[ 9.99977768e-01 -6.62808813e-03 7.29550597e-04 3.25884208e+00] [ 6.62707579e-03 9.99977087e-01 1.38140554e-03 1.39185850e-01] [-7.38689958e-04 -1.37654004e-03 9.99998780e-01 8.74509271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.522557844 meters 0.284226425186531 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:0.87 [[ 9.99996561e-01 1.68576477e-03 -2.00884410e-03 3.24114065e+00] [-1.68570088e-03 9.99998579e-01 3.34974646e-05 1.38428150e-01] [ 2.00889772e-03 -3.01110391e-05 9.99997982e-01 8.73137720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.582557844 meters 0.28574316463642613 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:0.87 [[ 9.99996269e-01 1.52662381e-03 -2.26527421e-03 3.24208576e+00] [-1.52746871e-03 9.99998764e-01 -3.71295259e-04 1.40224791e-01] [ 2.26470458e-03 3.74754009e-04 9.99997365e-01 8.72486117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.642557844 meters 0.28432514670682396 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:0.87 [[ 9.99998192e-01 1.47708848e-03 -1.19788569e-03 3.23876913e+00] [-1.47894537e-03 9.99997704e-01 -1.55073671e-03 1.46115954e-01] [ 1.19559236e-03 1.55250552e-03 9.99998080e-01 8.74768592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.702557844 meters 0.28589190328081265 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:0.87 [[ 9.99998388e-01 1.12551691e-03 -1.39908081e-03 3.23927099e+00] [-1.12937733e-03 9.99995549e-01 -2.76153624e-03 1.50967635e-01] [ 1.39596643e-03 2.76311188e-03 9.99995208e-01 8.74887004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.762557844 meters 0.28491943882978943 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:0.88 [[ 9.99985902e-01 -4.91702849e-03 -2.00475154e-03 3.21660371e+00] [ 4.91621035e-03 9.99987830e-01 -4.12824502e-04 1.59309800e-01] [ 2.00675702e-03 4.02962902e-04 9.99997905e-01 8.75680127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.822557844 meters 0.28679691593468415 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99984019e-01 4.66418886e-03 -3.19484361e-03 3.24018216e+00] [-4.66494009e-03 9.99989093e-01 -2.27726269e-04 1.56127941e-01] [ 3.19374661e-03 2.42626384e-04 9.99994871e-01 8.75168395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.882557844 meters 0.28680515591162414 Centerline is valid? [False, False] Translation: X:3.22, Y:0.16, Z:0.87 [[ 9.99975207e-01 -3.88815015e-03 -5.87097655e-03 3.22214749e+00] [ 3.89085426e-03 9.99992330e-01 4.49238003e-04 1.59935641e-01] [ 5.86918482e-03 -4.72069979e-04 9.99982665e-01 8.73650967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.942557844 meters 0.2874048290715148 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.87 [[ 9.99988458e-01 3.88274456e-03 -2.82996840e-03 3.24010449e+00] [-3.88483958e-03 9.99992184e-01 -7.35179404e-04 1.56043129e-01] [ 2.82709176e-03 7.46164891e-04 9.99995725e-01 8.74531618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.002557844 meters 0.2864998262344297 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99988509e-01 3.91394444e-03 -2.76821114e-03 3.23965029e+00] [-3.91576521e-03 9.99992120e-01 -6.52627541e-04 1.55647291e-01] [ 2.76563498e-03 6.63459706e-04 9.99995956e-01 8.75205039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.062557844 meters 0.28522084413038995 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99988671e-01 3.89440461e-03 -2.73708500e-03 3.23956621e+00] [-3.89633192e-03 9.99992165e-01 -6.99167568e-04 1.55842049e-01] [ 2.73434072e-03 7.09824238e-04 9.99996010e-01 8.75216806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters 0.2871189869062737 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99989034e-01 3.84894638e-03 -2.66793129e-03 3.23930038e+00] [-3.85115427e-03 9.99992246e-01 -8.22926686e-04 1.56358741e-01] [ 2.66474320e-03 8.33192276e-04 9.99996102e-01 8.75472728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters 0.28529785686120496 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99989511e-01 3.73357988e-03 -2.65281985e-03 3.23905448e+00] [-3.73665468e-03 9.99992352e-01 -1.15505978e-03 1.57698077e-01] [ 2.64848705e-03 1.16496033e-03 9.99995814e-01 8.76008497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters 0.2864048087173893 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:0.88 [[ 9.99989517e-01 3.57156944e-03 -2.86512040e-03 3.23971208e+00] [-3.57633558e-03 9.99992227e-01 -1.66010770e-03 1.59765740e-01] [ 2.85916894e-03 1.67033693e-03 9.99994518e-01 8.75702183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters 0.28626336911061223 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:0.88 [[ 9.99989293e-01 3.17718064e-03 -3.36438847e-03 3.24135410e+00] [-3.18718347e-03 9.99990505e-01 -2.97197261e-03 1.65304494e-01] [ 3.35491403e-03 2.98266371e-03 9.99989924e-01 8.75001721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.362557844 meters 0.28705494091525574 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:0.87 [[ 9.99990192e-01 2.82161995e-03 -3.41382835e-03 3.24157953e+00] [-2.83448527e-03 9.99988878e-01 -3.76963990e-03 1.68612880e-01] [ 3.40315389e-03 3.77927937e-03 9.99987068e-01 8.74882928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.422557844 meters 0.2846092634508141 Centerline is valid? [False, False] Translation: X:3.22, Y:0.17, Z:0.88 [[ 9.99986549e-01 -3.21533077e-03 -4.06983598e-03 3.21800011e+00] [ 3.21097816e-03 9.99994266e-01 -1.07556393e-03 1.73334699e-01] [ 4.07327094e-03 1.06248131e-03 9.99991140e-01 8.76215095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.482557844 meters 0.2868019533208633 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:0.88 [[ 9.99981759e-01 5.52830207e-03 -2.43320480e-03 3.23779924e+00] [-5.53295192e-03 9.99982872e-01 -1.90842965e-03 1.71960809e-01] [ 2.42261274e-03 1.92185764e-03 9.99995219e-01 8.76716926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.542557844 meters 0.28708439743867414 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:0.88 [[ 9.99980750e-01 5.53513751e-03 -2.80405987e-03 3.23896578e+00] [-5.54046648e-03 9.99982854e-01 -1.89625964e-03 1.71924974e-01] [ 2.79351573e-03 1.91175893e-03 9.99994271e-01 8.75906114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.602557844 meters 0.2871410120632702 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:0.88 [[ 9.99981217e-01 5.45906189e-03 -2.78640267e-03 3.23872434e+00] [-5.46489499e-03 9.99982883e-01 -2.09011311e-03 1.72725571e-01] [ 2.77494492e-03 2.10530125e-03 9.99993934e-01 8.76367415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.662557844 meters 0.28774284787315696 Centerline is valid? [False, False] Translation: X:3.21, Y:0.18, Z:0.88 [[ 9.99998847e-01 -9.36353699e-04 -1.19558502e-03 3.21335546e+00] [ 9.36327186e-04 9.99999561e-01 -2.27347865e-05 1.79453008e-01] [ 1.19560578e-03 2.16153015e-05 9.99999285e-01 8.78415903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.722557844 meters 0.2857434150945139 Centerline is valid? [False, False] Translation: X:3.21, Y:0.18, Z:0.88 [[ 9.99998298e-01 -1.12844843e-03 -1.45931845e-03 3.21394726e+00] [ 1.12740502e-03 9.99999108e-01 -7.15617824e-04 1.82172179e-01] [ 1.46012469e-03 7.13971364e-04 9.99998679e-01 8.78560239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.782557844 meters 0.2858469551439321 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:0.88 [[ 9.99997268e-01 -1.44571390e-03 -1.83656581e-03 3.21504730e+00] [ 1.44209048e-03 9.99997014e-01 -1.97272713e-03 1.87097767e-01] [ 1.83941233e-03 1.97007325e-03 9.99996368e-01 8.78099965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.842557844 meters 0.28569648495624 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99996871e-01 -1.74171791e-03 -1.79559658e-03 3.21476785e+00] [ 1.73675359e-03 9.99994676e-01 -2.76257977e-03 1.90337150e-01] [ 1.80039865e-03 2.75945262e-03 9.99994572e-01 8.78532892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.902557844 meters 0.2859508185565785 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99996671e-01 -1.93315111e-03 -1.70915397e-03 3.21460117e+00] [ 1.92770309e-03 9.99993075e-01 -3.18347911e-03 1.92095941e-01] [ 1.71529628e-03 3.18017377e-03 9.99993472e-01 8.78445403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.962557844 meters 0.2852135147742987 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99996691e-01 -1.86502963e-03 -1.77213371e-03 3.21493764e+00] [ 1.85971065e-03 9.99993776e-01 -2.99837851e-03 1.91332658e-01] [ 1.77771474e-03 2.99507293e-03 9.99993935e-01 8.77992057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.022557844 meters 0.2867285006598407 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:0.88 [[ 9.99994814e-01 -1.79742813e-03 -2.67221734e-03 3.21775107e+00] [ 1.79095280e-03 9.99995459e-01 -2.42362928e-03 1.88955701e-01] [ 2.67656151e-03 2.41883090e-03 9.99993493e-01 8.75800491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.082557844 meters 0.286774572837345 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:0.88 [[ 9.99995251e-01 -1.53720982e-03 -2.67105224e-03 3.21776481e+00] [ 1.53284134e-03 9.99997486e-01 -1.63677008e-03 1.85782996e-01] [ 2.67356158e-03 1.63266800e-03 9.99995093e-01 8.75647533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.142557844 meters 0.28747161876677485 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.88 [[ 9.99995760e-01 -1.26385277e-03 -2.62331894e-03 3.21760373e+00] [ 1.26126079e-03 9.99998715e-01 -9.89471693e-04 1.83046214e-01] [ 2.62456612e-03 9.86158809e-04 9.99996070e-01 8.75673858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.202557844 meters 0.2867782702810358 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:0.88 [[ 9.99995567e-01 -1.24335352e-03 -2.70552087e-03 3.21771940e+00] [ 1.24083887e-03 9.99998797e-01 -9.30931523e-04 1.82796781e-01] [ 2.70667509e-03 9.27570280e-04 9.99995907e-01 8.75865028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.262557844 meters 0.28493715667092173 Centerline is valid? [False, False] Translation: X:3.19, Y:0.18, Z:0.88 [[ 0.99997281 0.00630667 -0.00382245 3.19424195] [-0.00631979 0.99997415 -0.00342976 0.18441061] [ 0.00380072 0.00345383 0.99998681 0.87731297] [ 0. 0. 0. 1. ]] SLAMing on 418.322557844 meters 0.2891530674246965 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:0.88 [[ 9.99998295e-01 3.20207187e-04 -1.81882999e-03 3.21594039e+00] [-3.20364853e-04 9.99999945e-01 -8.63944690e-05 1.85558686e-01] [ 1.81880223e-03 8.69770109e-05 9.99998342e-01 8.76776782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.382557844 meters 0.2884039387186438 Centerline is valid? [False, False] Translation: X:3.22, Y:0.19, Z:0.88 [[ 9.99998020e-01 1.50908227e-04 -1.98424327e-03 3.21643583e+00] [-1.51981310e-04 9.99999842e-01 -5.40662132e-04 1.87451618e-01] [ 1.98416136e-03 5.40962630e-04 9.99997885e-01 8.76607330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.442557844 meters 0.2862662155030646 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99995526e-01 2.76021784e-03 -1.15254178e-03 3.21200099e+00] [-2.75883337e-03 9.99995473e-01 1.20109721e-03 1.93468476e-01] [ 1.15585185e-03 -1.19791216e-03 9.99998615e-01 8.80029225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.502557844 meters 0.2871251896510329 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:0.88 [[ 9.99982515e-01 -5.90249512e-03 -3.61624259e-04 3.23188529e+00] [ 5.90325717e-03 9.99980278e-01 2.14377075e-03 1.98553466e-01] [ 3.48963531e-04 -2.14586803e-03 9.99997637e-01 8.81186113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.562557844 meters 0.2854526296862716 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:0.88 [[ 9.99999347e-01 1.14093709e-03 6.79879728e-05 3.20896156e+00] [-1.14089104e-03 9.99999122e-01 -6.73611165e-04 1.96354754e-01] [-6.87564611e-05 6.73533158e-04 9.99999771e-01 8.81341973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters 0.28595561861108887 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:0.88 [[ 9.99999200e-01 1.24141848e-03 2.43449361e-04 3.20845427e+00] [-1.24133098e-03 9.99999165e-01 -3.59221037e-04 1.95066104e-01] [-2.43895101e-04 3.58918549e-04 9.99999906e-01 8.81519108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters 0.2865982206998488 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99999080e-01 1.35076927e-03 1.27237897e-04 3.20893196e+00] [-1.35076151e-03 9.99999086e-01 -6.10795803e-05 1.93861658e-01] [-1.27320285e-04 6.09076561e-05 9.99999990e-01 8.81020654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters 0.287349073854409 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998823e-01 1.53398697e-03 -8.05975279e-06 3.20953975e+00] [-1.53398361e-03 9.99998743e-01 4.01132370e-04 1.91951575e-01] [ 8.67507448e-06 -4.01119534e-04 9.99999920e-01 8.80350029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters 0.2859951957530853 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998857e-01 1.50735535e-03 1.18571510e-04 3.20900657e+00] [-1.50739506e-03 9.99998808e-01 3.35530531e-04 1.92210422e-01] [-1.18065604e-04 -3.35708881e-04 9.99999937e-01 8.80851860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.862557844 meters 0.28799434012066216 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998897e-01 1.47380102e-03 -1.85722630e-04 3.20972933e+00] [-1.47375830e-03 9.99998888e-01 2.29974276e-04 1.92670940e-01] [ 1.86061360e-04 -2.29700312e-04 9.99999956e-01 8.80919333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.922557844 meters 0.28620696513097277 Centerline is valid? [False, False] Translation: X:3.17, Y:0.19, Z:0.88 [[ 9.99998649e-01 1.37723861e-03 8.97612581e-04 3.17006934e+00] [-1.37649359e-03 9.99998708e-01 -8.30093254e-04 1.93332848e-01] [-8.98754658e-04 8.28856574e-04 9.99999253e-01 8.78515729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.982557844 meters 0.2865046160920319 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99999105e-01 7.18897846e-04 1.12839414e-03 3.20538273e+00] [-7.18057304e-04 9.99999465e-01 -7.45128988e-04 1.89494939e-01] [-1.12892920e-03 7.44318070e-04 9.99999086e-01 8.83292175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.042557844 meters 0.28572767111867964 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99998602e-01 8.51541438e-04 1.43926066e-03 3.20434758e+00] [-8.51036101e-04 9.99999576e-01 -3.51684621e-04 1.87894376e-01] [-1.43955952e-03 3.50459266e-04 9.99998902e-01 8.83964975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.102557844 meters 0.2862705841699621 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99998516e-01 9.03448584e-04 1.46694338e-03 3.20424423e+00] [-9.03125133e-04 9.99999568e-01 -2.21141070e-04 1.87324623e-01] [-1.46714254e-03 2.19815909e-04 9.99998900e-01 8.84033928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.162557844 meters 0.28454841212090176 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99997955e-01 9.91935815e-04 1.76254331e-03 3.20338917e+00] [-9.92026625e-04 9.99999507e-01 5.06484154e-05 1.86212855e-01] [-1.76249220e-03 -5.23968017e-05 9.99998445e-01 8.84429870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.222557844 meters 0.285331900302306 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99997798e-01 1.02752798e-03 1.82965220e-03 3.20332547e+00] [-1.02779306e-03 9.99999461e-01 1.43947707e-04 1.85834241e-01] [-1.82950331e-03 -1.45827894e-04 9.99998316e-01 8.84201692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.282557844 meters 0.2862205622363184 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99998644e-01 1.03605658e-03 1.28037625e-03 3.20498200e+00] [-1.03620181e-03 9.99999457e-01 1.12771827e-04 1.86120052e-01] [-1.28025871e-03 -1.14098402e-04 9.99999174e-01 8.83211567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.342557844 meters 0.2857671306797005 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998805e-01 9.87618462e-04 1.18928275e-03 3.20525520e+00] [-9.87590943e-04 9.99999512e-01 -2.37266300e-05 1.86673907e-01] [-1.18930560e-03 2.25520768e-05 9.99999293e-01 8.83085697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.402557844 meters 0.285103882362719 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99999084e-01 9.16282799e-04 9.96689450e-04 3.20574430e+00] [-9.16045820e-04 9.99999552e-01 -2.38196559e-04 1.87557494e-01] [-9.96907259e-04 2.37283327e-04 9.99999475e-01 8.83014643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.462557844 meters 0.28615237605256755 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998742e-01 9.67154649e-04 1.25737189e-03 3.20513209e+00] [-9.67057743e-04 9.99999529e-01 -7.76759404e-05 1.86893908e-01] [-1.25744642e-03 7.64598914e-05 9.99999206e-01 8.83008148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.522557844 meters 0.28670716222819964 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99998089e-01 9.95759285e-04 1.68244977e-03 3.20398342e+00] [-9.95753066e-04 9.99999504e-01 -4.53413329e-06 1.86576995e-01] [-1.68245345e-03 2.85882011e-06 9.99998585e-01 8.83372650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.582557844 meters 0.28676693034805456 Centerline is valid? [False, False] Translation: X:3.20, Y:0.19, Z:0.88 [[ 9.99998363e-01 8.83175175e-04 1.57950006e-03 3.20439727e+00] [-8.82578605e-04 9.99999539e-01 -3.78352511e-04 1.88089402e-01] [-1.57983348e-03 3.76957858e-04 9.99998681e-01 8.82921123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.642557844 meters 0.28585371774791146 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99998927e-01 6.70956773e-04 1.30197306e-03 3.20510899e+00] [-6.69383538e-04 9.99999046e-01 -1.20840666e-03 1.91296302e-01] [-1.30278260e-03 1.20753384e-03 9.99998422e-01 8.82707279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.702557844 meters 0.28697365917799866 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99999180e-01 4.81011809e-04 1.18655019e-03 3.20554040e+00] [-4.78960300e-04 9.99998391e-01 -1.72864754e-03 1.93472674e-01] [-1.18737979e-03 1.72807781e-03 9.99997802e-01 8.82405353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.762557844 meters 0.28715273013745457 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:0.88 [[ 9.99999211e-01 4.81132261e-04 1.16011271e-03 3.20560399e+00] [-4.79118252e-04 9.99998379e-01 -1.73569950e-03 1.93485450e-01] [-1.16094593e-03 1.73514230e-03 9.99997821e-01 8.82410821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.822557844 meters 0.28486056028015416 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.88 [[ 9.99980478e-01 -5.97464406e-03 -1.82966119e-03 3.18388479e+00] [ 5.97649394e-03 9.99981633e-01 1.00726153e-03 1.89631464e-01] [ 1.82360956e-03 -1.01817683e-03 9.99997819e-01 8.84119037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.882557844 meters 0.285801924837821 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.88 [[ 9.99981369e-01 -5.82125666e-03 -1.83710712e-03 3.18381517e+00] [ 5.82382774e-03 9.99982065e-01 1.39729181e-03 1.87998450e-01] [ 1.82894017e-03 -1.40796478e-03 9.99997336e-01 8.84341805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.942557844 meters 0.2848923010051191 Centerline is valid? [False, False] Translation: X:3.18, Y:0.19, Z:0.88 [[ 9.99982884e-01 -5.60874379e-03 -1.66526762e-03 3.18321027e+00] [ 5.61200458e-03 9.99982332e-01 1.95993994e-03 1.85609113e-01] [ 1.65424540e-03 -1.96925188e-03 9.99996693e-01 8.84746150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.002557844 meters 0.2858410420697552 Centerline is valid? [False, False] Translation: X:3.20, Y:0.18, Z:0.89 [[ 9.99996862e-01 2.37601155e-03 -7.94540402e-04 3.20252137e+00] [-2.37484799e-03 9.99996111e-01 1.46219620e-03 1.76483443e-01] [ 7.98011507e-04 -1.46030470e-03 9.99998615e-01 8.86516075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.062557844 meters 0.28525369440054105 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.89 [[ 9.99998234e-01 -1.65789815e-03 -8.85499257e-04 3.20289351e+00] [ 1.65616991e-03 9.99996729e-01 -1.94888621e-03 1.72924503e-01] [ 8.88727416e-04 1.94741624e-03 9.99997709e-01 8.86181948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.122557844 meters 0.28619778512785177 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.89 [[ 9.99998751e-01 -1.22568998e-03 -9.97576451e-04 3.20323152e+00] [ 1.22464500e-03 9.99998702e-01 -1.04745897e-03 1.69129777e-01] [ 9.98859016e-04 1.04623599e-03 9.99998954e-01 8.86164746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters 0.28584131993484607 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:0.89 [[ 9.99999211e-01 -9.34161028e-04 -8.39825104e-04 3.20283228e+00] [ 9.33890643e-04 9.99999512e-01 -3.22288924e-04 1.66124949e-01] [ 8.40125764e-04 3.21504365e-04 9.99999595e-01 8.86218238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters 0.285845237497539 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:0.89 [[ 9.99999492e-01 -4.97796749e-04 -8.76350136e-04 3.20345912e+00] [ 4.98289855e-04 9.99999718e-01 5.62553400e-04 1.62290469e-01] [ 8.76069852e-04 -5.62989791e-04 9.99999458e-01 8.85370321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30255784400003 meters 0.2867968468797174 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:0.88 [[ 9.99999492e-01 -1.68161345e-04 -9.93421050e-04 3.20412078e+00] [ 1.69536547e-04 9.99999027e-01 1.38438653e-03 1.58790501e-01] [ 9.93187283e-04 -1.38455425e-03 9.99998548e-01 8.84601748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.362557844 meters 0.2861149501241613 Centerline is valid? [False, False] Translation: X:3.20, Y:0.15, Z:0.89 [[ 9.99999395e-01 3.58526536e-04 -1.03961200e-03 3.20407210e+00] [-3.55536512e-04 9.99995804e-01 2.87485584e-03 1.52774483e-01] [ 1.04063835e-03 -2.87448448e-03 9.99995327e-01 8.85073356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.422557844 meters 0.2858690449222487 Centerline is valid? [False, False] Translation: X:3.20, Y:0.15, Z:0.89 [[ 9.99999288e-01 7.42462680e-04 -9.33930537e-04 3.20360570e+00] [-7.38649772e-04 9.99991419e-01 4.07638707e-03 1.47952419e-01] [ 9.36949088e-04 -4.07569433e-03 9.99991255e-01 8.85518145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.482557844 meters 0.2865479518677818 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.89 [[ 9.99995160e-01 -2.96444663e-03 -9.44851532e-04 3.20388130e+00] [ 2.96560133e-03 9.99994855e-01 1.22304746e-03 1.41592051e-01] [ 9.41221011e-04 -1.22584360e-03 9.99998806e-01 8.85158591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.542557844 meters 0.28619112600084895 Centerline is valid? [False, False] Translation: X:3.20, Y:0.14, Z:0.88 [[ 9.99996169e-01 -2.59779665e-03 -9.55592128e-04 3.20406146e+00] [ 2.59980272e-03 9.99994407e-01 2.10407737e-03 1.37869997e-01] [ 9.50120818e-04 -2.10655366e-03 9.99997330e-01 8.84905325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.602557844 meters 0.28522243578739337 Centerline is valid? [False, False] Translation: X:3.20, Y:0.13, Z:0.88 [[ 9.99996993e-01 -2.23554624e-03 -1.00778154e-03 3.20425570e+00] [ 2.23844440e-03 9.99993336e-01 2.88388913e-03 1.34595742e-01] [ 1.00132776e-03 -2.88613633e-03 9.99995334e-01 8.84861663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.662557844 meters 0.2871505700003763 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:0.89 [[ 9.99974257e-01 7.06027831e-03 1.27985758e-03 3.22356262e+00] [-7.06412482e-03 9.99970470e-01 3.02623627e-03 1.29113060e-01] [-1.25845371e-03 -3.03519944e-03 9.99994602e-01 8.85581625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.722557844 meters 0.28449806880762063 Centerline is valid? [False, False] Translation: X:3.20, Y:0.13, Z:0.89 [[ 9.99995311e-01 -2.76707646e-03 1.31184164e-03 3.20075150e+00] [ 2.76265209e-03 9.99990530e-01 3.36254587e-03 1.28503208e-01] [-1.32113364e-03 -3.35890594e-03 9.99993486e-01 8.86221941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.782557844 meters 0.2857011853777939 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:0.89 [[ 9.99976428e-01 6.08935367e-03 3.17236122e-03 3.21978463e+00] [-6.09716971e-03 9.99978386e-01 2.45997422e-03 1.26233836e-01] [-3.15731300e-03 -2.47925866e-03 9.99991942e-01 8.87566880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.842557844 meters 0.2851076320519943 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:0.89 [[ 9.99977510e-01 6.00035785e-03 2.99589659e-03 3.22033871e+00] [-6.00695426e-03 9.99979543e-01 2.19769549e-03 1.27314866e-01] [-2.98264834e-03 -2.21564228e-03 9.99993097e-01 8.87201896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.902557844 meters 0.2852138933602997 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:0.89 [[ 9.99977753e-01 5.93132032e-03 3.05175725e-03 3.22025782e+00] [-5.93750126e-03 9.99980332e-01 2.02031351e-03 1.28066159e-01] [-3.03971410e-03 -2.03838837e-03 9.99993303e-01 8.87055586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.962557844 meters 0.284752920809619 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:0.89 [[ 9.99977332e-01 6.02602446e-03 3.00385981e-03 3.22020944e+00] [-6.03292960e-03 9.99979168e-01 2.29502060e-03 1.26970979e-01] [-2.98996738e-03 -2.31309065e-03 9.99992855e-01 8.87487705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.022557844 meters 0.2854259887333739 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:0.89 [[ 9.99985124e-01 -3.35095676e-03 4.30388014e-03 3.24139686e+00] [ 3.33961602e-03 9.99990940e-01 2.63949303e-03 1.25809861e-01] [-4.31268598e-03 -2.62508046e-03 9.99987255e-01 8.87527085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.082557844 meters 0.2862989851407914 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.89 [[ 9.99985745e-01 -3.26637396e-03 4.22390034e-03 3.24166778e+00] [ 3.25428451e-03 9.99990598e-01 2.86586586e-03 1.24853918e-01] [-4.23322162e-03 -2.85207923e-03 9.99986973e-01 8.87385241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.142557844 meters 0.28563101509178135 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99988198e-01 4.43053446e-03 1.99366643e-03 3.22316696e+00] [-4.43330081e-03 9.99989213e-01 1.38529379e-03 1.22318886e-01] [-1.98750733e-03 -1.39411597e-03 9.99997053e-01 8.85697937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.202557844 meters 0.28542189806269436 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99988641e-01 4.36663227e-03 1.91048646e-03 3.22341949e+00] [-4.36897964e-03 9.99989704e-01 1.22623432e-03 1.22982119e-01] [-1.90511228e-03 -1.23456727e-03 9.99997423e-01 8.85594737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.262557844 meters 0.28644356538364846 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99988853e-01 4.30319187e-03 1.94306799e-03 3.22325851e+00] [-4.30526902e-03 9.99990164e-01 1.06609225e-03 1.23663672e-01] [-1.93846127e-03 -1.07444580e-03 9.99997544e-01 8.85754617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.322557844 meters 0.2858812289384994 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99989184e-01 4.26987881e-03 1.84374277e-03 3.22367890e+00] [-4.27169557e-03 9.99990394e-01 9.82554653e-04 1.23981627e-01] [-1.83952967e-03 -9.90419934e-04 9.99997818e-01 8.85350714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.382557844 meters 0.2885619817031093 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.88 [[ 9.99994421e-01 -1.68443875e-03 2.88466005e-03 3.24687866e+00] [ 1.67258693e-03 9.99990171e-01 4.10606175e-03 1.26444056e-01] [-2.89154811e-03 -4.10121400e-03 9.99987409e-01 8.83765672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.442557844 meters 0.2869721137866359 Centerline is valid? [False, False] Translation: X:3.25, Y:0.13, Z:0.88 [[ 9.99994261e-01 -1.61950098e-03 2.97567016e-03 3.24643406e+00] [ 1.60676145e-03 9.99989556e-01 4.27864508e-03 1.25726586e-01] [-2.98256835e-03 -4.27383933e-03 9.99986419e-01 8.84292280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.502557844 meters 0.28635032485809325 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99994094e-01 3.40594665e-03 4.59546325e-04 3.22420225e+00] [-3.40634512e-03 9.99993821e-01 8.69123773e-04 1.23433535e-01] [-4.56583296e-04 -8.70684013e-04 9.99999517e-01 8.85955621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.562557844 meters 0.28564982692171986 Centerline is valid? [False, False] Translation: X:3.22, Y:0.12, Z:0.89 [[ 9.99993659e-01 3.51576760e-03 5.66179647e-04 3.22368903e+00] [-3.51643136e-03 9.99993126e-01 1.17565603e-03 1.22177788e-01] [-5.62042421e-04 -1.17763950e-03 9.99999149e-01 8.86595364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.622557844 meters 0.2856251236801923 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.89 [[ 0.99998478 -0.00354461 0.00422688 3.24037044] [ 0.00353015 0.99998791 0.00342339 0.12095602] [-0.00423897 -0.00340841 0.99998521 0.88946423] [ 0. 0. 0. 1. ]] SLAMing on 421.68255784400003 meters 0.28546317118283926 Centerline is valid? [False, False] Translation: X:3.24, Y:0.12, Z:0.89 [[ 0.99998474 -0.00342767 0.00433264 3.23995653] [ 0.00341154 0.99998725 0.00372428 0.11970741] [-0.00434535 -0.00370944 0.99998368 0.88983698] [ 0. 0. 0. 1. ]] SLAMing on 421.74255784400003 meters 0.28478169210502413 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99985056e-01 4.32437587e-03 3.34492523e-03 3.22102607e+00] [-4.33304199e-03 9.99987264e-01 2.58793482e-03 1.12591249e-01] [-3.33369143e-03 -2.60238985e-03 9.99991057e-01 8.88155107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters 0.28496792486137895 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99985097e-01 4.34871473e-03 3.30069130e-03 3.22119164e+00] [-4.35747996e-03 9.99986987e-01 2.65304375e-03 1.12317587e-01] [-3.28911102e-03 -2.66738691e-03 9.99991033e-01 8.88042179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.862557844 meters 0.2852684536913736 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99994378e-01 2.15129061e-04 3.34634879e-03 3.22105108e+00] [-2.11346527e-04 9.99999338e-01 -1.13065926e-03 1.10118261e-01] [-3.34658982e-03 1.12994566e-03 9.99993762e-01 8.88088818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.922557844 meters 0.28563548180926784 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99994347e-01 4.67285360e-04 3.32968205e-03 3.22111885e+00] [-4.65591034e-04 9.99999762e-01 -5.09611974e-04 1.07524483e-01] [-3.32991939e-03 5.08058824e-04 9.99994327e-01 8.88073752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.982557844 meters 0.28522616925525074 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:0.89 [[ 9.99994668e-01 7.30777962e-04 3.18284405e-03 3.22164835e+00] [-7.31172007e-04 9.99999725e-01 1.22641072e-04 1.04875819e-01] [-3.18275355e-03 -1.24967625e-04 9.99994927e-01 8.87806481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.042557844 meters 0.28822192085706627 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99994023e-01 2.55510778e-03 2.32943843e-03 3.26297907e+00] [-2.55787700e-03 9.99996025e-01 1.18659036e-03 1.05609527e-01] [-2.32639731e-03 -1.19254168e-03 9.99996583e-01 8.89226007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.102557844 meters 0.28563989779689586 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99997309e-01 1.65273222e-03 1.62805297e-03 3.22689391e+00] [-1.65433180e-03 9.99998150e-01 9.81655968e-04 1.03037356e-01] [-1.62642755e-03 -9.84346666e-04 9.99998193e-01 8.84863857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.162557844 meters 0.2870833182154824 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99997385e-01 1.67814170e-03 1.55334192e-03 3.22731196e+00] [-1.67977196e-03 9.99998039e-01 1.04880936e-03 1.02711369e-01] [-1.55157882e-03 -1.05141588e-03 9.99998244e-01 8.84348501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.222557844 meters 0.2859376759484553 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99997280e-01 1.71482222e-03 1.58110673e-03 3.22715187e+00] [-1.71663909e-03 9.99997867e-01 1.14847514e-03 1.02317255e-01] [-1.57913392e-03 -1.15118621e-03 9.99998091e-01 8.84567245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.282557844 meters 0.2879094895455469 Centerline is valid? [False, False] Translation: X:3.25, Y:0.10, Z:0.88 [[ 0.99998195 -0.00470389 0.00373883 3.25036074] [ 0.00468993 0.99998203 0.00373304 0.10127093] [-0.00375633 -0.00371544 0.99998604 0.88280936] [ 0. 0. 0. 1. ]] SLAMing on 422.342557844 meters 0.2864323141285682 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99999056e-01 4.69048240e-04 1.29119918e-03 3.22770994e+00] [-4.69571620e-04 9.99999808e-01 4.05070807e-04 1.00211542e-01] [-1.29100894e-03 -4.05676735e-04 9.99999084e-01 8.84655231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.402557844 meters 0.2870243384388979 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99999190e-01 4.79786244e-04 1.17874857e-03 3.22805312e+00] [-4.80302793e-04 9.99999789e-01 4.37973810e-04 1.00064797e-01] [-1.17853819e-03 -4.38539612e-04 9.99999209e-01 8.84526661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.462557844 meters 0.2860874982056952 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:0.88 [[ 9.99999080e-01 3.94879002e-04 1.29764718e-03 3.22767222e+00] [-3.95135420e-04 9.99999902e-01 1.97351260e-04 1.01074091e-01] [-1.29756913e-03 -1.97863825e-04 9.99999139e-01 8.84691489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.522557844 meters 0.2870674693156418 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99997906e-01 1.26204906e-03 1.61127215e-03 3.26291829e+00] [-1.26158571e-03 9.99999163e-01 -2.88553546e-04 1.09031730e-01] [-1.61163497e-03 2.86520184e-04 9.99998660e-01 8.89736222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.582557844 meters 0.2851587045148264 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995552e-01 3.57530005e-04 2.96119433e-03 3.22255989e+00] [-3.55864030e-04 9.99999778e-01 -5.63109989e-04 1.07878279e-01] [-2.96139500e-03 5.62053702e-04 9.99995457e-01 8.87343376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.642557844 meters 0.2853947810490306 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995836e-01 2.70564906e-04 2.87313046e-03 3.22302778e+00] [-2.68297446e-04 9.99999652e-01 -7.89550861e-04 1.08793290e-01] [-2.87334309e-03 7.88776720e-04 9.99995561e-01 8.86741213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.702557844 meters 0.286354549305774 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995872e-01 1.82061430e-04 2.86749075e-03 3.22296843e+00] [-1.79102350e-04 9.99999451e-01 -1.03216332e-03 1.09795008e-01] [-2.86767709e-03 1.03164548e-03 9.99995356e-01 8.86900485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.762557844 meters 0.28635495906456804 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995471e-01 8.22952302e-05 3.00841222e-03 3.22259497e+00] [-7.82612013e-05 9.99999098e-01 -1.34100942e-03 1.11061860e-01] [-3.00851986e-03 1.34076791e-03 9.99994576e-01 8.86946664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.822557844 meters 0.2865669431795711 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995337e-01 1.19164481e-04 3.05147378e-03 3.22237191e+00] [-1.15348026e-04 9.99999211e-01 -1.25083789e-03 1.10689552e-01] [-3.05162043e-03 1.25048008e-03 9.99994562e-01 8.87214002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.882557844 meters 0.2850775338484314 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:0.89 [[ 9.99995414e-01 1.89724453e-04 3.02250716e-03 3.22250197e+00] [-1.86493631e-04 9.99999411e-01 -1.06916721e-03 1.09918003e-01] [-3.02270823e-03 1.06859863e-03 9.99994861e-01 8.87104289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.942557844 meters 0.28729287083523714 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99998710e-01 5.02432426e-04 1.52558556e-03 3.26198339e+00] [-4.99813487e-04 9.99998402e-01 -1.71657459e-03 1.12494123e-01] [-1.52644559e-03 1.71580987e-03 9.99997363e-01 8.90337846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.002557844 meters 0.28614297851525905 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99998970e-01 3.96436929e-04 1.37950569e-03 3.26245193e+00] [-3.93596237e-04 9.99997803e-01 -2.05887202e-03 1.13834160e-01] [-1.38031887e-03 2.05832693e-03 9.99996929e-01 8.89978171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.062557844 meters 0.28658104904562864 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99998723e-01 2.30471922e-04 1.58158571e-03 3.26202412e+00] [-2.26320564e-04 9.99996530e-01 -2.62448489e-03 1.16074196e-01] [-1.58218509e-03 2.62412359e-03 9.99995305e-01 8.89782898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.122557844 meters 0.2863274468708706 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99998678e-01 1.66146966e-04 1.61766011e-03 3.26171194e+00] [-1.61629941e-04 9.99996089e-01 -2.79205079e-03 1.16801421e-01] [-1.61811767e-03 2.79178564e-03 9.99994794e-01 8.90264284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters 0.2868549005207708 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99998822e-01 1.76491055e-04 1.52492749e-03 3.26185707e+00] [-1.72277637e-04 9.99996169e-01 -2.76271798e-03 1.16683431e-01] [-1.52540925e-03 2.76245201e-03 9.99995021e-01 8.90471029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters 0.28660552335869066 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99999171e-01 2.33155993e-04 1.26622332e-03 3.26252484e+00] [-2.29898694e-04 9.99996666e-01 -2.57198828e-03 1.15902347e-01] [-1.26681877e-03 2.57169505e-03 9.99995891e-01 8.90370518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters 0.2870030729033175 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.89 [[ 9.99964212e-01 -8.00625347e-03 2.73414464e-03 3.28314463e+00] [ 8.01034449e-03 9.99966809e-01 -1.48861261e-03 1.16459293e-01] [-2.72213568e-03 1.51046078e-03 9.99995154e-01 8.91442238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.362557844 meters 0.28615814515657967 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99998689e-01 9.36597500e-05 1.61675576e-03 3.26491722e+00] [-9.01279211e-05 9.99997610e-01 -2.18445070e-03 1.08390896e-01] [-1.61695649e-03 2.18430212e-03 9.99996307e-01 8.90183425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.422557844 meters 0.28888567530871206 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99998540e-01 2.47666759e-04 1.69090551e-03 3.26480886e+00] [-2.44618105e-04 9.99998345e-01 -1.80293989e-03 1.06788567e-01] [-1.69134924e-03 1.80252363e-03 9.99996945e-01 8.90029520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.482557844 meters 0.287379957885757 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99998374e-01 3.92622595e-04 1.75987422e-03 3.26453325e+00] [-3.90109501e-04 9.99998904e-01 -1.42811226e-03 1.05263734e-01] [-1.76043300e-03 1.42742340e-03 9.99997432e-01 8.90313511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.542557844 meters 0.28801520387596347 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:0.89 [[ 9.99998861e-01 3.32956602e-04 1.47186192e-03 3.26552835e+00] [-3.30578028e-04 9.99998640e-01 -1.61597826e-03 1.05987101e-01] [-1.47239797e-03 1.61548985e-03 9.99997611e-01 8.89425687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.602557844 meters 0.28709004232105917 Centerline is valid? [False, False] Translation: X:3.27, Y:0.11, Z:0.89 [[ 9.99989270e-01 4.38001614e-03 1.50824260e-03 3.26568696e+00] [-4.38303298e-03 9.99988389e-01 2.00276989e-03 1.08947747e-01] [-1.49945292e-03 -2.00935907e-03 9.99996857e-01 8.88826747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.662557844 meters 0.28751078163102617 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.89 [[ 9.99991037e-01 -3.68645950e-03 2.08217409e-03 3.28470633e+00] [ 3.68046772e-03 9.99989097e-01 2.87419590e-03 1.15384824e-01] [-2.09274700e-03 -2.86650677e-03 9.99993702e-01 8.89976353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.722557844 meters 0.2872575346796666 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.89 [[ 9.99990400e-01 -3.77936996e-03 2.21720039e-03 3.28383791e+00] [ 3.77370324e-03 9.99989617e-01 2.55443975e-03 1.16682284e-01] [-2.22683154e-03 -2.54604817e-03 9.99994279e-01 8.91330932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.782557844 meters 0.28629210534013305 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.89 [[ 9.99990663e-01 -3.66352790e-03 2.29196745e-03 3.28339235e+00] [ 3.65689109e-03 9.99989128e-01 2.89320012e-03 1.15383973e-01] [-2.30254185e-03 -2.88479163e-03 9.99993188e-01 8.91996804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.842557844 meters 0.28802335609336255 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99982888e-01 5.53648686e-03 1.88956972e-03 3.30453963e+00] [-5.54127455e-03 9.99981426e-01 2.53798720e-03 1.09563170e-01] [-1.87548309e-03 -2.54841439e-03 9.99994994e-01 8.92653917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.902557844 meters 0.28697086753787454 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.89 [[ 9.99989564e-01 -4.42646570e-03 1.13047399e-03 3.28148638e+00] [ 4.42329241e-03 9.99986313e-01 2.79428047e-03 1.06694326e-01] [-1.14282730e-03 -2.78925089e-03 9.99995457e-01 8.94061318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.962557844 meters 0.28662598745125134 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.89 [[ 9.99990972e-01 -4.10028067e-03 1.11556848e-03 3.28131567e+00] [ 4.09623935e-03 9.99985126e-01 3.60114205e-03 1.03336850e-01] [-1.13031758e-03 -3.59653990e-03 9.99992894e-01 8.94584980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.022557844 meters 0.2885110013750378 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99992701e-01 3.11165746e-03 2.21731848e-03 3.30287493e+00] [-3.11445231e-03 9.99994359e-01 1.25812651e-03 1.00409314e-01] [-2.21339112e-03 -1.26502306e-03 9.99996750e-01 8.94193503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.082557844 meters 0.2887200215697644 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.89 [[ 9.99992407e-01 3.20403967e-03 2.21791951e-03 3.30280749e+00] [-3.20735878e-03 9.99993740e-01 1.49456136e-03 9.94387487e-02] [-2.21311699e-03 -1.50166367e-03 9.99996424e-01 8.94355913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.142557844 meters 0.28672113601865806 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.90 [[ 9.99993881e-01 1.29487243e-03 3.24986090e-03 3.29717397e+00] [-1.29400045e-03 9.99999126e-01 -2.70401655e-04 9.93214055e-02] [-3.25020820e-03 2.66194679e-04 9.99994683e-01 8.98694882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.202557844 meters 0.28635903630471676 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.90 [[ 9.99993911e-01 1.37254868e-03 3.20836315e-03 3.29731204e+00] [-1.37232336e-03 9.99999056e-01 -7.24308118e-05 9.84889782e-02] [-3.20845954e-03 6.80274591e-05 9.99994851e-01 8.98636475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.262557844 meters 0.2870579538348983 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.90 [[ 9.99993920e-01 1.67273916e-03 3.05978364e-03 3.29804793e+00] [-1.67508214e-03 9.99998306e-01 7.63329861e-04 9.49202510e-02] [-3.05850160e-03 -7.68450609e-04 9.99995028e-01 8.97891767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.322557844 meters 0.2884873815935782 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.89 [[ 9.99998234e-01 -5.20050544e-04 1.80598687e-03 3.30369719e+00] [ 5.21437711e-04 9.99999569e-01 -7.67707674e-04 8.88497617e-02] [-1.80558685e-03 7.68648028e-04 9.99998075e-01 8.94313460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.382557844 meters 0.2885952302577147 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.89 [[ 9.99998293e-01 -3.74876337e-04 1.80900645e-03 3.30371284e+00] [ 3.75611079e-04 9.99999847e-01 -4.05835276e-04 8.73333984e-02] [-1.80885404e-03 4.06514066e-04 9.99998281e-01 8.94291649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.442557844 meters 0.2901724909027489 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.89 [[ 9.99998041e-01 -2.93390301e-04 1.95731140e-03 3.30343856e+00] [ 2.93794132e-04 9.99999936e-01 -2.06034550e-04 8.64973939e-02] [-1.95725082e-03 2.06609193e-04 9.99998063e-01 8.94077509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.502557844 meters 0.28918886156320717 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.89 [[ 9.99997805e-01 -2.05078494e-04 2.08520162e-03 3.30284723e+00] [ 2.05038858e-04 9.99999979e-01 1.92217376e-05 8.55909223e-02] [-2.08520551e-03 -1.87941480e-05 9.99997826e-01 8.94723797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.562557844 meters 0.2883436944496111 Centerline is valid? [False, False] Translation: X:3.27, Y:0.08, Z:0.89 [[ 9.99997207e-01 -6.16905238e-04 2.28166090e-03 3.26551889e+00] [ 6.15537063e-04 9.99999630e-01 6.00293742e-04 8.22527510e-02] [-2.28203038e-03 -5.98887618e-04 9.99997217e-01 8.91220090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.622557844 meters 0.28896292694839504 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.90 [[ 9.99997346e-01 2.32927134e-04 2.29205667e-03 3.30207775e+00] [-2.32891413e-04 9.99999973e-01 -1.58516491e-05 8.86821834e-02] [-2.29206030e-03 1.53178068e-05 9.99997373e-01 8.95277702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters 0.2880612627281892 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:0.90 [[ 9.99997605e-01 1.20003744e-05 2.18878898e-03 3.30234146e+00] [-1.06618622e-05 9.99999813e-01 -6.11541603e-04 9.11116403e-02] [-2.18879591e-03 6.11516801e-04 9.99997418e-01 8.95222665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters 0.2875219795963551 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.90 [[ 9.99985668e-01 -5.35122986e-03 -1.68000479e-04 3.28098545e+00] [ 5.35170140e-03 9.99981345e-01 2.94445705e-03 9.53269869e-02] [ 1.52240879e-04 -2.94531394e-03 9.99995651e-01 8.95825446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters 0.2885639944143503 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.90 [[ 9.99990995e-01 2.56223666e-03 3.38314294e-03 3.30006999e+00] [-2.56635771e-03 9.99995970e-01 1.21433482e-03 9.89403369e-02] [-3.38001789e-03 -1.22300624e-03 9.99993540e-01 8.95724345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.862557844 meters 0.28810716435835604 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:0.90 [[ 9.99991251e-01 2.15016603e-03 3.58819129e-03 3.29937834e+00] [-2.15088945e-03 9.99997667e-01 1.97766901e-04 1.03234673e-01] [-3.58775768e-03 -2.05482973e-04 9.99993543e-01 8.95906924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.922557844 meters 0.2896977566543674 Centerline is valid? [False, False] Translation: X:3.32, Y:0.11, Z:0.89 [[ 9.99983817e-01 -3.44069277e-03 4.53081000e-03 3.32326193e+00] [ 3.42673572e-03 9.99989371e-01 3.08464455e-03 1.07510934e-01] [-4.54137515e-03 -3.06906874e-03 9.99984978e-01 8.94208187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.982557844 meters 0.2893676935053009 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99984319e-01 4.55159277e-03 3.26252576e-03 3.30297929e+00] [-4.55707344e-03 9.99988215e-01 1.67442620e-03 1.06281830e-01] [-3.25486600e-03 -1.68926751e-03 9.99993276e-01 8.93801704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.042557844 meters 0.28891849400265923 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99985294e-01 4.33127455e-03 3.26364149e-03 3.30323731e+00] [-4.33496310e-03 9.99989972e-01 1.12397155e-03 1.08586450e-01] [-3.25874054e-03 -1.13810279e-03 9.99994043e-01 8.93196841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.102557844 meters 0.2920913883588942 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99985684e-01 4.21204089e-03 3.30019005e-03 3.30326069e+00] [-4.21474495e-03 9.99990788e-01 8.12839846e-04 1.09869921e-01] [-3.29673594e-03 -8.26737668e-04 9.99994224e-01 8.92907205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.162557844 meters 0.28940954150395964 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99986217e-01 4.08840601e-03 3.29395468e-03 3.30313385e+00] [-4.09006425e-03 9.99991512e-01 4.96841011e-04 1.11207962e-01] [-3.29189543e-03 -5.10306649e-04 9.99994451e-01 8.93195770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.222557844 meters 0.2887930915170693 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:0.89 [[ 9.99986456e-01 4.07065381e-03 3.24304939e-03 3.30322656e+00] [-4.07214806e-03 9.99991606e-01 4.54284591e-04 1.11391039e-01] [-3.24117293e-03 -4.67484616e-04 9.99994638e-01 8.93272992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.282557844 meters 0.2900056638709506 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.89 [[ 9.99986948e-01 -4.21150684e-03 2.89258561e-03 3.32473542e+00] [ 4.20853790e-03 9.99990612e-01 1.03171558e-03 1.16673863e-01] [-2.89690353e-03 -1.01952856e-03 9.99995284e-01 8.93670585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.342557844 meters 0.29041540209977423 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.90 [[ 9.99998008e-01 1.89452319e-03 6.28649836e-04 3.30173288e+00] [-1.89344980e-03 9.99996756e-01 -1.70368186e-03 1.16846693e-01] [-6.31875462e-04 1.70248815e-03 9.99998351e-01 8.96223884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.402557844 meters 0.2913627914036799 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.90 [[ 9.99986047e-01 -3.39018239e-03 4.05117749e-03 3.32131307e+00] [ 3.38457681e-03 9.99993307e-01 1.38974533e-03 1.20054546e-01] [-4.05586186e-03 -1.37601441e-03 9.99990828e-01 8.96205067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.462557844 meters 0.29371867537807517 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.90 [[ 9.99983965e-01 -3.59040244e-03 4.37927412e-03 3.32067491e+00] [ 3.58699021e-03 9.99993257e-01 7.86784034e-04 1.22509771e-01] [-4.38206947e-03 -7.71063005e-04 9.99990101e-01 8.95742681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.522557844 meters 0.2895934386590663 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.90 [[ 9.99983970e-01 -3.69706893e-03 4.28862739e-03 3.32112888e+00] [ 3.69492785e-03 9.99993045e-01 5.07062088e-04 1.23663745e-01] [-4.29047221e-03 -4.91207791e-04 9.99990675e-01 8.95165702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.582557844 meters 0.2901388760289645 Centerline is valid? [False, False] Translation: X:3.32, Y:0.12, Z:0.89 [[ 9.99984247e-01 -3.72211987e-03 4.20134641e-03 3.32144485e+00] [ 3.72027260e-03 9.99992980e-01 4.47416341e-04 1.23894602e-01] [-4.20298226e-03 -4.31779139e-04 9.99991074e-01 8.94963024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.642557844 meters 0.2909657520317609 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.89 [[ 9.99988691e-01 4.15098646e-03 2.32094259e-03 3.30212758e+00] [-4.14879969e-03 9.99990946e-01 -9.46211029e-04 1.21389679e-01] [-2.32484928e-03 9.36571202e-04 9.99996859e-01 8.94375890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.702557844 meters 0.2888972209294714 Centerline is valid? [False, False] Translation: X:3.30, Y:0.12, Z:0.89 [[ 9.99989149e-01 3.95414745e-03 2.46285732e-03 3.30180477e+00] [-3.95055071e-03 9.99991126e-01 -1.46355005e-03 1.23543854e-01] [-2.46862255e-03 1.45380453e-03 9.99995896e-01 8.94235701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.762557844 meters 0.28984775877405283 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.89 [[ 9.99989866e-01 3.71674783e-03 2.54028990e-03 3.30164975e+00] [-3.71141512e-03 9.99990906e-01 -2.10075209e-03 1.26172301e-01] [-2.54807477e-03 2.09130273e-03 9.99994567e-01 8.94094383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.822557844 meters 0.291212599167843 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.89 [[ 9.99998478e-01 -1.73278586e-03 2.01357784e-04 3.28011647e+00] [ 1.73256798e-03 9.99997919e-01 1.07726598e-03 1.30659042e-01] [-2.03224036e-04 -1.07691548e-03 9.99999399e-01 8.94294262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.882557844 meters 0.2898057163969363 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.89 [[ 9.99998098e-01 -1.94266147e-03 1.71685497e-04 3.28031519e+00] [ 1.94256560e-03 9.99997958e-01 5.56827370e-04 1.32817969e-01] [-1.72766874e-04 -5.56492801e-04 9.99999830e-01 8.93976521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.942557844 meters 0.28862272745625334 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99997849e-01 -2.00671006e-03 5.25273124e-04 3.27902689e+00] [ 2.00652558e-03 9.99997925e-01 3.51492892e-04 1.33698972e-01] [-5.25977379e-04 -3.50438162e-04 9.99999800e-01 8.95169415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.002557844 meters 0.2885429193996979 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99997850e-01 -1.95032997e-03 7.03956165e-04 3.27850103e+00] [ 1.94996972e-03 9.99997968e-01 5.12072756e-04 1.33035882e-01] [-7.04953445e-04 -5.10698962e-04 9.99999621e-01 8.95433139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.062557844 meters 0.2894540416016734 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.90 [[ 9.99974991e-01 7.02860648e-03 7.85168149e-04 3.30050128e+00] [-7.02837000e-03 9.99975255e-01 -3.03531503e-04 1.31207235e-01] [-7.87282123e-04 2.98005460e-04 9.99999646e-01 8.95493247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.122557844 meters 0.2897740036451677 Centerline is valid? [False, False] Translation: X:3.30, Y:0.13, Z:0.90 [[ 9.99976136e-01 6.85927613e-03 8.22798790e-04 3.30041900e+00] [-6.85862852e-03 9.99976169e-01 -7.87335757e-04 1.33182388e-01] [-8.28179735e-04 7.81673697e-04 9.99999352e-01 8.95440525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters 0.28833373514816035 Centerline is valid? [False, False] Translation: X:3.28, Y:0.14, Z:0.89 [[ 9.99998004e-01 -1.80435591e-03 -8.58412584e-04 3.28097048e+00] [ 1.80432970e-03 9.99998372e-01 -3.13072867e-05 1.37091515e-01] [ 8.58467676e-04 2.97583648e-05 9.99999631e-01 8.94513027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters 0.28843771720348793 Centerline is valid? [False, False] Translation: X:3.28, Y:0.14, Z:0.89 [[ 9.99998011e-01 -1.82782621e-03 -7.97842618e-04 3.28069532e+00] [ 1.82775273e-03 9.99998325e-01 -9.28183897e-05 1.37359946e-01] [ 7.98010937e-04 9.13599461e-05 9.99999677e-01 8.94775626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters 0.2879965778596095 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99998468e-01 -1.64290068e-03 -6.04428200e-04 3.28017479e+00] [ 1.64321014e-03 9.99998519e-01 5.11846043e-04 1.34985741e-01] [ 6.03586393e-04 -5.12838461e-04 9.99999686e-01 8.95021524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.362557844 meters 0.2878035946491689 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99998704e-01 -1.48685487e-03 -6.17306964e-04 3.28022651e+00] [ 1.48744478e-03 9.99998437e-01 9.56261791e-04 1.33173073e-01] [ 6.15884177e-04 -9.57178761e-04 9.99999352e-01 8.95011921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.422557844 meters 0.2883112833819827 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99999166e-01 -1.17441740e-03 -5.38020616e-04 3.27976444e+00] [ 1.17539552e-03 9.99997651e-01 1.82130106e-03 1.29568603e-01] [ 5.35880384e-04 -1.82193193e-03 9.99998197e-01 8.95568127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.482557844 meters 0.28833325461710735 Centerline is valid? [False, False] Translation: X:3.28, Y:0.13, Z:0.90 [[ 9.99999312e-01 -1.02020356e-03 -5.79346425e-04 3.28006375e+00] [ 1.02148110e-03 9.99997038e-01 2.20915455e-03 1.27937835e-01] [ 5.77090922e-04 -2.20974482e-03 9.99997392e-01 8.95170149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.542557844 meters 0.28924800732953493 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.90 [[ 9.99986691e-01 4.94106858e-03 -1.48464926e-03 3.25864098e+00] [-4.94244914e-03 9.99987356e-01 -9.27664273e-04 1.23381362e-01] [ 1.48004683e-03 9.34989730e-04 9.99998468e-01 8.95065656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.602557844 meters 0.2896386556560498 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.90 [[ 9.99986542e-01 5.01200653e-03 -1.33984395e-03 3.25829293e+00] [-5.01300769e-03 9.99987157e-01 -7.44911856e-04 1.22639186e-01] [ 1.33609324e-03 7.51618479e-04 9.99998825e-01 8.95052303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.662557844 meters 0.28975249609443343 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99998647e-01 8.88056596e-04 -1.38475529e-03 3.25839574e+00] [-8.94187794e-04 9.99989773e-01 -4.43332439e-03 1.20047826e-01] [ 1.38080408e-03 4.43455663e-03 9.99989214e-01 8.94975148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.722557844 meters 0.29004944775987157 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:0.89 [[ 9.99998071e-01 1.12831005e-03 -1.60783183e-03 3.25910236e+00] [-1.13429970e-03 9.99992403e-01 -3.72926611e-03 1.17104392e-01] [ 1.60361185e-03 3.73108268e-03 9.99991754e-01 8.94663094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.782557844 meters 0.2898889201733456 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99997347e-01 1.44561847e-03 -1.79359974e-03 3.25951496e+00] [-1.45059397e-03 9.99995095e-01 -2.77583447e-03 1.13241927e-01] [ 1.78957815e-03 2.77842889e-03 9.99994539e-01 8.94794004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.842557844 meters 0.29046353200650515 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99996431e-01 1.88537279e-03 -1.89306024e-03 3.25971996e+00] [-1.88840194e-03 9.99996938e-01 -1.59962370e-03 1.08438359e-01] [ 1.89003855e-03 1.60319285e-03 9.99996929e-01 8.94860603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.902557844 meters 0.2917336845597045 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99995934e-01 2.00327947e-03 -2.02939978e-03 3.26032491e+00] [-2.00593190e-03 9.99997136e-01 -1.30581053e-03 1.07144777e-01] [ 2.02677806e-03 1.30987605e-03 9.99997088e-01 8.94305525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.962557844 meters 0.2894743004223812 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99995939e-01 1.98157614e-03 -2.04836014e-03 3.26051784e+00] [-1.98436103e-03 9.99997108e-01 -1.35843286e-03 1.07356364e-01] [ 2.04566238e-03 1.36249203e-03 9.99996979e-01 8.93955889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.022557844 meters 0.2909413324459094 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.89 [[ 9.99996637e-01 1.87034945e-03 -1.79639460e-03 3.25970197e+00] [-1.87334499e-03 9.99996855e-01 -1.66729875e-03 1.08713345e-01] [ 1.79327052e-03 1.67065841e-03 9.99996997e-01 8.94371541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.082557844 meters 0.2902293580710404 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.90 [[ 9.99982332e-01 -5.89385588e-03 -7.73170088e-04 3.27898302e+00] [ 5.89342807e-03 9.99982480e-01 -5.54435379e-04 1.14508000e-01] [ 7.76424304e-04 5.49868961e-04 9.99999547e-01 8.96021973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.142557844 meters 0.28979763774781947 Centerline is valid? [False, False] Translation: X:3.28, Y:0.12, Z:0.90 [[ 9.99982161e-01 -5.93592733e-03 -6.65206646e-04 3.27830552e+00] [ 5.93548554e-03 9.99982164e-01 -6.64156184e-04 1.15025163e-01] [ 6.69137164e-04 6.60196012e-04 9.99999558e-01 8.96891569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.202557844 meters 0.28958957923149714 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.90 [[ 9.99982422e-01 -5.90264476e-03 -5.59961055e-04 3.27786400e+00] [ 5.90232031e-03 9.99982413e-01 -5.79311088e-04 1.14681675e-01] [ 5.63370675e-04 5.75995836e-04 9.99999675e-01 8.97339148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.262557844 meters 0.29024623600686406 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.90 [[ 9.99982642e-01 -5.82676118e-03 -8.74523513e-04 3.27861462e+00] [ 5.82645639e-03 9.99982965e-01 -3.50668035e-04 1.13720122e-01] [ 8.76551874e-04 3.45566575e-04 9.99999556e-01 8.97414055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.322557844 meters 0.28728128328731506 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:0.90 [[ 9.99995411e-01 -2.87144942e-04 -3.01596662e-03 3.25619261e+00] [ 2.77658259e-04 9.99995015e-01 -3.14543451e-03 1.10348713e-01] [ 3.01685478e-03 3.14458266e-03 9.99990505e-01 8.98632960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.382557844 meters 0.28957217625009696 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.89 [[ 9.99995200e-01 -3.09699949e-03 9.30257396e-05 3.28074211e+00] [ 3.09675868e-03 9.99992115e-01 2.48586376e-03 1.05841578e-01] [-1.00723725e-04 -2.48556375e-03 9.99996906e-01 8.94811823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.442557844 meters 0.2900305830063399 Centerline is valid? [False, False] Translation: X:3.28, Y:0.11, Z:0.89 [[ 9.99995357e-01 -3.04722127e-03 1.55085724e-05 3.28098219e+00] [ 3.04717059e-03 9.99991970e-01 2.60272306e-03 1.05332588e-01] [-2.34395210e-05 -2.60266372e-03 9.99996613e-01 8.94734343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.502557844 meters 0.2881821906594546 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.89 [[ 9.99995501e-01 -2.99952728e-03 2.21463808e-05 3.28087066e+00] [ 2.99945575e-03 9.99991785e-01 2.72626555e-03 1.04830245e-01] [-3.03237068e-05 -2.72618686e-03 9.99996283e-01 8.94959577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.562557844 meters 0.288370661977252 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.90 [[ 9.99996167e-01 -2.75601552e-03 2.65642222e-04 3.27999934e+00] [ 2.75507688e-03 9.99990180e-01 3.47133262e-03 1.01864646e-01] [-2.75206660e-04 -3.47058745e-03 9.99993940e-01 8.95661502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.622557844 meters 0.288412005965144 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:0.90 [[ 9.99996788e-01 -2.53308456e-03 9.19926827e-05 3.28045308e+00] [ 2.53267763e-03 9.99988045e-01 4.18275726e-03 9.90127958e-02] [-1.02586861e-04 -4.18251083e-03 9.99991248e-01 8.95623346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters 0.288008311375285 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:0.90 [[ 9.99997775e-01 -2.10934183e-03 3.87605388e-06 3.28063468e+00] [ 2.10928898e-03 9.99982782e-01 5.47596278e-03 9.38535745e-02] [-1.54266645e-05 -5.47594242e-03 9.99985007e-01 8.95766027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters 0.28715437854581566 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:0.90 [[ 9.99998495e-01 -1.73286008e-03 -8.57491115e-05 3.28068240e+00] [ 1.73337202e-03 9.99978135e-01 6.38162815e-03 9.01178023e-02] [ 7.46887679e-05 -6.38176718e-03 9.99979634e-01 8.96174949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters 0.2867283143220745 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:0.90 [[ 9.99999166e-01 -1.24824602e-03 -3.32301395e-04 3.28124834e+00] [ 1.25071607e-03 9.99970794e-01 7.53973765e-03 8.53637192e-02] [ 3.22880242e-04 -7.54014698e-03 9.99971521e-01 8.96427936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.862557844 meters 0.2884858265968619 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.90 [[ 9.99977544e-01 6.20306913e-03 2.53651798e-03 3.30140971e+00] [-6.21698301e-03 9.99965467e-01 5.51483502e-03 8.31304465e-02] [-2.50222148e-03 -5.53048067e-03 9.99981576e-01 8.95700473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.922557844 meters 0.2891483476707581 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99993774e-01 2.54690164e-03 2.44226534e-03 3.30233410e+00] [-2.55338414e-03 9.99993216e-01 2.65486257e-03 7.91518177e-02] [-2.43548710e-03 -2.66108208e-03 9.99993494e-01 8.94484788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.982557844 meters 0.2897978020024233 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99995166e-01 2.40390551e-03 1.97236037e-03 3.30397643e+00] [-2.40814398e-03 9.99994790e-01 2.14938239e-03 8.10355329e-02] [-1.96718318e-03 -2.15412172e-03 9.99995745e-01 8.93041490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.042557844 meters 0.290209221587374 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99995189e-01 2.23056324e-03 2.15549154e-03 3.30360910e+00] [-2.23418023e-03 9.99996098e-01 1.67708456e-03 8.29903230e-02] [-2.15174228e-03 -1.68189225e-03 9.99996271e-01 8.92782789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.102557844 meters 0.29040327684594214 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994801e-01 2.25130691e-03 2.30849960e-03 3.30289310e+00] [-2.25528885e-03 9.99995971e-01 1.72375396e-03 8.29407259e-02] [-2.30460960e-03 -1.72895134e-03 9.99995850e-01 8.93579529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.162557844 meters 0.2888203981546755 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994170e-01 2.34800289e-03 2.47911075e-03 3.30229438e+00] [-2.35306643e-03 9.99995148e-01 2.04154673e-03 8.17324518e-02] [-2.47430517e-03 -2.04736834e-03 9.99994843e-01 8.94106463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.222557844 meters 0.28868859073182374 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994547e-01 2.45205299e-03 2.21192195e-03 3.30294646e+00] [-2.45741664e-03 9.99994039e-01 2.42543293e-03 8.01610516e-02] [-2.20596148e-03 -2.43085532e-03 9.99994612e-01 8.94113628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.282557844 meters 0.2880428015639772 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994827e-01 2.64226617e-03 1.83427310e-03 3.30423612e+00] [-2.64790626e-03 9.99991753e-01 3.07924882e-03 7.73887400e-02] [-1.82612177e-03 -3.08408987e-03 9.99993577e-01 8.93172449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.342557844 meters 0.28791502789580975 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994604e-01 2.71194998e-03 1.85403740e-03 3.30420350e+00] [-2.71798139e-03 9.99990998e-01 3.25838370e-03 7.66523234e-02] [-1.84518414e-03 -3.26340536e-03 9.99992973e-01 8.93148725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.402557844 meters 0.2877961240198783 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99994097e-01 2.80374715e-03 1.98642958e-03 3.30377820e+00] [-2.81072102e-03 9.99989866e-01 3.51670380e-03 7.56492001e-02] [-1.97654950e-03 -3.52226634e-03 9.99991843e-01 8.93416144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.462557844 meters 0.2883953874991839 Centerline is valid? [False, False] Translation: X:3.30, Y:0.08, Z:0.89 [[ 9.99997183e-01 -1.47431269e-03 1.86014938e-03 3.30441657e+00] [ 1.47548766e-03 9.99998713e-01 -6.30441714e-04 7.50492969e-02] [-1.85921751e-03 6.33184566e-04 9.99998071e-01 8.92595439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.522557844 meters 0.288453506866375 Centerline is valid? [False, False] Translation: X:3.30, Y:0.07, Z:0.89 [[ 9.99997496e-01 -1.19322220e-03 1.89304731e-03 3.30401227e+00] [ 1.19291684e-03 9.99999275e-01 1.62424663e-04 7.18273249e-02] [-1.89323975e-03 -1.60166008e-04 9.99998195e-01 8.93414392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.582557844 meters 0.2868170089696474 Centerline is valid? [False, False] Translation: X:3.30, Y:0.07, Z:0.89 [[ 9.99997920e-01 -9.24514016e-04 1.81811663e-03 3.30399758e+00] [ 9.22603693e-04 9.99999022e-01 1.05127316e-03 6.83435316e-02] [-1.81908677e-03 -1.04959357e-03 9.99997795e-01 8.93917461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.642557844 meters 0.28851344839908577 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.89 [[ 9.99980799e-01 5.80252798e-03 2.17539958e-03 3.32719874e+00] [-5.79819777e-03 9.99981207e-01 -1.99158559e-03 6.62998799e-02] [-2.18691493e-03 1.97893396e-03 9.99995651e-01 8.92753119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.702557844 meters 0.287206709101241 Centerline is valid? [False, False] Translation: X:3.31, Y:0.06, Z:0.89 [[ 9.99995730e-01 -2.91463573e-03 2.14066271e-04 3.30742960e+00] [ 2.91473245e-03 9.99995650e-01 -4.52897529e-04 6.45996194e-02] [-2.12745308e-04 4.53519541e-04 9.99999875e-01 8.92181095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.762557844 meters 0.28665849005987754 Centerline is valid? [False, False] Translation: X:3.31, Y:0.06, Z:0.89 [[ 9.99996046e-01 -2.80254741e-03 2.31444873e-04 3.30727419e+00] [ 2.80258197e-03 9.99996062e-01 -1.49108358e-04 6.33623655e-02] [-2.31026078e-04 1.49756412e-04 9.99999962e-01 8.92460161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.822557844 meters 0.28768504953560714 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.89 [[ 9.99987654e-01 4.35998882e-03 2.38395084e-03 3.32862297e+00] [-4.35417326e-03 9.99987546e-01 -2.43923803e-03 6.15959106e-02] [-2.39455619e-03 2.42882778e-03 9.99994183e-01 8.91635972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.882557844 meters 0.28827499829684217 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.89 [[ 9.99987117e-01 4.43904541e-03 2.46177619e-03 3.32832857e+00] [-4.43352505e-03 9.99987655e-01 -2.24337312e-03 6.07851171e-02] [-2.47170424e-03 2.23242988e-03 9.99994453e-01 8.91851732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.942557844 meters 0.2899678198444499 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.89 [[ 9.99986931e-01 4.50991695e-03 2.40803353e-03 3.32848371e+00] [-4.50494437e-03 9.99987718e-01 -2.06644291e-03 6.00379598e-02] [-2.41732344e-03 2.05556785e-03 9.99994966e-01 8.91824810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.002557844 meters 0.28648446576046344 Centerline is valid? [False, False] Translation: X:3.31, Y:0.06, Z:0.89 [[ 9.99998058e-01 -1.79290016e-03 -8.18322673e-04 3.30712342e+00] [ 1.79390189e-03 9.99997641e-01 1.22503722e-03 5.71958938e-02] [ 8.16124373e-04 -1.22650283e-03 9.99998915e-01 8.93716819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.062557844 meters 0.28820082496884697 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.89 [[ 9.99983255e-01 5.17264264e-03 2.59501473e-03 3.32719562e+00] [-5.16788200e-03 9.99984957e-01 -1.83789691e-03 6.23020554e-02] [-2.60448248e-03 1.82445540e-03 9.99994944e-01 8.93024805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.122557844 meters 0.28842235008068745 Centerline is valid? [False, False] Translation: X:3.33, Y:0.06, Z:0.89 [[ 9.99984094e-01 5.03060589e-03 2.55038506e-03 3.32743065e+00] [-5.02495083e-03 9.99984913e-01 -2.21891615e-03 6.38646035e-02] [-2.56150907e-03 2.20606530e-03 9.99994286e-01 8.92733103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters 0.2866751638203091 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992415e-01 -3.58787167e-03 1.51554095e-03 3.30804807e+00] [ 3.58924300e-03 9.99993151e-01 -9.03098947e-04 6.77326922e-02] [-1.51229036e-03 9.08531742e-04 9.99998444e-01 8.91551000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters 0.28654258833648233 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992646e-01 -3.52423785e-03 1.51252823e-03 3.30766670e+00] [ 3.52535135e-03 9.99993516e-01 -7.34155032e-04 6.70411746e-02] [-1.50993109e-03 7.39481827e-04 9.99998587e-01 8.92469036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters 0.28703770646627225 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992840e-01 -3.48979604e-03 1.46311283e-03 3.30761416e+00] [ 3.49074636e-03 9.99993698e-01 -6.47471578e-04 6.66962707e-02] [-1.46084407e-03 6.52574298e-04 9.99998720e-01 8.92868296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.362557844 meters 0.2865671506866621 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99993125e-01 -3.41970791e-03 1.43402480e-03 3.30765738e+00] [ 3.42039130e-03 9.99994038e-01 -4.74378843e-04 6.59681105e-02] [-1.43239401e-03 4.79280507e-04 9.99998859e-01 8.92945849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.422557844 meters 0.28705541044752547 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99993298e-01 -3.37775342e-03 1.41236074e-03 3.30773193e+00] [ 3.37827693e-03 9.99994226e-01 -3.68437571e-04 6.55169566e-02] [-1.41110810e-03 3.73206447e-04 9.99998935e-01 8.92909538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.482557844 meters 0.28729799449353277 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99993158e-01 -3.45105837e-03 1.33222047e-03 3.30821029e+00] [ 3.45182632e-03 9.99993877e-01 -5.74575129e-04 6.63290977e-02] [-1.33022943e-03 5.79169791e-04 9.99998948e-01 8.92169638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.542557844 meters 0.28821835328866524 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.89 [[ 9.99974751e-01 6.65169578e-03 2.50036960e-03 3.33028548e+00] [-6.64941941e-03 9.99977471e-01 -9.17625523e-04 6.91783163e-02] [-2.50641703e-03 9.00976348e-04 9.99996453e-01 8.91410797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.602557844 meters 0.2879851620821471 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.89 [[ 9.99976246e-01 6.28140191e-03 2.83752332e-03 3.32955793e+00] [-6.27568732e-03 9.99978271e-01 -2.01837002e-03 7.36602803e-02] [-2.85013986e-03 2.00051466e-03 9.99993937e-01 8.91135942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.662557844 meters 0.2890699777191672 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99995991e-01 -2.21161393e-03 1.76847087e-03 3.31018101e+00] [ 2.21320363e-03 9.99997148e-01 -8.97456047e-04 7.89103342e-02] [-1.76648100e-03 9.01366435e-04 9.99998034e-01 8.89274327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.722557844 meters 0.2868002336191086 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99995983e-01 -2.35364109e-03 1.57940026e-03 3.31051894e+00] [ 2.35559606e-03 9.99996460e-01 -1.23707608e-03 8.03059538e-02] [-1.57648304e-03 1.24079154e-03 9.99997988e-01 8.89528661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.782557844 meters 0.2889058751474509 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99995806e-01 -2.46980187e-03 1.51278704e-03 3.31046813e+00] [ 2.47209520e-03 9.99995795e-01 -1.51597207e-03 8.14898237e-02] [-1.50903652e-03 1.51970546e-03 9.99997707e-01 8.89962377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.842557844 meters 0.2879054044066093 Centerline is valid? [False, False] Translation: X:3.29, Y:0.08, Z:0.89 [[ 9.99983901e-01 5.58680617e-03 9.92902482e-04 3.29013844e+00] [-5.58419160e-03 9.99980984e-01 -2.61680954e-03 7.80301786e-02] [-1.00750321e-03 2.61122285e-03 9.99996083e-01 8.89531674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.902557844 meters 0.2872179570293387 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99991611e-01 -2.96789755e-03 2.82320927e-03 3.31068378e+00] [ 2.97355957e-03 9.99993572e-01 -2.00344719e-03 7.76287465e-02] [-2.81724510e-03 2.01182536e-03 9.99994008e-01 8.90477414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.962557844 meters 0.28741642763448383 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99992330e-01 -2.79890231e-03 2.73988904e-03 3.31083123e+00] [ 2.80311884e-03 9.99994891e-01 -1.53631388e-03 7.57120555e-02] [-2.73557505e-03 1.54398233e-03 9.99995066e-01 8.90637343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.022557844 meters 0.28751906414309886 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992970e-01 -2.61506739e-03 2.68711486e-03 3.31103938e+00] [ 2.61800567e-03 9.99995978e-01 -1.09053602e-03 7.38021048e-02] [-2.68425223e-03 1.09756324e-03 9.99995795e-01 8.90503517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.082557844 meters 0.2870012425059204 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992561e-01 -2.60188578e-03 2.84742538e-03 3.31067731e+00] [ 2.60491076e-03 9.99996046e-01 -1.05916409e-03 7.36751250e-02] [-2.84465829e-03 1.06657350e-03 9.99995385e-01 8.90417885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.142557844 meters 0.2875502570308255 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99992673e-01 -2.64821653e-03 2.76423605e-03 3.31112054e+00] [ 2.65151768e-03 9.99995775e-01 -1.19125570e-03 7.41950728e-02] [-2.76106967e-03 1.19857640e-03 9.99995470e-01 8.89822145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.202557844 meters 0.2880183972518825 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99992960e-01 -2.73166124e-03 2.57247617e-03 3.31168739e+00] [ 2.73535855e-03 9.99995230e-01 -1.43483899e-03 7.51577168e-02] [-2.56854441e-03 1.44186554e-03 9.99995662e-01 8.89551390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.262557844 meters 0.2866189189200709 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99992606e-01 -2.75282282e-03 2.68519159e-03 3.31133376e+00] [ 2.75683806e-03 9.99995086e-01 -1.49277141e-03 7.54177991e-02] [-2.68106906e-03 1.50016301e-03 9.99995281e-01 8.89697916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.322557844 meters 0.2873151100582608 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99993069e-01 -2.65487587e-03 2.61045158e-03 3.31151146e+00] [ 2.65802577e-03 9.99995743e-01 -1.20392208e-03 7.42363504e-02] [-2.60724421e-03 1.21085238e-03 9.99995868e-01 8.89731477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.382557844 meters 0.28748690536541305 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99993908e-01 -2.50886942e-03 2.42679596e-03 3.31184626e+00] [ 2.51082163e-03 9.99996526e-01 -8.01728884e-04 7.25717361e-02] [-2.42477610e-03 8.07817251e-04 9.99996734e-01 8.90035668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.442557844 meters 0.287249070974246 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99994770e-01 -2.28725453e-03 2.28664106e-03 3.31208971e+00] [ 2.28773118e-03 9.99997362e-01 -2.05856935e-04 7.00674465e-02] [-2.28616418e-03 2.11087078e-04 9.99997364e-01 8.90276283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.502557844 meters 0.2886131459854061 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.89 [[ 9.99973785e-01 6.45354652e-03 3.28330340e-03 3.33237115e+00] [-6.44858955e-03 9.99978055e-01 -1.51810352e-03 6.85259131e-02] [-3.29302850e-03 1.49689105e-03 9.99993458e-01 8.91029171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.562557844 meters 0.28838239744406 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99989499e-01 -3.17235546e-03 3.30730266e-03 3.31088478e+00] [ 3.17592096e-03 9.99994381e-01 -1.07337631e-03 7.22861157e-02] [-3.30387894e-03 1.08386877e-03 9.99993955e-01 8.91458750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.622557844 meters 0.2886871152445652 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99989712e-01 -3.10432599e-03 3.30752190e-03 3.31096056e+00] [ 3.10732930e-03 9.99994764e-01 -9.03270683e-04 7.15507684e-02] [-3.30470054e-03 9.13538949e-04 9.99994122e-01 8.91304601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters 0.2886229008661675 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99990205e-01 -2.95428745e-03 3.29571926e-03 3.31099673e+00] [ 2.95603834e-03 9.99995492e-01 -5.26516727e-04 6.99579445e-02] [-3.29414893e-03 5.36253842e-04 9.99994430e-01 8.91324568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters 0.2884675817886734 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99990749e-01 -2.84851999e-03 3.22297957e-03 3.31105954e+00] [ 2.84940646e-03 9.99995904e-01 -2.70488067e-04 6.88777233e-02] [-3.22219588e-03 2.79669144e-04 9.99994770e-01 8.91614563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters 0.2893165755044804 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99989426e-01 -2.88463502e-03 3.58149699e-03 3.31009688e+00] [ 2.88614039e-03 9.99995749e-01 -4.15221990e-04 6.95355451e-02] [-3.58028400e-03 4.25554303e-04 9.99993500e-01 8.91817247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.862557844 meters 0.2882234003936815 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99988450e-01 -3.01222149e-03 3.74508306e-03 3.30971318e+00] [ 3.01529756e-03 9.99995121e-01 -8.15985621e-04 7.11692613e-02] [-3.74260686e-03 8.27268737e-04 9.99992654e-01 8.91740912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.922557844 meters 0.2894265941986884 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99988438e-01 -3.26861225e-03 3.52706716e-03 3.31062774e+00] [ 3.27417930e-03 9.99993401e-01 -1.57376100e-03 7.43594116e-02] [-3.52189987e-03 1.58529105e-03 9.99992542e-01 8.90654867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.982557844 meters 0.29118766562911325 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99988433e-01 -3.40399565e-03 3.39803028e-03 3.31097000e+00] [ 3.41045169e-03 9.99992387e-01 -1.89595367e-03 7.57088223e-02] [-3.39155059e-03 1.90752056e-03 9.99992429e-01 8.90586770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.042557844 meters 0.2891115167154086 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987811e-01 -3.44206866e-03 3.53971603e-03 3.31043009e+00] [ 3.44917746e-03 9.99992043e-01 -2.00415556e-03 7.61723609e-02] [-3.53278942e-03 2.01634025e-03 9.99991727e-01 8.91029487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.102557844 meters 0.28929538786043046 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987442e-01 -3.48495934e-03 3.60164820e-03 3.31026080e+00] [ 3.49261253e-03 9.99991652e-01 -2.12081388e-03 7.66480145e-02] [-3.59422718e-03 2.13336640e-03 9.99991265e-01 8.91056575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.162557844 meters 0.2897899525647129 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987860e-01 -3.51182966e-03 3.45648608e-03 3.31062036e+00] [ 3.51941747e-03 9.99991405e-01 -2.19160949e-03 7.69251694e-02] [-3.44875981e-03 2.20374770e-03 9.99991625e-01 8.91063080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.222557844 meters 0.289459308151463 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987779e-01 -3.57629562e-03 3.41342425e-03 3.31077949e+00] [ 3.58430684e-03 9.99990830e-01 -2.34375065e-03 7.75692483e-02] [-3.40501100e-03 2.35595676e-03 9.99991428e-01 8.90954546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.282557844 meters 0.2885485979904377 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987553e-01 -3.55370317e-03 3.50219658e-03 3.31047443e+00] [ 3.56173116e-03 9.99991038e-01 -2.28870873e-03 7.73490913e-02] [-3.49403180e-03 2.30115413e-03 9.99991248e-01 8.91138325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.342557844 meters 0.28830974967775286 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987447e-01 -3.55133085e-03 3.53466649e-03 3.31023781e+00] [ 3.55941894e-03 9.99991056e-01 -2.28456200e-03 7.73522806e-02] [-3.52652164e-03 2.29711468e-03 9.99991143e-01 8.91490208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.402557844 meters 0.28837878423355706 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99987281e-01 -3.62270694e-03 3.50900139e-03 3.31035260e+00] [ 3.63136508e-03 9.99990370e-01 -2.46418822e-03 7.81060284e-02] [-3.50004056e-03 2.47689935e-03 9.99990807e-01 8.91364943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.462557844 meters 0.288143267187279 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.89 [[ 0.9999722 0.00543552 0.00510349 3.33153036] [-0.00541772 0.99997921 -0.00349581 0.07947708] [-0.00512238 0.00346806 0.99998087 0.89129942] [ 0. 0. 0. 1. ]] SLAMing on 431.522557844 meters 0.2886266489957297 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.89 [[ 0.99997218 0.00534877 0.00519958 3.33101237] [-0.00532945 0.99997887 -0.00372282 0.08051854] [-0.00521939 0.003695 0.99997955 0.89193449] [ 0. 0. 0. 1. ]] SLAMing on 431.582557844 meters 0.2883009899634881 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.89 [[ 0.99997191 0.00533523 0.00526471 3.33074882] [-0.00531549 0.99997881 -0.00375822 0.08068761] [-0.00528465 0.00373013 0.99997908 0.89214846] [ 0. 0. 0. 1. ]] SLAMing on 431.642557844 meters 0.2887348994089982 Centerline is valid? [False, False] Translation: X:3.33, Y:0.08, Z:0.89 [[ 0.99997236 0.00536354 0.00514978 3.33106996] [-0.0053446 0.99997893 -0.00368464 0.0803586 ] [-0.00516943 0.00365701 0.99997995 0.8920798 ] [ 0. 0. 0. 1. ]] SLAMing on 431.702557844 meters 0.2876836502948544 Centerline is valid? [False, False] Translation: X:3.31, Y:0.08, Z:0.89 [[ 9.99991024e-01 -3.17378465e-03 2.80687904e-03 3.31158183e+00] [ 3.17992312e-03 9.99992557e-01 -2.18518417e-03 7.92108504e-02] [-2.79992284e-03 2.19409022e-03 9.99993673e-01 8.91900357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.762557844 meters 0.28885378606272394 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.89 [[ 9.99977684e-01 5.42455827e-03 3.89953800e-03 3.33131175e+00] [-5.41190202e-03 9.99980078e-01 -3.24883693e-03 7.43488107e-02] [-3.91708382e-03 3.22766051e-03 9.99987119e-01 8.93017168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.822557844 meters 0.28827816633106385 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99997072e-01 -1.06284016e-03 2.17379425e-03 3.30836514e+00] [ 1.06250082e-03 9.99999423e-01 1.57257021e-04 7.17245841e-02] [-2.17396014e-03 -1.54946902e-04 9.99997625e-01 8.94776613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.882557844 meters 0.28820137046285604 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99997078e-01 -1.09038011e-03 2.15772537e-03 3.30848936e+00] [ 1.09019888e-03 9.99999402e-01 8.51644072e-05 7.20052977e-02] [-2.15781694e-03 -8.28118085e-05 9.99997668e-01 8.94584476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.942557844 meters 0.2885874340276019 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99996778e-01 -1.12205992e-03 2.27716659e-03 3.30825522e+00] [ 1.12206263e-03 9.99999370e-01 8.76585570e-08 7.23601791e-02] [-2.27716526e-03 2.46746525e-06 9.99997407e-01 8.94426358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.002557844 meters 0.28971441045876223 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99996960e-01 -1.09050352e-03 2.21165971e-03 3.30844644e+00] [ 1.09033691e-03 9.99999403e-01 7.65364830e-05 7.20228598e-02] [-2.21174186e-03 -7.41247961e-05 9.99997551e-01 8.94383138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.062557844 meters 0.28868848577343703 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99997251e-01 -1.09282842e-03 2.07443502e-03 3.30885825e+00] [ 1.09266506e-03 9.99999400e-01 7.98787483e-05 7.19998587e-02] [-2.07452107e-03 -7.76118661e-05 9.99997845e-01 8.94225572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.122557844 meters 0.28881363394506326 Centerline is valid? [False, False] Translation: X:3.31, Y:0.07, Z:0.89 [[ 9.99997172e-01 -1.05159280e-03 2.13321499e-03 3.30858445e+00] [ 1.05121841e-03 9.99999432e-01 1.76615579e-04 7.15859500e-02] [-2.13339950e-03 -1.74372605e-04 9.99997709e-01 8.94506096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters 0.29163348560331787 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99993104e-01 1.08612659e-03 3.55146345e-03 3.35102411e+00] [-1.08985160e-03 9.99998858e-01 1.04709743e-03 7.47273756e-02] [-3.55032211e-03 -1.05096078e-03 9.99993145e-01 8.94384671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters 0.29062725348135887 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99993554e-01 9.84707192e-04 3.45289742e-03 3.35155691e+00] [-9.87311378e-04 9.99999229e-01 7.52579878e-04 7.59527333e-02] [-3.45215369e-03 -7.55984112e-04 9.99993756e-01 8.93651491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters 0.28870837418557904 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99993523e-01 1.07378594e-03 3.43528993e-03 3.35164700e+00] [-1.07719095e-03 9.99998930e-01 9.89489123e-04 7.49613012e-02] [-3.43422376e-03 -9.93183177e-04 9.99993610e-01 8.93568139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.362557844 meters 0.2893172992954705 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99994993e-01 1.27548482e-03 2.89593392e-03 3.35267332e+00] [-1.28082642e-03 9.99997481e-01 1.84341368e-03 7.16997340e-02] [-2.89357538e-03 -1.84711364e-03 9.99994108e-01 8.94159716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.422557844 meters 0.28919278493219225 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.90 [[ 9.99993921e-01 1.53082522e-03 3.13288326e-03 3.35172860e+00] [-1.53955673e-03 9.99994932e-01 2.78653995e-03 6.79887661e-02] [-3.12860168e-03 -2.79134627e-03 9.99991210e-01 8.95206748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.482557844 meters 0.28972733305312387 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.90 [[ 9.99992714e-01 1.89147291e-03 3.31572480e-03 3.35085545e+00] [-1.90473303e-03 9.99990184e-01 4.00057540e-03 6.30698685e-02] [-3.30812527e-03 -4.00686182e-03 9.99986501e-01 8.96230807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.542557844 meters 0.2892218625874609 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.90 [[ 9.99992916e-01 1.99633777e-03 3.19101812e-03 3.35126247e+00] [-2.00994843e-03 9.99988873e-01 4.26780282e-03 6.19215338e-02] [-3.18246264e-03 -4.27418637e-03 9.99985802e-01 8.96060145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.602557844 meters 0.2883409676917374 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.90 [[ 9.99991967e-01 -2.05897469e-03 3.43901648e-03 3.35043245e+00] [ 2.05750688e-03 9.99997791e-01 4.30293314e-04 6.08751954e-02] [-3.43989484e-03 -4.23214057e-04 9.99993994e-01 8.96309517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.662557844 meters 0.2900344054612543 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.90 [[ 9.99990767e-01 -2.16536969e-03 3.71178150e-03 3.34975868e+00] [ 2.16496450e-03 9.99997650e-01 1.13179189e-04 6.22178125e-02] [-3.71201785e-03 -1.05142269e-04 9.99993105e-01 8.96291393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.722557844 meters 0.28913113275660784 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.90 [[ 9.99990341e-01 -2.43827278e-03 3.65678053e-03 3.35018857e+00] [ 2.44053968e-03 9.99996832e-01 -6.15583867e-04 6.52438258e-02] [-3.65526799e-03 6.24502440e-04 9.99993124e-01 8.95567879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.782557844 meters 0.29046126038099557 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99996916e-01 -5.01202826e-04 2.43259047e-03 3.35464350e+00] [ 4.98472202e-04 9.99999245e-01 1.12299349e-03 6.66695374e-02] [-2.43315148e-03 -1.12177745e-03 9.99996411e-01 8.93421733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.842557844 meters 0.2886111948921515 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99996027e-01 -5.05405605e-04 2.77313652e-03 3.35347785e+00] [ 5.02370236e-04 9.99999274e-01 1.09514889e-03 6.68646709e-02] [-2.77368800e-03 -1.09375140e-03 9.99995555e-01 8.94373506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.902557844 meters 0.2892979902018984 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99996811e-01 -4.42907036e-04 2.48648764e-03 3.35423729e+00] [ 4.39622211e-04 9.99999030e-01 1.32146159e-03 6.59498567e-02] [-2.48707051e-03 -1.32036426e-03 9.99996036e-01 8.94138353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.962557844 meters 0.2887666236388717 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99996755e-01 -3.89673879e-04 2.51757838e-03 3.35422144e+00] [ 3.85981989e-04 9.99998850e-01 1.46676423e-03 6.53447105e-02] [-2.51814705e-03 -1.46578773e-03 9.99995755e-01 8.94000782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.022557844 meters 0.28815060909227347 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.89 [[ 9.99996848e-01 -3.39010806e-04 2.48769995e-03 3.35431801e+00] [ 3.35039073e-04 9.99998669e-01 1.59679136e-03 6.47994233e-02] [-2.48823796e-03 -1.59595285e-03 9.99995631e-01 8.93962084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.082557844 meters 0.2891270565319528 Centerline is valid? [False, False] Translation: X:3.35, Y:0.06, Z:0.89 [[ 9.99996962e-01 -3.41262748e-04 2.44111496e-03 3.35449652e+00] [ 3.37376513e-04 9.99998675e-01 1.59222654e-03 6.48070653e-02] [-2.44165509e-03 -1.59139813e-03 9.99995753e-01 8.93827561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.142557844 meters 0.29028698815229204 Centerline is valid? [False, False] Translation: X:3.38, Y:0.07, Z:0.89 [[ 9.99965773e-01 7.16089717e-03 4.14412666e-03 3.37641356e+00] [-7.15618395e-03 9.99973732e-01 -1.15103908e-03 6.71395693e-02] [-4.15226027e-03 1.12134355e-03 9.99990751e-01 8.92472027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.202557844 meters 0.28877283729519976 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998117e-01 4.24357925e-04 1.89377697e-03 3.35390923e+00] [-4.27220162e-04 9.99998767e-01 1.51124241e-03 6.73883499e-02] [-1.89313333e-03 -1.51204862e-03 9.99997065e-01 8.93980286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.262557844 meters 0.289658728548244 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998506e-01 2.44704949e-04 1.71112038e-03 3.35446717e+00] [-2.46349718e-04 9.99999508e-01 9.61078753e-04 6.96395298e-02] [-1.71088435e-03 -9.61498851e-04 9.99998074e-01 8.93665366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.322557844 meters 0.28912426186919893 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998309e-01 -2.02582888e-05 1.83885303e-03 3.35420117e+00] [ 1.98880748e-05 9.99999980e-01 2.01346797e-04 7.27481042e-02] [-1.83885707e-03 -2.01309886e-04 9.99998289e-01 8.93525484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.382557844 meters 0.29081089876621713 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99999023e-01 6.14928930e-04 1.25500788e-03 3.39211705e+00] [-6.14529619e-04 9.99999760e-01 -3.18534821e-04 7.72892488e-02] [-1.25520345e-03 3.17763270e-04 9.99999162e-01 8.97222853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.442557844 meters 0.2886840406222608 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998241e-01 -1.61614632e-04 1.86844156e-03 3.35480325e+00] [ 1.60913694e-04 9.99999917e-01 3.75290177e-04 7.34975589e-02] [-1.86850206e-03 -3.74988859e-04 9.99998184e-01 8.93355100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.502557844 meters 0.2897210123513021 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998127e-01 1.17864915e-05 1.93559403e-03 3.35447940e+00] [-1.35412095e-05 9.99999589e-01 9.06542137e-04 7.13411267e-02] [-1.93558255e-03 -9.06566649e-04 9.99997716e-01 8.93760141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.562557844 meters 0.28855297581286105 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99998016e-01 1.88146368e-04 1.98332796e-03 3.35421173e+00] [-1.90845557e-04 9.99999056e-01 1.36083825e-03 6.94375412e-02] [-1.98307005e-03 -1.36121406e-03 9.99997107e-01 8.94077229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.622557844 meters 0.2898435824518358 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99997822e-01 4.31214272e-04 2.04219373e-03 3.35406252e+00] [-4.35216661e-04 9.99997985e-01 1.95980914e-03 6.69308288e-02] [-2.04134452e-03 -1.96069367e-03 9.99995994e-01 8.94107319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters 0.28962111733396184 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99997613e-01 5.71422312e-04 2.10879370e-03 3.35392441e+00] [-5.76256086e-04 9.99997207e-01 2.29230347e-03 6.55331741e-02] [-2.10747793e-03 -2.29351321e-03 9.99995149e-01 8.94057419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters 0.2893827664459569 Centerline is valid? [False, False] Translation: X:3.35, Y:0.07, Z:0.89 [[ 9.99997743e-01 5.20346567e-04 2.06011026e-03 3.35396525e+00] [-5.24788448e-04 9.99997538e-01 2.15618431e-03 6.60667912e-02] [-2.05898323e-03 -2.15726057e-03 9.99995553e-01 8.94203008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters 0.2905641451786149 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.89 [[ 9.99998856e-01 3.90624164e-04 1.46135275e-03 3.35574684e+00] [-3.92710771e-04 9.99998904e-01 1.42784518e-03 6.91000703e-02] [-1.46079340e-03 -1.42841744e-03 9.99997913e-01 8.93097344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.862557844 meters 0.2896358309240968 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.89 [[ 9.99998454e-01 1.72934082e-04 1.74988534e-03 3.35500278e+00] [-1.74133054e-04 9.99999750e-01 6.85042382e-04 7.20955083e-02] [-1.74976644e-03 -6.85346036e-04 9.99998234e-01 8.93216485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.922557844 meters 0.29173339305642737 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.89 [[ 9.99987197e-01 -4.72943870e-03 1.79945245e-03 3.37821067e+00] [ 4.72259893e-03 9.99981680e-01 3.78647917e-03 8.03971032e-02] [-1.81732741e-03 -3.77793260e-03 9.99991212e-01 8.92763538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.982557844 meters 0.28999266419622965 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99999981e-01 2.72363841e-05 -1.93810752e-04 3.35465364e+00] [-2.72564302e-05 9.99999994e-01 -1.03429204e-04 8.28022814e-02] [ 1.93807934e-04 1.03434485e-04 9.99999976e-01 8.94092663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.042557844 meters 0.290097279625206 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99966912e-01 -7.85493322e-03 2.11556136e-03 3.37222692e+00] [ 7.85287044e-03 9.99968684e-01 9.81598545e-04 9.01816118e-02] [-2.12320550e-03 -9.64952837e-04 9.99997280e-01 8.96119139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.102557844 meters 0.2917069456818112 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99966411e-01 -7.93173221e-03 2.06528262e-03 3.37227254e+00] [ 7.93015794e-03 9.99968260e-01 7.69330330e-04 9.10567248e-02] [-2.07131919e-03 -7.52926471e-04 9.99997571e-01 8.96281745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.162557844 meters 0.28882386418683365 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999658e-01 3.25894712e-05 -8.26190751e-04 3.35463471e+00] [-3.28065858e-05 9.99999965e-01 -2.62777648e-04 8.86517286e-02] [ 8.26182158e-04 2.62804663e-04 9.99999624e-01 8.94317892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.222557844 meters 0.28905315949742155 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999777e-01 -1.73603089e-05 -6.67346683e-04 3.35413852e+00] [ 1.70942221e-05 9.99999920e-01 -3.98727248e-04 8.92577328e-02] [ 6.67353552e-04 3.98715751e-04 9.99999698e-01 8.94540821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.282557844 meters 0.28882637905994574 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999882e-01 -1.25754446e-04 -4.69253815e-04 3.35351245e+00] [ 1.25426130e-04 9.99999747e-01 -6.99619954e-04 9.05002633e-02] [ 4.69341677e-04 6.99561015e-04 9.99999645e-01 8.94861540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.342557844 meters 0.2894579196725452 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999886e-01 -2.10148249e-04 -4.29359285e-04 3.35371056e+00] [ 2.09752337e-04 9.99999553e-01 -9.21938614e-04 9.14400443e-02] [ 4.29552837e-04 9.21848450e-04 9.99999483e-01 8.94173433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.402557844 meters 0.2890507734541114 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999871e-01 -3.37169463e-04 -3.79560254e-04 3.35360087e+00] [ 3.36697597e-04 9.99999171e-01 -1.24256867e-03 9.27864943e-02] [ 3.79978895e-04 1.24244071e-03 9.99999156e-01 8.94118191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.462557844 meters 0.28956529080657034 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999841e-01 -3.93993631e-04 -4.03659250e-04 3.35376111e+00] [ 3.93434746e-04 9.99998965e-01 -1.38369117e-03 9.33664243e-02] [ 4.04203997e-04 1.38353214e-03 9.99998961e-01 8.93889862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.522557844 meters 0.2877028706464284 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999887e-01 -3.81193602e-04 -2.85688740e-04 3.35334452e+00] [ 3.80806333e-04 9.99999010e-01 -1.35439145e-03 9.32594901e-02] [ 2.86204742e-04 1.35428251e-03 9.99999042e-01 8.94189495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.582557844 meters 0.2883145299524684 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99999845e-01 -3.08956072e-04 -4.62235158e-04 3.35377130e+00] [ 3.08453324e-04 9.99999361e-01 -1.08731989e-03 9.21841005e-02] [ 4.62570797e-04 1.08717714e-03 9.99999302e-01 8.94194531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.642557844 meters 0.2880700054162839 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.90 [[ 9.99999960e-01 -1.75500662e-04 2.21976782e-04 3.35183466e+00] [ 1.75592942e-04 9.99999898e-01 -4.15767934e-04 8.96038686e-02] [-2.21903791e-04 4.15806895e-04 9.99999889e-01 8.95129614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.702557844 meters 0.2891484296666447 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.90 [[ 9.99999982e-01 1.24862851e-05 1.87181559e-04 3.35184171e+00] [-1.25441432e-05 9.99999952e-01 3.09103493e-04 8.67617107e-02] [-1.87177691e-04 -3.09105836e-04 9.99999935e-01 8.95284712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.762557844 meters 0.28836991339039364 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.90 [[ 9.99999809e-01 2.92742393e-04 5.44420610e-04 3.35095323e+00] [-2.93481450e-04 9.99999035e-01 1.35792756e-03 8.25823040e-02] [-5.44022562e-04 -1.35808708e-03 9.99998930e-01 8.95335836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.822557844 meters 0.28732580297010857 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.90 [[ 9.99999722e-01 4.20553670e-04 6.15905413e-04 3.35069571e+00] [-4.21585697e-04 9.99998506e-01 1.67645653e-03 8.12374995e-02] [-6.15199453e-04 -1.67671572e-03 9.99998405e-01 8.95496586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.882557844 meters 0.28674414763995265 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.90 [[ 9.99999784e-01 4.96993772e-04 4.31177869e-04 3.35126249e+00] [-4.97792598e-04 9.99998156e-01 1.85453445e-03 8.04454893e-02] [-4.30255382e-04 -1.85474868e-03 9.99998187e-01 8.95257240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.942557844 meters 0.28767544183962124 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.90 [[ 9.99999744e-01 5.29765350e-04 4.80693622e-04 3.35106165e+00] [-5.30695922e-04 9.99997982e-01 1.93783651e-03 8.01041957e-02] [-4.79666053e-04 -1.93809112e-03 9.99998007e-01 8.95431243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.002557844 meters 0.28709270114821983 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.90 [[ 9.99999535e-01 7.02667641e-04 6.59815959e-04 3.35042538e+00] [-7.04249256e-04 9.99996872e-01 2.39988927e-03 7.81510117e-02] [-6.58127571e-04 -2.40035283e-03 9.99996903e-01 8.95869805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.062557844 meters 0.2889185475403471 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99995770e-01 1.22929964e-04 -2.90584553e-03 3.39376675e+00] [-1.18917102e-04 9.99999039e-01 1.38109453e-03 7.76152554e-02] [ 2.90601251e-03 -1.38074314e-03 9.99994824e-01 8.98060898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.122557844 meters 0.2882125615186999 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99995654e-01 1.83389508e-04 -2.94267035e-03 3.39389557e+00] [-1.78890378e-04 9.99998815e-01 1.52911808e-03 7.69871484e-02] [ 2.94294729e-03 -1.52858502e-03 9.99994501e-01 8.97986176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters 0.28855317937701486 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99995972e-01 3.44128981e-04 -2.81753776e-03 3.39339400e+00] [-3.38523740e-04 9.99997963e-01 1.98964634e-03 7.50592325e-02] [ 2.81821671e-03 -1.98868452e-03 9.99994051e-01 8.98425366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters 0.2864727325089726 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.89 [[ 9.99998183e-01 -6.35218500e-04 -1.79719638e-03 3.35532498e+00] [ 6.39407294e-04 9.99997079e-01 2.33112443e-03 7.36567338e-02] [ 1.79571036e-03 -2.33226933e-03 9.99995668e-01 8.94507174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters 0.28725078821580813 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.89 [[ 9.99997983e-01 -6.74277847e-04 -1.89203071e-03 3.35578356e+00] [ 6.78489679e-04 9.99997292e-01 2.22633261e-03 7.40790792e-02] [ 1.89052442e-03 -2.22761185e-03 9.99995732e-01 8.93973140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.362557844 meters 0.28729046160610033 Centerline is valid? [False, False] Translation: X:3.36, Y:0.07, Z:0.89 [[ 9.99998036e-01 -7.34766665e-04 -1.84067095e-03 3.35569053e+00] [ 7.38573725e-04 9.99997588e-01 2.06847486e-03 7.47456981e-02] [ 1.83914666e-03 -2.06983026e-03 9.99996167e-01 8.93902621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.422557844 meters 0.28771077489081437 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.89 [[ 9.99997852e-01 -7.93127110e-04 -1.91486637e-03 3.35597761e+00] [ 7.96788718e-04 9.99997854e-01 1.91219549e-03 7.53966225e-02] [ 1.91334564e-03 -1.91371713e-03 9.99996338e-01 8.93653062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.482557844 meters 0.2865669674647732 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.89 [[ 9.99997954e-01 -8.73054617e-04 -1.82495250e-03 3.35575615e+00] [ 8.76174909e-04 9.99998155e-01 1.70969361e-03 7.62546628e-02] [ 1.82345648e-03 -1.71128909e-03 9.99996873e-01 8.93659170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.542557844 meters 0.2858443201845264 Centerline is valid? [False, False] Translation: X:3.36, Y:0.08, Z:0.89 [[ 9.99997775e-01 -1.10967601e-03 -1.79397446e-03 3.35572599e+00] [ 1.11173883e-03 9.99998722e-01 1.14927430e-03 7.86503367e-02] [ 1.79269684e-03 -1.15126617e-03 9.99997730e-01 8.93571772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.602557844 meters 0.2880863713746112 Centerline is valid? [False, False] Translation: X:3.38, Y:0.08, Z:0.89 [[ 9.99968638e-01 7.89825118e-03 -5.84363931e-04 3.37739874e+00] [-7.89844060e-03 9.99968755e-01 -3.22561085e-04 8.24216534e-02] [ 5.81798004e-04 3.27166533e-04 9.99999777e-01 8.92830319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.662557844 meters 0.286582606859672 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.89 [[ 9.99999484e-01 -5.02133270e-04 -8.83650359e-04 3.35796972e+00] [ 5.02651983e-04 9.99999701e-01 5.86887654e-04 9.00826080e-02] [ 8.83355399e-04 -5.87331519e-04 9.99999437e-01 8.91180038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.722557844 meters 0.2863170079608328 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.89 [[ 9.99999367e-01 -6.64859407e-04 -9.07417656e-04 3.35795066e+00] [ 6.65013431e-04 9.99999765e-01 1.69448255e-04 9.18377358e-02] [ 9.07304783e-04 -1.70051593e-04 9.99999574e-01 8.91358032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.782557844 meters 0.2870104468397412 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.89 [[ 9.99999171e-01 -7.49241175e-04 -1.04711910e-03 3.35837103e+00] [ 7.49193679e-04 9.99999718e-01 -4.57509924e-05 9.27523358e-02] [ 1.04715308e-03 4.49664595e-05 9.99999451e-01 8.91212395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.842557844 meters 0.2856652983063504 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:0.89 [[ 9.99999959e-01 -2.29035486e-04 -1.74371394e-04 3.32031052e+00] [ 2.29121622e-04 9.99999852e-01 4.94117781e-04 9.74714457e-02] [ 1.74258198e-04 -4.94157713e-04 9.99999863e-01 8.87485445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.902557844 meters 0.2877079239271163 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.89 [[ 9.99999533e-01 4.32446984e-04 -8.64510755e-04 3.35833843e+00] [-4.32436204e-04 9.99999906e-01 1.26558179e-05 1.01318818e-01] [ 8.64516147e-04 -1.22819663e-05 9.99999626e-01 8.91419048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.962557844 meters 0.2883313413272156 Centerline is valid? [False, False] Translation: X:3.36, Y:0.10, Z:0.89 [[ 9.99999544e-01 1.33007537e-04 -9.46048284e-04 3.35854588e+00] [-1.33821529e-04 9.99999621e-01 -8.60401687e-04 1.04921509e-01] [ 9.45933485e-04 8.60527896e-04 9.99999182e-01 8.91460477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.022557844 meters 0.2867995830138963 Centerline is valid? [False, False] Translation: X:3.36, Y:0.11, Z:0.89 [[ 9.99999564e-01 -7.91601424e-05 -9.30721585e-04 3.35845726e+00] [ 7.78589939e-05 9.99999020e-01 -1.39795276e-03 1.07185223e-01] [ 9.30831334e-04 1.39787968e-03 9.99998590e-01 8.91596178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.082557844 meters 0.2873580505127369 Centerline is valid? [False, False] Translation: X:3.36, Y:0.11, Z:0.89 [[ 9.99999392e-01 -4.23992293e-04 -1.01798402e-03 3.35865751e+00] [ 4.21740150e-04 9.99997466e-01 -2.21155284e-03 1.10644558e-01] [ 1.01891912e-03 2.21112217e-03 9.99997036e-01 8.91681811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.142557844 meters 0.28814718983175414 Centerline is valid? [False, False] Translation: X:3.36, Y:0.11, Z:0.89 [[ 9.99999106e-01 -6.44081614e-04 -1.17140640e-03 3.35918233e+00] [ 6.40890015e-04 9.99996087e-01 -2.72292525e-03 1.12816195e-01] [ 1.17315560e-03 2.72217208e-03 9.99995607e-01 8.91437126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.202557844 meters 0.28732308666849127 Centerline is valid? [False, False] Translation: X:3.36, Y:0.12, Z:0.89 [[ 9.99999114e-01 -8.55666151e-04 -1.01986145e-03 3.35840947e+00] [ 8.52301033e-04 9.99994207e-01 -3.29546273e-03 1.15091442e-01] [ 1.02267536e-03 3.29459058e-03 9.99994050e-01 8.92385142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.262557844 meters 0.28707474888944745 Centerline is valid? [False, False] Translation: X:3.35, Y:0.12, Z:0.89 [[ 9.99998138e-01 1.92911790e-03 -5.37254804e-05 3.35430816e+00] [-1.92918917e-03 9.99997215e-01 -1.35974772e-03 1.20530796e-01] [ 5.11022171e-05 1.35984884e-03 9.99999074e-01 8.94903239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.322557844 meters 0.28921437896973223 Centerline is valid? [False, False] Translation: X:3.38, Y:0.12, Z:0.89 [[ 9.99989239e-01 -4.26505427e-03 1.82498699e-03 3.37599869e+00] [ 4.26278171e-03 9.99990136e-01 1.24733392e-03 1.24777269e-01] [-1.83028894e-03 -1.23954098e-03 9.99997557e-01 8.94409788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.382557844 meters 0.2872204282704615 Centerline is valid? [False, False] Translation: X:3.36, Y:0.12, Z:0.89 [[ 9.99989628e-01 4.27636536e-03 1.56741551e-03 3.35547746e+00] [-4.27633098e-03 9.99990856e-01 -2.52862253e-05 1.23802951e-01] [-1.56750931e-03 1.85831755e-05 9.99998771e-01 8.93535706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.442557844 meters 0.28732513817068944 Centerline is valid? [False, False] Translation: X:3.36, Y:0.13, Z:0.89 [[ 9.99990434e-01 4.02872915e-03 1.70329911e-03 3.35503786e+00] [-4.02767383e-03 9.99991695e-01 -6.22553221e-04 1.26400210e-01] [-1.70579306e-03 6.15686933e-04 9.99998356e-01 8.93777110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.502557844 meters 0.2872568322262882 Centerline is valid? [False, False] Translation: X:3.36, Y:0.13, Z:0.89 [[ 9.99991012e-01 3.94024198e-03 1.56548069e-03 3.35547440e+00] [-3.93891781e-03 9.99991883e-01 -8.48039131e-04 1.27365487e-01] [-1.56880946e-03 8.41865209e-04 9.99998415e-01 8.93587093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.562557844 meters 0.2877224301742858 Centerline is valid? [False, False] Translation: X:3.36, Y:0.13, Z:0.89 [[ 9.99991949e-01 3.74492032e-03 1.44145645e-03 3.35622423e+00] [-3.74297908e-03 9.99992088e-01 -1.34707137e-03 1.29703968e-01] [-1.44648972e-03 1.34166518e-03 9.99998054e-01 8.92666869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.622557844 meters 0.2889789531258565 Centerline is valid? [False, False] Translation: X:3.36, Y:0.13, Z:0.89 [[ 9.99992366e-01 3.66019347e-03 1.36806312e-03 3.35650657e+00] [-3.65805752e-03 9.99992092e-01 -1.56054943e-03 1.30625360e-01] [-1.37376421e-03 1.55553306e-03 9.99997847e-01 8.92470412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68255784400003 meters 0.28981782581500487 Centerline is valid? [False, False] Translation: X:3.36, Y:0.13, Z:0.89 [[ 9.99993389e-01 3.42856657e-03 1.21107229e-03 3.35701669e+00] [-3.42599345e-03 9.99991883e-01 -2.12039125e-03 1.33044601e-01] [-1.21833237e-03 2.11622811e-03 9.99997019e-01 8.92307071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74255784400003 meters 0.2887378018292386 Centerline is valid? [False, False] Translation: X:3.36, Y:0.14, Z:0.89 [[ 9.99994175e-01 3.20131348e-03 1.18351257e-03 3.35713296e+00] [-3.19812016e-03 9.99991267e-01 -2.69028737e-03 1.35461681e-01] [-1.19211469e-03 2.68648669e-03 9.99995681e-01 8.92265735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters 0.2883290781476201 Centerline is valid? [False, False] Translation: X:3.34, Y:0.14, Z:0.89 [[ 9.99996873e-01 -2.47962248e-03 -3.25165647e-04 3.33550779e+00] [ 2.47975077e-03 9.99996847e-01 3.94748437e-04 1.41755104e-01] [ 3.24185794e-04 -3.95553532e-04 9.99999869e-01 8.92563975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.862557844 meters 0.28916462893048467 Centerline is valid? [False, False] Translation: X:3.34, Y:0.14, Z:0.89 [[ 9.99996772e-01 -2.51213111e-03 -3.79781085e-04 3.33561652e+00] [ 2.51224876e-03 9.99996796e-01 3.09643917e-04 1.42101950e-01] [ 3.79002002e-04 -3.10597023e-04 9.99999880e-01 8.92634260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.922557844 meters 0.28841389062785966 Centerline is valid? [False, False] Translation: X:3.34, Y:0.14, Z:0.89 [[ 9.99996863e-01 -2.49188435e-03 -2.54082382e-04 3.33529847e+00] [ 2.49197633e-03 9.99996829e-01 3.62329419e-04 1.41837856e-01] [ 2.53178694e-04 -3.62961449e-04 9.99999902e-01 8.92665764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.982557844 meters 0.2884538154906833 Centerline is valid? [False, False] Translation: X:3.34, Y:0.14, Z:0.89 [[ 9.99996988e-01 -2.44095456e-03 -2.57227107e-04 3.33550275e+00] [ 2.44108469e-03 9.99996892e-01 5.06828482e-04 1.41254222e-01] [ 2.55989162e-04 -5.07454869e-04 9.99999838e-01 8.92173730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.042557844 meters 0.288918676921375 Centerline is valid? [False, False] Translation: X:3.34, Y:0.14, Z:0.89 [[ 9.99997163e-01 -2.37497817e-03 -1.82502803e-04 3.33537822e+00] [ 2.37510277e-03 9.99996944e-01 6.85592579e-04 1.40506480e-01] [ 1.80873978e-04 -6.86024097e-04 9.99999748e-01 8.92025745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.102557844 meters 0.28819267181517033 Centerline is valid? [False, False] Translation: X:3.31, Y:0.14, Z:0.89 [[ 9.99993099e-01 3.67059382e-03 -5.72689827e-04 3.31161017e+00] [-3.67219961e-03 9.99989257e-01 -2.82855370e-03 1.40622835e-01] [ 5.62301203e-04 2.83063721e-03 9.99995836e-01 8.93425024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.162557844 meters 0.2873401033493422 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.89 [[ 9.99996900e-01 -1.81781779e-03 1.70137844e-03 3.33288881e+00] [ 1.81648368e-03 9.99998042e-01 7.85355859e-04 1.41137747e-01] [-1.70280274e-03 -7.82262899e-04 9.99998244e-01 8.93220804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.222557844 meters 0.28830671120050066 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.89 [[ 9.99996283e-01 -1.98756363e-03 1.86660221e-03 3.33226953e+00] [ 1.98698683e-03 9.99997978e-01 3.10815592e-04 1.43093570e-01] [-1.86721621e-03 -3.07105522e-04 9.99998210e-01 8.93788294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.282557844 meters 0.2872003985340932 Centerline is valid? [False, False] Translation: X:3.33, Y:0.14, Z:0.89 [[ 9.99996011e-01 -2.13485294e-03 1.84917868e-03 3.33215220e+00] [ 2.13496777e-03 9.99997719e-01 -6.01262631e-05 1.44663056e-01] [-1.84904611e-03 6.40739602e-05 9.99998288e-01 8.94173890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.342557844 meters 0.28669628291222965 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.89 [[ 9.99995916e-01 -2.30078338e-03 1.69537495e-03 3.33267309e+00] [ 2.30158886e-03 9.99997239e-01 -4.73308474e-04 1.46455032e-01] [-1.69428129e-03 4.77208597e-04 9.99998451e-01 8.93909729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.402557844 meters 0.28808588586739203 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.89 [[ 9.99995895e-01 -2.44114975e-03 1.50031699e-03 3.33336958e+00] [ 2.44238460e-03 9.99996680e-01 -8.21774503e-04 1.47945531e-01] [-1.49830594e-03 8.25435481e-04 9.99998537e-01 8.93455626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.462557844 meters 0.2892336449162012 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.89 [[ 9.99996344e-01 -2.42781584e-03 1.19073496e-03 3.33443375e+00] [ 2.42875585e-03 9.99996740e-01 -7.88625127e-04 1.47770770e-01] [-1.18881644e-03 7.91514248e-04 9.99998980e-01 8.92575842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.522557844 meters 0.29064323143234233 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.89 [[ 9.99996496e-01 -2.32930763e-03 1.25769778e-03 3.33417418e+00] [ 2.32996108e-03 9.99997151e-01 -5.18342103e-04 1.46616880e-01] [-1.25648682e-03 5.21270673e-04 9.99999075e-01 8.92758413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.582557844 meters 0.2872653144232471 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:0.90 [[ 9.99991347e-01 4.00841964e-03 -1.11281776e-03 3.31010427e+00] [-4.01209253e-03 9.99986446e-01 -3.31816092e-03 1.50273970e-01] [ 1.09950209e-03 3.32259693e-03 9.99993876e-01 8.95764811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.642557844 meters 0.2891788557976819 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.90 [[ 9.99998460e-01 -1.75488314e-03 -3.93953097e-06 3.33305201e+00] [ 1.75488310e-03 9.99998460e-01 -9.68555087e-06 1.51839054e-01] [ 3.95652192e-06 9.67862254e-06 1.00000000e+00 8.95207671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.702557844 meters 0.28797484234020515 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:0.90 [[ 9.99998069e-01 -1.95024212e-03 -2.43165971e-04 3.33363485e+00] [ 1.95008846e-03 9.99997900e-01 -6.30534211e-04 1.54392918e-01] [ 2.44395154e-04 6.30058798e-04 9.99999772e-01 8.95263151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.762557844 meters 0.287920675331294 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:0.90 [[ 9.99997241e-01 -2.34443984e-03 -1.49959300e-04 3.33301515e+00] [ 2.34415755e-03 9.99995531e-01 -1.85570782e-03 1.59453947e-01] [ 1.54309225e-04 1.85535117e-03 9.99998267e-01 8.96190081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.822557844 meters 0.2875995983479784 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:0.90 [[ 9.99996592e-01 -2.60135751e-03 -2.21864812e-04 3.33327881e+00] [ 2.60079564e-03 9.99993502e-01 -2.49626207e-03 1.62146150e-01] [ 2.28357041e-04 2.49567654e-03 9.99996860e-01 8.96085013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.882557844 meters 0.2893473370929519 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:0.90 [[ 9.99996077e-01 -2.79211288e-03 -2.22391591e-04 3.33321685e+00] [ 2.79144490e-03 9.99991755e-01 -2.94933261e-03 1.64061204e-01] [ 2.30624626e-04 2.94870024e-03 9.99995626e-01 8.96271263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.942557844 meters 0.28784914851171145 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:0.90 [[ 9.99995699e-01 -2.91710310e-03 -3.04121186e-04 3.33309198e+00] [ 2.91609328e-03 9.99990403e-01 -3.26962747e-03 1.65403296e-01] [ 3.13656108e-04 3.26872656e-03 9.99994609e-01 8.97035577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.002557844 meters 0.28991311845578943 Centerline is valid? [False, False] Translation: X:3.35, Y:0.16, Z:0.90 [[ 9.99986520e-01 5.17194291e-03 4.59516677e-04 3.35416673e+00] [-5.16976714e-03 9.99975982e-01 -4.61624094e-03 1.63070785e-01] [-4.83380575e-04 4.61380312e-03 9.99989240e-01 8.97604641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.062557844 meters 0.28787050232106104 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:0.90 [[ 9.99998633e-01 -1.15015602e-03 1.18786035e-03 3.33053232e+00] [ 1.15294363e-03 9.99996577e-01 -2.34873634e-03 1.69979870e-01] [-1.18515487e-03 2.35010267e-03 9.99996536e-01 8.98468038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.122557844 meters 0.28759965656831193 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:0.90 [[ 9.99998559e-01 -1.35880938e-03 1.01719742e-03 3.33085344e+00] [ 1.36175187e-03 9.99994875e-01 -2.89766147e-03 1.72260538e-01] [-1.01325483e-03 2.89904247e-03 9.99995284e-01 8.98777860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters 0.28785296417587974 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:0.90 [[ 9.99998352e-01 -1.68413805e-03 6.78687981e-04 3.33186567e+00] [ 1.68668219e-03 9.99991488e-01 -3.76563392e-03 1.75960635e-01] [-6.72340356e-04 3.76677244e-03 9.99992680e-01 8.98578323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters 0.2898822816498341 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.90 [[ 9.99999882e-01 -1.08680644e-04 -4.72994434e-04 3.33725426e+00] [ 1.07576037e-04 9.99997269e-01 -2.33474731e-03 1.77499270e-01] [ 4.73246884e-04 2.33469615e-03 9.99997163e-01 8.95214099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters 0.28782435271191964 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.90 [[ 9.99993345e-01 3.62943532e-03 -3.69161874e-04 3.33705634e+00] [-3.62921781e-03 9.99993241e-01 5.88154682e-04 1.83570597e-01] [ 3.71294048e-04 -5.86810999e-04 9.99999759e-01 8.95333646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.362557844 meters 0.288997888559706 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99994962e-01 3.12841726e-03 -5.36695911e-04 3.33767182e+00] [-3.12871552e-03 9.99994951e-01 -5.55801029e-04 1.88529322e-01] [ 5.34954424e-04 5.57477398e-04 9.99999702e-01 8.95160898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.422557844 meters 0.2905105607827645 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99995863e-01 2.81352173e-03 -5.98453450e-04 3.33786478e+00] [-2.81431068e-03 9.99995167e-01 -1.32157085e-03 1.91720592e-01] [ 5.94732289e-04 1.32324962e-03 9.99998948e-01 8.95125058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.482557844 meters 0.28969284003631807 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99996188e-01 2.74418054e-03 -3.06799894e-04 3.33719322e+00] [-2.74464634e-03 9.99995066e-01 -1.52827280e-03 1.92552325e-01] [ 3.02604524e-04 1.52910903e-03 9.99998785e-01 8.95108723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.542557844 meters 0.2896212552209715 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:0.89 [[ 9.99980324e-01 -5.58140659e-03 -2.86364426e-03 3.31902487e+00] [ 5.57974785e-03 9.99984261e-01 -5.86903722e-04 1.95369878e-01] [ 2.86687494e-03 5.70913761e-04 9.99995728e-01 8.93476456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.602557844 meters 0.29067293925078797 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.89 [[ 9.99994729e-01 2.41059687e-03 -2.17502940e-03 3.33836659e+00] [-2.41391524e-03 9.99995925e-01 -1.52433163e-03 1.89299473e-01] [ 2.17134599e-03 1.52957393e-03 9.99996473e-01 8.94592719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.662557844 meters 0.28921979976605056 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.89 [[ 9.99994800e-01 2.46351546e-03 -2.08123134e-03 3.33798571e+00] [-2.46638002e-03 9.99996013e-01 -1.37493625e-03 1.88655618e-01] [ 2.07783587e-03 1.38006220e-03 9.99996889e-01 8.94929575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.722557844 meters 0.2906624489704382 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.89 [[ 9.99994681e-01 2.52450050e-03 -2.06508491e-03 3.33793938e+00] [-2.52710288e-03 9.99996015e-01 -1.25854215e-03 1.88074577e-01] [ 2.06189949e-03 1.26375413e-03 9.99997076e-01 8.94895551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.782557844 meters 0.28862876419414824 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99994129e-01 2.79475279e-03 -1.98294186e-03 3.33764751e+00] [-2.79598417e-03 9.99995900e-01 -6.18485941e-04 1.85351823e-01] [ 1.98120521e-03 6.24026584e-04 9.99997843e-01 8.95013188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.842557844 meters 0.2883585265640844 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.89 [[ 9.99992920e-01 3.36043811e-03 -1.69333475e-03 3.33696963e+00] [-3.35845694e-03 9.99993674e-01 1.17146563e-03 1.78125191e-01] [ 1.69726068e-03 -1.16577035e-03 9.99997880e-01 8.94850615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.902557844 meters 0.28758593549912953 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.89 [[ 9.99992079e-01 3.61331541e-03 -1.66893643e-03 3.33692223e+00] [-3.61019099e-03 9.99991732e-01 1.87133299e-03 1.75244760e-01] [ 1.67568435e-03 -1.86529299e-03 9.99996856e-01 8.94756682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.962557844 meters 0.28896138960223033 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:0.89 [[ 9.99998453e-01 -2.15460996e-04 -1.74600772e-03 3.33702748e+00] [ 2.13259741e-04 9.99999182e-01 -1.26082434e-03 1.70165589e-01] [ 1.74627795e-03 1.26045003e-03 9.99997681e-01 8.94679670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.022557844 meters 0.28894633652052365 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:0.90 [[ 9.99998599e-01 1.82519593e-06 -1.67408716e-03 3.33656230e+00] [-3.02564698e-06 9.99999743e-01 -7.17075741e-04 1.67775440e-01] [ 1.67408542e-03 7.17079801e-04 9.99998342e-01 8.95260941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.082557844 meters 0.2880640198660611 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:0.90 [[ 9.99999056e-01 2.44615417e-04 -1.35220235e-03 3.33566280e+00] [-2.44809027e-04 9.99999960e-01 -1.43017839e-04 1.65275387e-01] [ 1.35216731e-03 1.43348735e-04 9.99999076e-01 8.95404037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.142557844 meters 0.2886254064711914 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:0.90 [[ 9.99998866e-01 4.66391276e-04 -1.43208206e-03 3.33599926e+00] [-4.65810077e-04 9.99999809e-01 4.06148609e-04 1.62953568e-01] [ 1.43227121e-03 -4.05481070e-04 9.99998892e-01 8.95067890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.202557844 meters 0.28840666704259676 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:0.90 [[ 9.99998525e-01 5.87281072e-04 -1.61378145e-03 3.33644207e+00] [-5.86151772e-04 9.99999583e-01 7.00169302e-04 1.61715561e-01] [ 1.61419197e-03 -6.99222349e-04 9.99998453e-01 8.95057090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.262557844 meters 0.28884542139651465 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:0.90 [[ 9.99998517e-01 6.42114597e-04 -1.59808008e-03 3.33620049e+00] [-6.40749946e-04 9.99999430e-01 8.54297358e-04 1.61068884e-01] [ 1.59862772e-03 -8.53272122e-04 9.99998358e-01 8.95527569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.322557844 meters 0.2875985218304738 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:0.90 [[ 9.99998660e-01 5.37685998e-04 -1.54614055e-03 3.33600118e+00] [-5.36925324e-04 9.99999735e-01 4.92354968e-04 1.62519686e-01] [ 1.54640487e-03 -4.91524146e-04 9.99998684e-01 8.95740947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.382557844 meters 0.28840024341751935 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:0.90 [[ 9.99998296e-01 3.75112641e-04 -1.80739455e-03 3.33655844e+00] [-3.75194130e-04 9.99999929e-01 -4.47477023e-05 1.64672093e-01] [ 1.80737764e-03 4.54257499e-05 9.99998366e-01 8.95943358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.442557844 meters 0.2875597097138998 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:0.90 [[ 9.99998500e-01 1.55933539e-04 -1.72521249e-03 3.33617578e+00] [-1.57594962e-04 9.99999524e-01 -9.62930894e-04 1.68211911e-01] [ 1.72506152e-03 9.63201334e-04 9.99998048e-01 8.96423618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.502557844 meters 0.2859153767301526 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:0.90 [[ 9.99998340e-01 -1.02092681e-04 -1.81928456e-03 3.33627626e+00] [ 9.86253094e-05 9.99998179e-01 -1.90588642e-03 1.71889670e-01] [ 1.81947583e-03 1.90570383e-03 9.99996529e-01 8.96765154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.562557844 meters 0.28670551179513737 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.90 [[ 9.99997799e-01 -3.30598713e-04 -2.07204112e-03 3.33681029e+00] [ 3.24897451e-04 9.99996163e-01 -2.75125271e-03 1.75271902e-01] [ 2.07294273e-03 2.75057345e-03 9.99994069e-01 8.96947475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.622557844 meters 0.2869723909866579 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:0.90 [[ 9.99997876e-01 -6.29814168e-04 -1.96224059e-03 3.33631860e+00] [ 6.22133546e-04 9.99992153e-01 -3.91236446e-03 1.79727794e-01] [ 1.96468925e-03 3.91113537e-03 9.99990421e-01 8.97536501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters 0.2875476848943787 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:0.90 [[ 9.99981509e-01 -6.07483160e-03 -2.81023897e-04 3.35839324e+00] [ 6.07462918e-03 9.99981293e-01 -7.15655201e-04 1.85170575e-01] [ 2.85366125e-04 7.13934852e-04 9.99999704e-01 8.96802973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters 0.28677937463470343 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99989324e-01 3.47034900e-03 -3.05104985e-03 3.33925437e+00] [-3.47477815e-03 9.99992915e-01 -1.44758232e-03 1.91428746e-01] [ 3.04600462e-03 1.45816858e-03 9.99994298e-01 8.96252299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80255784400003 meters 0.2862997313186694 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:0.90 [[ 9.99989672e-01 3.23077712e-03 -3.19641992e-03 3.33960696e+00] [-3.23760248e-03 9.99992485e-01 -2.13244809e-03 1.94264916e-01] [ 3.18950643e-03 2.14277481e-03 9.99992618e-01 8.96263327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.862557844 meters 0.2866110425686654 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99990123e-01 2.93658519e-03 -3.33622742e-03 3.33995163e+00] [-2.94686074e-03 9.99990917e-01 -3.07926113e-03 1.98099399e-01] [ 3.32715461e-03 3.08906211e-03 9.99989694e-01 8.96263975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.922557844 meters 0.2871475933493562 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991114e-01 2.76307827e-03 -3.18388703e-03 3.33948170e+00] [-2.77435783e-03 9.99989872e-01 -3.54374773e-03 2.00030767e-01] [ 3.17406313e-03 3.55254948e-03 9.99988652e-01 8.96485727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.982557844 meters 0.28572234634489896 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991739e-01 2.64997126e-03 -3.08227395e-03 3.33907077e+00] [-2.66180681e-03 9.99989076e-01 -3.84213014e-03 2.01287229e-01] [ 3.07205875e-03 3.85030282e-03 9.99987869e-01 8.96841065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.042557844 meters 0.28603853354307485 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99992237e-01 2.55172327e-03 -3.00253903e-03 3.33863694e+00] [-2.56402819e-03 9.99988302e-01 -4.10148317e-03 2.02362423e-01] [ 2.99203805e-03 4.10914992e-03 9.99987081e-01 8.97400372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.102557844 meters 0.28652662992310124 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991888e-01 2.59846462e-03 -3.07769106e-03 3.33900015e+00] [-2.61073143e-03 9.99988638e-01 -3.98842857e-03 2.01877888e-01] [ 3.06729230e-03 3.99643124e-03 9.99987310e-01 8.97011255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.162557844 meters 0.2874772384252869 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991770e-01 2.65552679e-03 -3.06727538e-03 3.33897596e+00] [-2.66731732e-03 9.99989046e-01 -3.84630353e-03 2.01274156e-01] [ 3.05702781e-03 3.85445327e-03 9.99987899e-01 8.97003699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.222557844 meters 0.2860585008804833 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991807e-01 2.72305965e-03 -2.99497921e-03 3.33848167e+00] [-2.73407031e-03 9.99989497e-01 -3.67844398e-03 2.00514716e-01] [ 2.98493113e-03 3.68660233e-03 9.99988750e-01 8.97719081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.282557844 meters 0.2866205112663978 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:0.90 [[ 9.99991513e-01 2.74547910e-03 -3.07195163e-03 3.33882157e+00] [-2.75655672e-03 9.99989693e-01 -3.60764669e-03 2.00213180e-01] [ 3.06201525e-03 3.61608408e-03 9.99988774e-01 8.97353101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.342557844 meters 0.2854533005181761 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:0.90 [[ 9.99967015e-01 -5.31866444e-03 -6.13851960e-03 3.32152094e+00] [ 5.30147637e-03 9.99981991e-01 -2.81291833e-03 2.05173793e-01] [ 6.15337002e-03 2.78028232e-03 9.99977203e-01 8.96252879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.402557844 meters 0.287174478549774 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:0.90 [[ 9.99979589e-01 4.14119838e-03 -4.86542920e-03 3.34373209e+00] [-4.15493827e-03 9.99987400e-01 -2.81727567e-03 2.06073391e-01] [ 4.85370099e-03 2.83743372e-03 9.99984195e-01 8.95798691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.462557844 meters 0.28769053474003214 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:0.89 [[ 9.99976889e-01 4.08098500e-03 -5.43747180e-03 3.34555255e+00] [-4.09809780e-03 9.99986674e-01 -3.13978163e-03 2.07544528e-01] [ 5.42458593e-03 3.16199236e-03 9.99980288e-01 8.94312345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.522557844 meters 0.28772636657307654 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:0.89 [[ 0.99997845 0.00397641 -0.0052233 3.34485161] [-0.00399444 0.99998609 -0.00344567 0.20887591] [ 0.00520953 0.00346646 0.99998042 0.89472284] [ 0. 0. 0. 1. ]] SLAMing on 440.582557844 meters 0.28550639079478013 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:0.90 [[ 0.99998014 0.00383864 -0.00499942 3.34382831] [-0.00385787 0.99998518 -0.00384176 0.21058612] [ 0.0049846 0.00386097 0.99998012 0.89593672] [ 0. 0. 0. 1. ]] SLAMing on 440.642557844 meters 0.28676499425771484 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:0.90 [[ 9.99984753e-01 -1.94416993e-03 -5.16851783e-03 3.36675290e+00] [ 1.94332474e-03 9.99998098e-01 -1.68542516e-04 2.13714333e-01] [ 5.16883567e-03 1.58495838e-04 9.99986629e-01 8.95301176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.702557844 meters 0.2875023723050718 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:0.90 [[ 9.99985215e-01 -1.89745130e-03 -5.09609060e-03 3.36642515e+00] [ 1.89718453e-03 9.99998199e-01 -5.71814621e-05 2.13228563e-01] [ 5.09618992e-03 4.75123924e-05 9.99987013e-01 8.95628939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.762557844 meters 0.2867138130861376 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:0.90 [[ 9.99986049e-01 -1.85071461e-03 -4.94737331e-03 3.36587405e+00] [ 1.85100732e-03 9.99998285e-01 5.45855541e-05 2.12735371e-01] [ 4.94726380e-03 -6.37424168e-05 9.99987760e-01 8.96043651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.822557844 meters 0.2867428266973831 Centerline is valid? [False, False] Translation: X:3.37, Y:0.21, Z:0.90 [[ 9.99986343e-01 -1.82105957e-03 -4.89881989e-03 3.36568609e+00] [ 1.82171089e-03 9.99998332e-01 1.28496502e-04 2.12428988e-01] [ 4.89857772e-03 -1.37418981e-04 9.99987992e-01 8.96192323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.882557844 meters 0.28823673181478476 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:0.90 [[ 9.99974375e-01 6.23316627e-03 -3.52098467e-03 3.38558296e+00] [-6.23584707e-03 9.99980275e-01 -7.50914692e-04 2.07851135e-01] [ 3.51623464e-03 7.72851771e-04 9.99993519e-01 8.97646575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.942557844 meters 0.2876902913808792 Centerline is valid? [False, False] Translation: X:3.39, Y:0.21, Z:0.90 [[ 9.99973010e-01 6.45465001e-03 -3.50941487e-03 3.38550292e+00] [-6.45542451e-03 9.99979142e-01 -2.09410968e-04 2.05569596e-01] [ 3.50799000e-03 2.32060079e-04 9.99993820e-01 8.97766384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.002557844 meters 0.2878001386971678 Centerline is valid? [False, False] Translation: X:3.39, Y:0.20, Z:0.90 [[ 9.99990495e-01 2.54442179e-03 -3.54046199e-03 3.38553383e+00] [-2.55690007e-03 9.99990520e-01 -3.52442624e-03 2.01181986e-01] [ 3.53146080e-03 3.53344535e-03 9.99987522e-01 8.97809065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.062557844 meters 0.28651100642921723 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:0.90 [[ 9.99962683e-01 -6.58477551e-03 -5.59219095e-03 3.36408311e+00] [ 6.56944863e-03 9.99974627e-01 -2.75472486e-03 1.94966665e-01] [ 5.61018830e-03 2.71788445e-03 9.99980569e-01 8.98342910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.122557844 meters 0.28647234415903045 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:0.90 [[ 9.99965205e-01 -6.13769703e-03 -5.64951230e-03 3.36442793e+00] [ 6.12849183e-03 9.99979867e-01 -1.64525115e-03 1.90277033e-01] [ 5.65949661e-03 1.61057092e-03 9.99982688e-01 8.98009520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters 0.2871825614006508 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:0.90 [[ 9.99967159e-01 -5.65977240e-03 -5.80065031e-03 3.36525986e+00] [ 5.65635826e-03 9.99983820e-01 -6.04814588e-04 1.85837158e-01] [ 5.80397957e-03 5.71984169e-04 9.99982993e-01 8.97262876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24255784400003 meters 0.2863664401958406 Centerline is valid? [False, False] Translation: X:3.35, Y:0.18, Z:0.89 [[ 9.99980307e-01 2.50147393e-03 -5.75580047e-03 3.34613252e+00] [-2.50808534e-03 9.99996203e-01 -1.14172123e-03 1.75188627e-01] [ 5.75292263e-03 1.15613479e-03 9.99982783e-01 8.94460124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30255784400003 meters 0.28675248847265106 Centerline is valid? [False, False] Translation: X:3.35, Y:0.17, Z:0.89 [[ 9.99979111e-01 2.86851154e-03 -5.79222308e-03 3.34635302e+00] [-2.87042461e-03 9.99995828e-01 -3.21996440e-04 1.71691762e-01] [ 5.79127526e-03 3.38615854e-04 9.99983173e-01 8.94324840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.362557844 meters 0.2867503523940199 Centerline is valid? [False, False] Translation: X:3.35, Y:0.17, Z:0.89 [[ 9.99976782e-01 3.29750074e-03 -5.96342969e-03 3.34677195e+00] [-3.29277388e-03 9.99994257e-01 8.02285122e-04 1.66996003e-01] [ 5.96604098e-03 -7.82630268e-04 9.99981897e-01 8.94471257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.422557844 meters 0.28730485543708895 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:0.89 [[ 9.99976636e-01 -5.37759752e-03 -4.22000518e-03 3.36800153e+00] [ 5.38738182e-03 9.99982818e-01 2.31061982e-03 1.61454021e-01] [ 4.20750709e-03 -2.33330062e-03 9.99988426e-01 8.94232526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.482557844 meters 0.2872400211558104 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:0.89 [[ 9.99978434e-01 -5.09445327e-03 -4.14469475e-03 3.36768992e+00] [ 5.10677681e-03 9.99982555e-01 2.96819831e-03 1.58628585e-01] [ 4.12950110e-03 -2.98930033e-03 9.99987006e-01 8.94519160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.542557844 meters 0.2872103151489501 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:0.89 [[ 9.99978669e-01 -4.95843556e-03 -4.25152801e-03 3.36805550e+00] [ 4.97247799e-03 9.99982196e-01 3.29872797e-03 1.57212910e-01] [ 4.23509578e-03 -3.31979824e-03 9.99985521e-01 8.94352445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.602557844 meters 0.28861194587969907 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:0.89 [[ 0.99997824 -0.00489333 -0.00442539 3.36899081] [ 0.00490874 0.9999819 0.00347867 0.15640474] [ 0.00440829 -0.00350031 0.99998416 0.89306667] [ 0. 0. 0. 1. ]] SLAMing on 441.662557844 meters 0.28678565334590256 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:0.89 [[ 0.99997871 -0.00490924 -0.00429867 3.36823119] [ 0.00492402 0.99998198 0.00343551 0.1567193 ] [ 0.00428173 -0.00345661 0.99998486 0.89413715] [ 0. 0. 0. 1. ]] SLAMing on 441.722557844 meters 0.28459147339432317 Centerline is valid? [False, False] Translation: X:3.34, Y:0.15, Z:0.90 [[ 9.99991300e-01 1.09796196e-03 -4.02428436e-03 3.34266054e+00] [-1.09589226e-03 9.99999266e-01 5.16471390e-04 1.54174617e-01] [ 4.02484847e-03 -5.12056714e-04 9.99991769e-01 8.96822540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.782557844 meters 0.2865921917888884 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.90 [[ 9.99999523e-01 -1.14432447e-04 -9.69515533e-04 3.38557181e+00] [ 1.13749263e-04 9.99999745e-01 -7.04690775e-04 1.55449927e-01] [ 9.69595925e-04 7.04580158e-04 9.99999282e-01 8.96272599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.842557844 meters 0.2860815974600995 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.90 [[ 9.99999412e-01 -1.24998015e-04 -1.07744519e-03 3.38612492e+00] [ 1.24213486e-04 9.99999727e-01 -7.28174426e-04 1.55523536e-01] [ 1.07753592e-03 7.28040164e-04 9.99999154e-01 8.95621085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.902557844 meters 0.28741604266151016 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.90 [[ 9.99999064e-01 -1.80052040e-04 -1.35624798e-03 3.38690379e+00] [ 1.78861698e-04 9.99999599e-01 -8.77742700e-04 1.56161347e-01] [ 1.35640547e-03 8.77499298e-04 9.99998695e-01 8.95303522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.962557844 meters 0.286724137682987 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.90 [[ 9.99999430e-01 -2.43721886e-04 -1.03970320e-03 3.38608691e+00] [ 2.42604085e-04 9.99999393e-01 -1.07510633e-03 1.56942946e-01] [ 1.03996459e-03 1.07485348e-03 9.99998882e-01 8.95417746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.022557844 meters 0.28668315735994215 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.90 [[ 9.99999812e-01 -2.74947808e-04 -5.47422470e-04 3.38480578e+00] [ 2.74293392e-04 9.99999248e-01 -1.19516542e-03 1.57579924e-01] [ 5.47750667e-04 1.19501505e-03 9.99999136e-01 8.95635455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.082557844 meters 0.2864150982065149 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:0.90 [[ 9.99999739e-01 -3.62930919e-04 -6.25348888e-04 3.38502253e+00] [ 3.62034807e-04 9.99998908e-01 -1.43249751e-03 1.58539987e-01] [ 6.25868103e-04 1.43227074e-03 9.99998778e-01 8.95533362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.142557844 meters 0.28654982511916494 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.90 [[ 9.99999772e-01 -4.01537353e-04 -5.43740879e-04 3.38485165e+00] [ 4.00704510e-04 9.99998748e-01 -1.53093442e-03 1.58963180e-01] [ 5.44354925e-04 1.53071620e-03 9.99998680e-01 8.95448451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.202557844 meters 0.28922099556888936 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.90 [[ 9.99998557e-01 -8.84889560e-04 -1.44988836e-03 3.42301574e+00] [ 8.81377881e-04 9.99996681e-01 -2.42088516e-03 1.61311224e-01] [ 1.45202577e-03 2.41960377e-03 9.99996019e-01 8.99551231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.262557844 meters 0.2881078792986383 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.90 [[ 9.99998283e-01 -8.44015778e-04 -1.64947096e-03 3.42371838e+00] [ 8.40192516e-04 9.99996962e-01 -2.31719170e-03 1.60815708e-01] [ 1.65142169e-03 2.31580185e-03 9.99995955e-01 8.99104183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.322557844 meters 0.2876446339237039 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.90 [[ 9.99998029e-01 -6.30169970e-04 -1.88257353e-03 3.42450975e+00] [ 6.26938527e-04 9.99998330e-01 -1.71660013e-03 1.58197886e-01] [ 1.88365214e-03 1.71541649e-03 9.99996755e-01 8.98725489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.382557844 meters 0.2882184681799072 Centerline is valid? [False, False] Translation: X:3.42, Y:0.16, Z:0.90 [[ 9.99998074e-01 -4.15124164e-04 -1.91828325e-03 3.42433472e+00] [ 4.12918356e-04 9.99999253e-01 -1.15013958e-03 1.55795958e-01] [ 1.91875927e-03 1.14934527e-03 9.99997499e-01 8.99361810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.442557844 meters 0.28618608068169865 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.89 [[ 9.99996749e-01 -7.68289704e-04 -2.43144814e-03 3.38984589e+00] [ 7.67705467e-04 9.99999676e-01 -2.41207537e-04 1.45976463e-01] [ 2.43163267e-03 2.39340117e-04 9.99997015e-01 8.94296525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.502557844 meters 0.28625536587857275 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.89 [[ 9.99997137e-01 -4.78508213e-04 -2.34471878e-03 3.38943477e+00] [ 4.79676705e-04 9.99999761e-01 4.97813717e-04 1.42812487e-01] [ 2.34448001e-03 -4.98936999e-04 9.99997127e-01 8.94786038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.562557844 meters 0.28574800416750973 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.89 [[ 9.99997096e-01 7.32903377e-06 -2.41017003e-03 3.38978473e+00] [-3.31334503e-06 9.99998612e-01 1.66614311e-03 1.37806485e-01] [ 2.41017889e-03 -1.66613029e-03 9.99995708e-01 8.94526989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.622557844 meters 0.2874398434974106 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.89 [[ 9.99996458e-01 3.16387442e-04 -2.64277773e-03 3.39062402e+00] [-3.10079954e-04 9.99997104e-01 2.38675795e-03 1.34658652e-01] [ 2.64352522e-03 -2.38593002e-03 9.99993660e-01 8.94136684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters 0.28703388920449713 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.89 [[ 9.99996466e-01 5.21281672e-04 -2.60678318e-03 3.39043296e+00] [-5.13728597e-04 9.99995671e-01 2.89730003e-03 1.32520298e-01] [ 2.60828220e-03 -2.89595061e-03 9.99992405e-01 8.94423130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters 0.28686939596299227 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.89 [[ 9.99996828e-01 5.85277083e-04 -2.44979000e-03 3.39014171e+00] [-5.77799558e-04 9.99995176e-01 3.05190839e-03 1.31884556e-01] [ 2.45156440e-03 -3.05048323e-03 9.99992342e-01 8.94227118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters 0.28753928120972433 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.89 [[ 9.99996918e-01 5.75812038e-04 -2.41513305e-03 3.39020917e+00] [-5.68486106e-04 9.99995239e-01 3.03293533e-03 1.31965522e-01] [ 2.41686795e-03 -3.03155301e-03 9.99992484e-01 8.93869250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.862557844 meters 0.2884406378426296 Centerline is valid? [False, False] Translation: X:3.41, Y:0.14, Z:0.89 [[ 9.99973217e-01 7.24404276e-03 1.04373338e-03 3.41163503e+00] [-7.24437959e-03 9.99973708e-01 3.19290512e-04 1.36839896e-01] [-1.04139298e-03 -3.26843161e-04 9.99999404e-01 8.92190513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.922557844 meters 0.28721484706451444 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.89 [[ 9.99994828e-01 -2.21907919e-03 2.32794367e-03 3.38895378e+00] [ 2.21849513e-03 9.99997507e-01 2.53444318e-04 1.43094097e-01] [-2.32850028e-03 -2.48278476e-04 9.99997258e-01 8.92363866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.982557844 meters 0.28725845420550233 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.89 [[ 9.99993922e-01 -2.46657736e-03 2.46425212e-03 3.38850209e+00] [ 2.46751170e-03 9.99996885e-01 -3.76186470e-04 1.45736510e-01] [-2.46331655e-03 3.82264755e-04 9.99996893e-01 8.92485758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.042557844 meters 0.2886050324743827 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.89 [[ 9.99996303e-01 1.57265178e-03 2.21818491e-03 3.38892711e+00] [-1.57958340e-03 9.99993865e-01 3.12662067e-03 1.48858199e-01] [-2.21325421e-03 -3.13011292e-03 9.99992652e-01 8.92692732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.102557844 meters 0.28627902140664174 Centerline is valid? [False, False] Translation: X:3.37, Y:0.15, Z:0.89 [[ 9.99979164e-01 6.42982391e-03 5.72864459e-04 3.36635433e+00] [-6.42928774e-03 9.99978897e-01 -9.32914860e-04 1.47492475e-01] [-5.78850848e-04 9.29212311e-04 9.99999401e-01 8.94306137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.162557844 meters 0.2858765626858751 Centerline is valid? [False, False] Translation: X:3.37, Y:0.15, Z:0.89 [[ 9.99979076e-01 6.46048349e-03 3.30279569e-04 3.36700477e+00] [-6.46020307e-03 9.99978777e-01 -8.43169212e-04 1.47088008e-01] [-3.35719840e-04 8.41017897e-04 9.99999590e-01 8.94163918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.222557844 meters 0.28696924124291723 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.90 [[ 9.99998908e-01 -1.34720324e-03 6.07067933e-04 3.38690497e+00] [ 1.34691723e-03 9.99998982e-01 4.71295526e-04 1.51861201e-01] [-6.07702245e-04 -4.70477341e-04 9.99999705e-01 8.95560629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.282557844 meters 0.28667747474424415 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.90 [[ 9.99998792e-01 -1.15840610e-03 1.03610833e-03 3.38530929e+00] [ 1.15717049e-03 9.99998620e-01 1.19235874e-03 1.48796546e-01] [-1.03748814e-03 -1.19115835e-03 9.99998752e-01 8.97205110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.342557844 meters 0.2871220006227575 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:0.90 [[ 9.99999256e-01 -9.09597707e-04 8.12206614e-04 3.38578894e+00] [ 9.07939954e-04 9.99997509e-01 2.03909042e-03 1.45448890e-01] [-8.14059343e-04 -2.03835147e-03 9.99997591e-01 8.97406594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.402557844 meters 0.28627336803836173 Centerline is valid? [False, False] Translation: X:3.39, Y:0.14, Z:0.90 [[ 9.99999843e-01 -4.94735167e-04 2.62514029e-04 3.38712954e+00] [ 4.93753669e-04 9.99992937e-01 3.72582381e-03 1.38873916e-01] [-2.64355471e-04 -3.72569361e-03 9.99993025e-01 8.97405978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.462557844 meters 0.2865773534718977 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.90 [[ 9.99999927e-01 -3.85651371e-05 3.80311587e-04 3.38649216e+00] [ 3.66476769e-05 9.99987296e-01 5.04053244e-03 1.33376736e-01] [-3.80501144e-04 -5.04051813e-03 9.99987224e-01 8.98172943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.522557844 meters 0.28722793987615813 Centerline is valid? [False, False] Translation: X:3.39, Y:0.13, Z:0.90 [[ 9.99999724e-01 6.17269311e-04 4.14095398e-04 3.38633222e+00] [-6.19932776e-04 9.99978922e-01 6.46301436e-03 1.27343251e-01] [-4.10097249e-04 -6.46326929e-03 9.99979029e-01 8.98373287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.582557844 meters 0.28884804540803066 Centerline is valid? [False, False] Translation: X:3.39, Y:0.12, Z:0.89 [[ 9.99998888e-01 -1.33710325e-03 -6.60904269e-04 3.39176721e+00] [ 1.34041103e-03 9.99986451e-01 5.03008215e-03 1.22784072e-01] [ 6.54169575e-04 -5.03096244e-03 9.99987131e-01 8.94751588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.642557844 meters 0.2867014069676015 Centerline is valid? [False, False] Translation: X:3.37, Y:0.12, Z:0.90 [[ 9.99990335e-01 3.47145019e-03 -2.69804123e-03 3.37017091e+00] [-3.46666762e-03 9.99992415e-01 1.77526872e-03 1.15964514e-01] [ 2.70418352e-03 -1.76589835e-03 9.99994784e-01 8.95168722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.702557844 meters 0.2862454341782181 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.90 [[ 9.99996818e-01 -2.54797287e-04 -2.50988548e-03 3.36957439e+00] [ 2.52039942e-04 9.99999365e-01 -1.09884891e-03 1.09830956e-01] [ 2.51016387e-03 1.09821282e-03 9.99996246e-01 8.95685622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.762557844 meters 0.28650615203607965 Centerline is valid? [False, False] Translation: X:3.37, Y:0.11, Z:0.90 [[ 9.99996990e-01 8.01771292e-05 -2.45207992e-03 3.36954548e+00] [-8.08822446e-05 9.99999955e-01 -2.87460266e-04 1.06392564e-01] [ 2.45205677e-03 2.87657731e-04 9.99996952e-01 8.95472879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.822557844 meters 0.2872517302372274 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.90 [[ 9.99996997e-01 3.30326983e-04 -2.42849879e-03 3.36942501e+00] [-3.29564241e-04 9.99999896e-01 3.14473278e-04 1.03878951e-01] [ 2.42860242e-03 -3.13671987e-04 9.99997002e-01 8.95668018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.882557844 meters 0.28836679965720063 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.90 [[ 9.99996735e-01 4.67622491e-04 -2.51223880e-03 3.36994442e+00] [-4.65969751e-04 9.99999675e-01 6.58420515e-04 1.02335618e-01] [ 2.51254587e-03 -6.57247738e-04 9.99996628e-01 8.95046784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.942557844 meters 0.28725560275102696 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.89 [[ 9.99996286e-01 7.41376478e-04 -2.62255384e-03 3.37036337e+00] [-7.37597778e-04 9.99998689e-01 1.44152135e-03 9.90636702e-02] [ 2.62361911e-03 -1.43958161e-03 9.99995522e-01 8.94784970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.002557844 meters 0.2881385536049539 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.90 [[ 9.99996170e-01 9.94579883e-04 -2.58262980e-03 3.36994453e+00] [-9.89081369e-04 9.99997244e-01 2.12944210e-03 9.61895702e-02] [ 2.58474058e-03 -2.12687951e-03 9.99994398e-01 8.95470070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.062557844 meters 0.28841878736809423 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99995697e-01 1.21924728e-03 -2.66819460e-03 3.37025588e+00] [-1.21200434e-03 9.99995581e-01 2.71448554e-03 9.37241017e-02] [ 2.67149244e-03 -2.71123999e-03 9.99992756e-01 8.95287000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.122557844 meters 0.2877913161930431 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99995402e-01 1.25100495e-03 -2.76227212e-03 3.37060132e+00] [-1.24327390e-03 9.99995311e-01 2.79874724e-03 9.33488978e-02] [ 2.76576041e-03 -2.79530011e-03 9.99992268e-01 8.95048041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters 0.2876389686895973 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99995589e-01 1.32385684e-03 -2.65868578e-03 3.37015270e+00] [-1.31591492e-03 9.99994674e-01 2.98669241e-03 9.26081838e-02] [ 2.66262557e-03 -2.98318063e-03 9.99992005e-01 8.95492421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters 0.2868034241990777 Centerline is valid? [False, False] Translation: X:3.33, Y:0.09, Z:0.89 [[ 9.99999744e-01 -6.55080299e-04 -2.86970671e-04 3.32923007e+00] [ 6.55865121e-04 9.99996022e-01 2.74334644e-03 8.73054025e-02] [ 2.85172417e-04 -2.74353395e-03 9.99996196e-01 8.92852387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters 0.2894351016641212 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99975569e-01 6.53882984e-03 2.47097289e-03 3.35068894e+00] [-6.54038409e-03 9.99978418e-01 6.21450285e-04 8.65989041e-02] [-2.46685600e-03 -6.37596214e-04 9.99996754e-01 8.91200367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.362557844 meters 0.2888953133272551 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.89 [[ 9.99996389e-01 -1.51255611e-03 2.22118434e-03 3.37140550e+00] [ 1.50902180e-03 9.99997594e-01 1.59199830e-03 9.05429259e-02] [-2.22358698e-03 -1.58864074e-03 9.99996266e-01 8.91701628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.422557844 meters 0.28966201836269556 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.89 [[ 9.99996375e-01 -1.45866609e-03 2.26332131e-03 3.37100650e+00] [ 1.45477712e-03 9.99997464e-01 1.71895375e-03 9.00006002e-02] [-2.26582295e-03 -1.71565489e-03 9.99995961e-01 8.92331775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.482557844 meters 0.2896287820694835 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99990546e-01 4.26327645e-03 -8.56006351e-04 3.35053265e+00] [-4.26428720e-03 9.99990209e-01 -1.18244969e-03 8.99933247e-02] [ 8.50956859e-04 1.18608876e-03 9.99998935e-01 8.93412746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.542557844 meters 0.2889573762034634 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99990048e-01 4.36764007e-03 -9.09279452e-04 3.35075668e+00] [-4.36847068e-03 9.99990041e-01 -9.13514120e-04 8.88301677e-02] [ 9.05280495e-04 9.17477190e-04 9.99999169e-01 8.93238000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.602557844 meters 0.2886478501203054 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.89 [[ 9.99991815e-01 -4.04584474e-03 3.16453083e-05 3.37232947e+00] [ 4.04584746e-03 9.99991812e-01 -8.62484544e-05 8.77753338e-02] [-3.12961013e-05 8.63757805e-05 9.99999996e-01 8.93778677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.662557844 meters 0.29009220492501275 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.89 [[ 9.99992743e-01 -3.80713596e-03 -1.39745689e-04 3.37285094e+00] [ 3.80720835e-03 9.99992617e-01 5.21494788e-04 8.51669983e-02] [ 1.37759256e-04 -5.22023044e-04 9.99999854e-01 8.93633820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.722557844 meters 0.2882856287965044 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99993085e-01 3.58587139e-03 -9.85330272e-04 3.35378772e+00] [-3.58674541e-03 9.99993174e-01 -8.86696861e-04 7.95399800e-02] [ 9.82143965e-04 8.90224859e-04 9.99999121e-01 8.91572055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.782557844 meters 0.29110026260021304 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99993696e-01 3.46552748e-03 -7.72926475e-04 3.35334520e+00] [-3.46650844e-03 9.99993183e-01 -1.27145146e-03 8.11485745e-02] [ 7.68514956e-04 1.27412280e-03 9.99998893e-01 8.91372539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.842557844 meters 0.28817411806922383 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99994354e-01 3.31887363e-03 -5.26267401e-04 3.35255949e+00] [-3.31977524e-03 9.99993007e-01 -1.72170302e-03 8.30790494e-02] [ 5.20549606e-04 1.72344039e-03 9.99998379e-01 8.91813450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.902557844 meters 0.2891550345806931 Centerline is valid? [False, False] Translation: X:3.35, Y:0.08, Z:0.89 [[ 9.99994669e-01 3.21386177e-03 -5.76285482e-04 3.35290254e+00] [-3.21499665e-03 9.99992873e-01 -1.97931169e-03 8.41405261e-02] [ 5.69920141e-04 1.98115389e-03 9.99997875e-01 8.91320902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.962557844 meters 0.2915603545884186 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99994996e-01 3.13867776e-03 -3.95996443e-04 3.35220576e+00] [-3.13953925e-03 9.99992665e-01 -2.19397699e-03 8.51043381e-02] [ 3.89107352e-04 2.19520926e-03 9.99997515e-01 8.91914091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.022557844 meters 0.2888652220116834 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.89 [[ 9.99995465e-01 2.98710893e-03 -3.82614241e-04 3.35219537e+00] [-2.98807655e-03 9.99992275e-01 -2.55387524e-03 8.66258062e-02] [ 3.74982581e-04 2.55500694e-03 9.99996666e-01 8.91838385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.082557844 meters 0.2900768431797518 Centerline is valid? [False, False] Translation: X:3.38, Y:0.09, Z:0.89 [[ 9.99997893e-01 -1.92470154e-03 -7.14324981e-04 3.37555142e+00] [ 1.92511911e-03 9.99997976e-01 5.84339515e-04 9.46154382e-02] [ 7.13198856e-04 -5.85713444e-04 9.99999574e-01 8.90976540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.142557844 meters 0.28802837122221164 Centerline is valid? [False, False] Translation: X:3.36, Y:0.09, Z:0.89 [[ 9.99980947e-01 5.85347925e-03 -1.96005455e-03 3.35624041e+00] [-5.85529854e-03 9.99982431e-01 -9.23734765e-04 9.25423166e-02] [ 1.95461305e-03 9.35193870e-04 9.99997652e-01 8.90185034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.202557844 meters 0.28836576032988004 Centerline is valid? [False, False] Translation: X:3.38, Y:0.10, Z:0.89 [[ 9.99996406e-01 -2.42194300e-03 -1.15012308e-03 3.37648310e+00] [ 2.42146220e-03 9.99996980e-01 -4.19248802e-04 9.79917736e-02] [ 1.15113500e-03 4.16462316e-04 9.99999251e-01 8.91859036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.262557844 meters 0.2864992760566186 Centerline is valid? [False, False] Translation: X:3.35, Y:0.10, Z:0.89 [[ 9.99992000e-01 3.20773832e-03 -2.38950618e-03 3.35191098e+00] [-3.21514298e-03 9.99990022e-01 -3.10145723e-03 9.71603212e-02] [ 2.37953368e-03 3.10911503e-03 9.99992336e-01 8.93954116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.322557844 meters 0.28725888033814945 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.89 [[ 9.99984740e-01 -5.52429564e-03 -3.49255516e-05 3.37143083e+00] [ 5.52418020e-03 9.99981042e-01 -2.72012257e-03 9.80052284e-02] [ 4.99516507e-05 2.71988812e-03 9.99996300e-01 8.94919678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.382557844 meters 0.2878919850272972 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.89 [[ 9.99985049e-01 -5.46820201e-03 3.17858508e-05 3.37130179e+00] [ 5.46826594e-03 9.99981703e-01 -2.58665109e-03 9.74325243e-02] [-1.76409385e-05 2.58678623e-03 9.99996654e-01 8.94846879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.442557844 meters 0.28714516563476267 Centerline is valid? [False, False] Translation: X:3.37, Y:0.10, Z:0.89 [[ 9.99985370e-01 -5.40883348e-03 -6.64526486e-05 3.37161214e+00] [ 5.40865506e-03 9.99982390e-01 -2.44238256e-03 9.67921975e-02] [ 7.96619190e-05 2.44198741e-03 9.99997015e-01 8.94721672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.502557844 meters 0.28711140172259014 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99999554e-01 -9.00536530e-04 -2.83223407e-04 3.37192674e+00] [ 9.01191745e-04 9.99996898e-01 2.32186419e-03 9.46829224e-02] [ 2.81131605e-04 -2.32211840e-03 9.99997264e-01 8.95084931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.562557844 meters 0.2877864311380831 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.89 [[ 9.99999689e-01 -7.59647579e-04 -2.11731500e-04 3.37200735e+00] [ 7.60204489e-04 9.99996219e-01 2.64271621e-03 9.32646054e-02] [ 2.09723167e-04 -2.64287635e-03 9.99996486e-01 8.94567409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.622557844 meters 0.2859326937707199 Centerline is valid? [False, False] Translation: X:3.35, Y:0.09, Z:0.90 [[ 9.99988909e-01 4.36386470e-03 -1.77141318e-03 3.34969040e+00] [-4.36519906e-03 9.99990191e-01 -7.50111199e-04 9.07202872e-02] [ 1.76812242e-03 7.57835451e-04 9.99998150e-01 8.95369841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters 0.2890429228385971 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99992789e-01 -3.75879105e-03 -5.41920273e-04 3.36975826e+00] [ 3.75892692e-03 9.99992904e-01 2.49919126e-04 9.31362116e-02] [ 5.40977034e-04 -2.51954363e-04 9.99999822e-01 8.95474780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters 0.2879850593808268 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99992612e-01 -3.80019821e-03 -5.78406723e-04 3.36995042e+00] [ 3.80028252e-03 9.99992768e-01 1.44738563e-04 9.35707332e-02] [ 5.77852505e-04 -1.46935602e-04 9.99999822e-01 8.95231380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters 0.28832246875430156 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99992464e-01 -3.84082806e-03 -5.66041974e-04 3.36990695e+00] [ 3.84085212e-03 9.99992623e-01 4.14353117e-05 9.39987547e-02] [ 5.65878652e-04 -4.36090830e-05 9.99999839e-01 8.95253347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.862557844 meters 0.28789238251866606 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99992847e-01 -3.75898632e-03 -4.19780521e-04 3.36937323e+00] [ 3.75909046e-03 9.99992904e-01 2.47569758e-04 9.31530447e-02] [ 4.18846930e-04 -2.49145980e-04 9.99999881e-01 8.95682142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.922557844 meters 0.28808910487307443 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99993378e-01 -3.61432914e-03 -4.24844603e-04 3.36917157e+00] [ 3.61461966e-03 9.99993233e-01 6.85040996e-04 9.14243294e-02] [ 4.22365764e-04 -6.86572111e-04 9.99999675e-01 8.96248206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.982557844 meters 0.28757976704469596 Centerline is valid? [False, False] Translation: X:3.37, Y:0.09, Z:0.90 [[ 9.99994109e-01 -3.32950669e-03 -8.34719583e-04 3.37004599e+00] [ 3.33099319e-03 9.99992858e-01 1.78581400e-03 8.71890339e-02] [ 8.28767741e-04 -1.78858393e-03 9.99998057e-01 8.96488375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.042557844 meters 0.2869533472727542 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.90 [[ 9.99995175e-01 -2.96554475e-03 -9.25107389e-04 3.37028409e+00] [ 2.96808538e-03 9.99991794e-01 2.75712374e-03 8.31363228e-02] [ 9.16923424e-04 -2.75985624e-03 9.99995771e-01 8.96476349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.102557844 meters 0.2878506093485633 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.90 [[ 9.99995887e-01 -2.64133687e-03 -1.11815769e-03 3.37075327e+00] [ 2.64525679e-03 9.99990310e-01 3.51885037e-03 7.99887537e-02] [ 1.10885239e-03 -3.52179371e-03 9.99993184e-01 8.96568896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.162557844 meters 0.2875378558330903 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.90 [[ 9.99996326e-01 -2.55819991e-03 -8.96262407e-04 3.37032048e+00] [ 2.56152572e-03 9.99989765e-01 3.72947163e-03 7.91070054e-02] [ 8.86712499e-04 -3.73175373e-03 9.99992644e-01 8.96376172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.222557844 meters 0.2884369022745161 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.90 [[ 9.99996334e-01 -2.55725755e-03 -8.89825512e-04 3.37054539e+00] [ 2.56058811e-03 9.99989645e-01 3.76214196e-03 7.89448593e-02] [ 8.80195531e-04 -3.76440665e-03 9.99992527e-01 8.95849464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.282557844 meters 0.2889485601027004 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.89 [[ 9.99995998e-01 -2.70641358e-03 -8.24395544e-04 3.37075451e+00] [ 2.70908650e-03 9.99991021e-01 3.25860069e-03 8.09134371e-02] [ 8.15569021e-04 -3.26082101e-03 9.99994351e-01 8.94960742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.342557844 meters 0.28851731524001545 Centerline is valid? [False, False] Translation: X:3.37, Y:0.08, Z:0.89 [[ 9.99995557e-01 -2.86217279e-03 -8.32885474e-04 3.37098060e+00] [ 2.86454166e-03 9.99991816e-01 2.85701833e-03 8.25678227e-02] [ 8.24701377e-04 -2.85939147e-03 9.99995572e-01 8.94469923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.402557844 meters 0.28713180179009645 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99978525e-01 6.55362523e-03 -7.05328682e-06 3.39039883e+00] [-6.55360085e-03 9.99976803e-01 1.85572321e-03 8.05644704e-02] [ 1.92148376e-05 -1.85563713e-03 9.99998278e-01 8.95407677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.462557844 meters 0.2880082363746232 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99978119e-01 6.61476709e-03 -7.70652594e-05 3.39051704e+00] [-6.61459697e-03 9.99976061e-01 2.03073624e-03 7.98638844e-02] [ 9.04962618e-05 -2.03018205e-03 9.99997935e-01 8.95543323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.522557844 meters 0.2867789506797896 Centerline is valid? [False, False] Translation: X:3.39, Y:0.08, Z:0.90 [[ 9.99977961e-01 6.63783008e-03 -1.27612024e-04 3.39067172e+00] [-6.63754844e-03 9.99975780e-01 2.09350727e-03 7.95984685e-02] [ 1.41505279e-04 -2.09261410e-03 9.99997800e-01 8.95480706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.582557844 meters 0.28737939943305973 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999118e-01 -9.04774316e-04 9.72149514e-04 3.41041187e+00] [ 9.01543496e-04 9.99994087e-01 3.31869208e-03 8.27308966e-02] [-9.75146433e-04 -3.31781272e-03 9.99994021e-01 8.97575603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.642557844 meters 0.2865487299332882 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999043e-01 -9.78407851e-04 9.78282042e-04 3.41034039e+00] [ 9.75335106e-04 9.99994605e-01 3.13651931e-03 8.35166394e-02] [-9.81345560e-04 -3.13556215e-03 9.99994603e-01 8.97680510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.702557844 meters 0.28640598476051743 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999022e-01 -9.90978742e-04 9.86898851e-04 3.41038700e+00] [ 9.87910693e-04 9.99994693e-01 3.10442774e-03 8.36390141e-02] [-9.89970035e-04 -3.10344974e-03 9.99994694e-01 8.97526733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.762557844 meters 0.28590370135890764 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999001e-01 -9.64955446e-04 1.03287529e-03 3.41021676e+00] [ 9.61677586e-04 9.99994515e-01 3.16933469e-03 8.33786270e-02] [-1.03592790e-03 -3.16833823e-03 9.99994444e-01 8.97658025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.822557844 meters 0.2865128712712149 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99998967e-01 -1.02398804e-03 1.00839835e-03 3.41057768e+00] [ 1.02093308e-03 9.99994902e-01 3.02539002e-03 8.39566590e-02] [-1.01149117e-03 -3.02435739e-03 9.99994915e-01 8.96969336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.882557844 meters 0.2862349992326114 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999128e-01 -9.39941025e-04 9.27974785e-04 3.41088157e+00] [ 9.36921924e-04 9.99994285e-01 3.24852153e-03 8.29989552e-02] [-9.31022900e-04 -3.24764926e-03 9.99994293e-01 8.96760795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.942557844 meters 0.2856591855426892 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999116e-01 -7.65826345e-04 1.08691549e-03 3.41025972e+00] [ 7.61669745e-04 9.99992416e-01 3.81949153e-03 8.07347475e-02] [-1.08983231e-03 -3.81866028e-03 9.99992115e-01 8.97386736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.002557844 meters 0.2853034011857886 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99998937e-01 -6.21633310e-04 1.31922748e-03 3.40951053e+00] [ 6.16035000e-04 9.99990822e-01 4.23979974e-03 7.90567667e-02] [-1.32185098e-03 -4.23898254e-03 9.99990142e-01 8.97920713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.062557844 meters 0.28465108948780726 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999276e-01 -4.77614278e-04 1.10430861e-03 3.41009311e+00] [ 4.72421973e-04 9.99988856e-01 4.69734964e-03 7.71902284e-02] [-1.10653983e-03 -4.69682454e-03 9.99988358e-01 8.97789788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.122557844 meters 0.2844800245245772 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999223e-01 -3.84489494e-04 1.18541586e-03 3.40982629e+00] [ 3.78635740e-04 9.99987754e-01 4.93441997e-03 7.62194687e-02] [-1.18729858e-03 -4.93396729e-03 9.99987123e-01 8.97959210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters 0.28393768173103806 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999194e-01 -3.23678720e-04 1.22756899e-03 3.40949018e+00] [ 3.17420695e-04 9.99986972e-01 5.09467380e-03 7.55823775e-02] [-1.22920203e-03 -5.09428004e-03 9.99986269e-01 8.98502643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters 0.2834104529992243 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99999219e-01 -3.96556283e-04 1.18549741e-03 3.40972538e+00] [ 3.90728846e-04 9.99987861e-01 4.91180208e-03 7.63322674e-02] [-1.18743082e-03 -4.91133504e-03 9.99987234e-01 8.98210000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters 0.2841583549293487 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.90 [[ 9.99965898e-01 7.10421134e-03 4.21117260e-03 3.42969105e+00] [-7.11376531e-03 9.99972147e-01 2.25809850e-03 8.05950471e-02] [-4.19501330e-03 -2.28797879e-03 9.99988583e-01 8.96992902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.362557844 meters 0.2829865233786265 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.90 [[ 9.99994059e-01 -1.73459872e-03 2.97865363e-03 3.40964364e+00] [ 1.72564389e-03 9.99993992e-01 3.00627604e-03 8.59853446e-02] [-2.98385042e-03 -3.00111809e-03 9.99991045e-01 8.95943760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.422557844 meters 0.2824075045403398 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.90 [[ 9.99994163e-01 -1.80171590e-03 2.90305604e-03 3.40981853e+00] [ 1.79349952e-03 9.99994386e-01 2.83037325e-03 8.67147735e-02] [-2.90813927e-03 -2.82515010e-03 9.99991781e-01 8.95944475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.482557844 meters 0.2833788993870232 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.90 [[ 9.99995652e-01 -2.04119014e-03 2.12834161e-03 3.41201790e+00] [ 2.03601863e-03 9.99994977e-01 2.42917139e-03 8.76771176e-02] [-2.13328932e-03 -2.42482749e-03 9.99994785e-01 8.95026313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.542557844 meters 0.2832419770476476 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:0.89 [[ 9.99996005e-01 -1.95759160e-03 2.03892151e-03 3.41249773e+00] [ 1.95203228e-03 9.99994382e-01 2.72502797e-03 8.65039720e-02] [-2.04424455e-03 -2.72103705e-03 9.99994208e-01 8.94368851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.602557844 meters 0.2828714075787181 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.89 [[ 9.99986484e-01 4.13201981e-03 3.15555857e-03 3.43259333e+00] [-4.12964317e-03 9.99991185e-01 -7.59303894e-04 8.08060675e-02] [-3.15866821e-03 7.46262300e-04 9.99994733e-01 8.94515480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.662557844 meters 0.2820090335136128 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99996803e-01 -2.46042460e-03 5.84108202e-04 3.41171876e+00] [ 2.45898108e-03 9.99993953e-01 2.45930876e-03 7.96827726e-02] [-5.90155614e-04 -2.45786459e-03 9.99996805e-01 8.95457577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.722557844 meters 0.282387739240034 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.89 [[ 9.99988788e-01 4.18154458e-03 2.22234262e-03 3.43407704e+00] [-4.18028576e-03 9.99991100e-01 -5.70779855e-04 7.80900353e-02] [-2.22470958e-03 5.61483428e-04 9.99997368e-01 8.93404406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.782557844 meters 0.2802355644575333 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:0.90 [[ 9.99996222e-01 -2.45913769e-03 1.22790063e-03 3.41057236e+00] [ 2.45618320e-03 9.99994099e-01 2.40186746e-03 7.91502300e-02] [-1.23379991e-03 -2.39884243e-03 9.99996362e-01 8.95065937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.842557844 meters 0.28195647713930905 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:0.89 [[ 9.99972027e-01 7.16322202e-03 2.15238982e-03 3.43232453e+00] [-7.16698932e-03 9.99972790e-01 1.74770216e-03 7.96009259e-02] [-2.13981207e-03 -1.76307943e-03 9.99996156e-01 8.94320988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.902557844 meters 0.28155876611746466 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.90 [[ 9.99994968e-01 -6.62071832e-04 3.10251311e-03 3.45165987e+00] [ 6.54083185e-04 9.99996470e-01 2.57520301e-03 8.56401362e-02] [-3.10420713e-03 -2.57316075e-03 9.99991871e-01 8.95505529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.962557844 meters 0.28015109209336014 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.90 [[ 9.99994718e-01 -7.75736108e-04 3.15615995e-03 3.45148359e+00] [ 7.68610078e-04 9.99997154e-01 2.25840316e-03 8.69384181e-02] [-3.15790289e-03 -2.25596538e-03 9.99992469e-01 8.95616520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.022557844 meters 0.2804699454036151 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.90 [[ 9.99994913e-01 -8.91749828e-04 3.06240262e-03 3.45173139e+00] [ 8.85828225e-04 9.99997737e-01 1.93445854e-03 8.82637601e-02] [-3.06412075e-03 -1.93173594e-03 9.99993440e-01 8.95577476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.082557844 meters 0.28172763885901075 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.89 [[ 9.99995241e-01 -1.14577453e-03 2.86461512e-03 3.45274598e+00] [ 1.14188050e-03 9.99998422e-01 1.36062311e-03 9.06774923e-02] [-2.86616956e-03 -1.35734558e-03 9.99994971e-01 8.94517986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.142557844 meters 0.28087079438625023 Centerline is valid? [False, False] Translation: X:3.45, Y:0.09, Z:0.90 [[ 9.99994413e-01 -1.32810119e-03 3.06766662e-03 3.45206507e+00] [ 1.32540610e-03 9.99998734e-01 8.80414487e-04 9.26704166e-02] [-3.06883202e-03 -8.76343663e-04 9.99994907e-01 8.95016474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.202557844 meters 0.27965763987542314 Centerline is valid? [False, False] Translation: X:3.45, Y:0.10, Z:0.90 [[ 9.99991417e-01 3.27083116e-04 4.13025114e-03 3.44731113e+00] [-3.35984117e-04 9.99997622e-01 2.15456499e-03 9.59852659e-02] [-4.12953659e-03 -2.15593420e-03 9.99989149e-01 8.97817946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.262557844 meters 0.28068443887783295 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:0.90 [[ 9.99998217e-01 -5.96692451e-05 1.88745149e-03 3.48780524e+00] [ 5.82627501e-05 9.99999721e-01 7.45228266e-04 9.77408076e-02] [-1.88749543e-03 -7.45116969e-04 9.99997941e-01 9.00433350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.322557844 meters 0.2794492076776219 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:0.90 [[ 9.99997885e-01 -2.09833602e-04 2.04575445e-03 3.48726494e+00] [ 2.09103598e-04 9.99999914e-01 3.57046015e-04 9.94003756e-02] [-2.04582920e-03 -3.56617485e-04 9.99997844e-01 9.00830655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.382557844 meters 0.280297812507063 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:0.90 [[ 9.99998092e-01 -3.73321841e-04 1.91739186e-03 3.48786645e+00] [ 3.73508029e-04 9.99999926e-01 -9.67477336e-05 1.01265969e-01] [-1.91735560e-03 9.74637103e-05 9.99998157e-01 9.00185979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.442557844 meters 0.2797051898042101 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:0.90 [[ 9.99998230e-01 -4.88567582e-04 1.81701635e-03 3.48830394e+00] [ 4.89305150e-04 9.99999798e-01 -4.05499995e-04 1.02538182e-01] [-1.81681787e-03 4.06388352e-04 9.99998267e-01 8.99764848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.502557844 meters 0.27961800749145327 Centerline is valid? [False, False] Translation: X:3.49, Y:0.11, Z:0.90 [[ 9.99999218e-01 -7.55263464e-04 9.96598620e-04 3.49069435e+00] [ 7.56881821e-04 9.99998394e-01 -1.62450320e-03 1.07405532e-01] [-9.95370092e-04 1.62525624e-03 9.99998184e-01 8.98580943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.562557844 meters 0.27909215467523424 Centerline is valid? [False, False] Translation: X:3.45, Y:0.12, Z:0.90 [[ 9.99998170e-01 -8.90653876e-05 1.91083025e-03 3.45264405e+00] [ 9.25118058e-05 9.99998369e-01 -1.80361086e-03 1.15617356e-01] [-1.91066650e-03 1.80378433e-03 9.99996548e-01 8.95185829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.622557844 meters 0.279822399593601 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99979751e-01 -5.97959272e-03 2.17759386e-03 3.47615019e+00] [ 5.97960922e-03 9.99982122e-01 -1.06851598e-06 1.26280708e-01] [-2.17754854e-03 1.40896547e-05 9.99997629e-01 8.93756828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68255784400003 meters 0.28042367474417457 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:0.89 [[ 9.99992239e-01 2.67484680e-03 2.89275129e-03 3.49704693e+00] [-2.66985606e-03 9.99994943e-01 -1.72774356e-03 1.27839091e-01] [-2.89735811e-03 1.72000692e-03 9.99994323e-01 8.93876344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters 0.27967086462147117 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:0.89 [[ 9.99993466e-01 2.13671703e-03 2.91605718e-03 3.49683196e+00] [-2.12822057e-03 9.99993491e-01 -2.91368116e-03 1.33009310e-01] [-2.92226391e-03 2.90745610e-03 9.99991504e-01 8.94136272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80255784400003 meters 0.2800624633780548 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:0.89 [[ 9.99993516e-01 1.91936521e-03 3.04711960e-03 3.49637292e+00] [-1.90883657e-03 9.99992212e-01 -3.45443001e-03 1.35296544e-01] [-3.05372619e-03 3.44859116e-03 9.99989391e-01 8.94461017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.862557844 meters 0.27833496103868843 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:0.90 [[ 9.99985475e-01 -5.06983176e-03 1.82938101e-03 3.47476497e+00] [ 5.07174661e-03 9.99986594e-01 -1.04360235e-03 1.38427178e-01] [-1.82406560e-03 1.05286535e-03 9.99997782e-01 8.95057586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.922557844 meters 0.2778793435848446 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:0.89 [[ 9.99985231e-01 -5.12154117e-03 1.81865805e-03 3.47491689e+00] [ 5.12368864e-03 9.99986180e-01 -1.17811202e-03 1.38987148e-01] [-1.81259916e-03 1.18741286e-03 9.99997652e-01 8.94769987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.982557844 meters 0.2791628782899967 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:0.89 [[ 9.99989646e-01 1.87681067e-03 4.14556978e-03 3.49672581e+00] [-1.86152460e-03 9.99991466e-01 -3.68811310e-03 1.39113230e-01] [-4.15245629e-03 3.68035783e-03 9.99984606e-01 8.93660531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.042557844 meters 0.27971572129103245 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:0.89 [[ 9.99992936e-01 -3.42028170e-03 1.55844281e-03 3.47478477e+00] [ 3.42005252e-03 9.99994140e-01 1.49695451e-04 1.38127799e-01] [-1.55894567e-03 -1.44364438e-04 9.99998774e-01 8.94788777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.102557844 meters 0.2785377203729142 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:0.89 [[ 9.99992807e-01 -3.41919814e-03 1.64158926e-03 3.47480728e+00] [ 3.41895174e-03 9.99994144e-01 1.52877895e-04 1.38060898e-01] [-1.64210237e-03 -1.47264281e-04 9.99998641e-01 8.94264696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.162557844 meters 0.27884369455333097 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:0.89 [[ 9.99992382e-01 -3.48117797e-03 1.76537010e-03 3.47440107e+00] [ 3.48124705e-03 9.99993940e-01 -3.60629060e-05 1.38843422e-01] [-1.76523386e-03 4.22083208e-05 9.99998441e-01 8.94528146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.222557844 meters 0.2794718745495844 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:0.89 [[ 9.99992860e-01 -3.48453703e-03 1.46194650e-03 3.47552330e+00] [ 3.48462468e-03 9.99993927e-01 -5.74169409e-05 1.38907102e-01] [-1.46173755e-03 6.25108658e-05 9.99998930e-01 8.93539926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.282557844 meters 0.2791521320917019 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:0.89 [[ 9.99993172e-01 -3.32460662e-03 1.61355114e-03 3.47501256e+00] [ 3.32406542e-03 9.99994418e-01 3.37975229e-04 1.37234973e-01] [-1.61466577e-03 -3.32609372e-04 9.99998641e-01 8.93852475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.342557844 meters 0.279899670619951 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99994624e-01 -2.90100283e-03 1.52823665e-03 3.47507435e+00] [ 2.89866540e-03 9.99994629e-01 1.52949493e-03 1.32271241e-01] [-1.53266551e-03 -1.52505686e-03 9.99997663e-01 8.94179562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.402557844 meters 0.28027213910683385 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99995624e-01 -2.60683136e-03 1.39903202e-03 3.47570023e+00] [ 2.60362900e-03 9.99993998e-01 2.28594730e-03 1.29026463e-01] [-1.40498270e-03 -2.28229473e-03 9.99996409e-01 8.93561440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.462557844 meters 0.281018109077082 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99996142e-01 -2.34651973e-03 1.48647142e-03 3.47542883e+00] [ 2.34215920e-03 9.99992969e-01 2.92845722e-03 1.26354397e-01] [-1.49333266e-03 -2.92496437e-03 9.99994607e-01 8.93740677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.522557844 meters 0.2798485067319422 Centerline is valid? [False, False] Translation: X:3.46, Y:0.12, Z:0.89 [[ 9.99980261e-01 6.28179022e-03 1.26300849e-04 3.45545939e+00] [-6.28207407e-03 9.99977414e-01 2.38902175e-03 1.22952896e-01] [-1.11290663e-04 -2.38976802e-03 9.99997138e-01 8.92462762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.582557844 meters 0.2817085191460347 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99994036e-01 -3.15992317e-03 -1.39386079e-03 3.47760284e+00] [ 3.16314861e-03 9.99992311e-01 2.31792471e-03 1.25796391e-01] [ 1.38652561e-03 -2.32231988e-03 9.99996342e-01 8.92152814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.642557844 meters 0.28046293617609636 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:0.89 [[ 9.99994084e-01 -3.15149490e-03 -1.37844278e-03 3.47767603e+00] [ 3.15471646e-03 9.99992283e-01 2.34120790e-03 1.25696327e-01] [ 1.37105384e-03 -2.34554265e-03 9.99996309e-01 8.91911337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.702557844 meters 0.28050594554314884 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:0.89 [[ 9.99994541e-01 -2.95358956e-03 -1.48143961e-03 3.47786956e+00] [ 2.95789524e-03 9.99991383e-01 2.91269958e-03 1.23365258e-01] [ 1.47282393e-03 -2.91706562e-03 9.99994661e-01 8.92083003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.762557844 meters 0.28169812897237584 Centerline is valid? [False, False] Translation: X:3.50, Y:0.12, Z:0.89 [[ 9.99995508e-01 2.78195962e-03 1.11592960e-03 3.49964769e+00] [-2.78163077e-03 9.99996087e-01 -2.96137737e-04 1.21205782e-01] [-1.11674908e-03 2.93032303e-04 9.99999334e-01 8.90959023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.822557844 meters 0.2809905480908164 Centerline is valid? [False, False] Translation: X:3.50, Y:0.12, Z:0.89 [[ 9.99994514e-01 3.12293174e-03 1.10440930e-03 3.49956687e+00] [-3.12357791e-03 9.99994951e-01 5.83841777e-04 1.17530812e-01] [-1.10258043e-03 -5.87288282e-04 9.99999220e-01 8.91170248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.882557844 meters 0.28144919519243633 Centerline is valid? [False, False] Translation: X:3.50, Y:0.12, Z:0.89 [[ 9.99994021e-01 3.30584391e-03 1.01419657e-03 3.49989537e+00] [-3.30687142e-03 9.99994019e-01 1.01313225e-03 1.15706630e-01] [-1.01084124e-03 -1.01648001e-03 9.99998972e-01 8.90993310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.942557844 meters 0.28023651937704486 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:0.89 [[ 9.99981164e-01 -5.48537926e-03 -2.75354931e-03 3.48151210e+00] [ 5.49084393e-03 9.99982963e-01 1.98097016e-03 1.13520695e-01] [ 2.74263603e-03 -1.99605216e-03 9.99994247e-01 8.91402102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.002557844 meters 0.2808102689607099 Centerline is valid? [False, False] Translation: X:3.50, Y:0.11, Z:0.89 [[ 9.99992699e-01 3.36053262e-03 -1.81899603e-03 3.50164196e+00] [-3.35832452e-03 9.99993622e-01 1.21560906e-03 1.08714764e-01] [ 1.82306952e-03 -1.20949140e-03 9.99997607e-01 8.92527170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.062557844 meters 0.2815558770890429 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:0.89 [[ 9.99995477e-01 1.18315476e-03 -2.76515350e-03 3.50580708e+00] [-1.18355049e-03 9.99999290e-01 -1.41482333e-04 1.02012081e-01] [ 2.76498414e-03 1.44754392e-04 9.99996167e-01 8.90345239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.122557844 meters 0.28205561935980855 Centerline is valid? [False, False] Translation: X:3.51, Y:0.10, Z:0.89 [[ 9.99994829e-01 1.55948078e-03 -2.81239816e-03 3.50578019e+00] [-1.55731323e-03 9.99998489e-01 7.72738165e-04 9.81812781e-02] [ 2.81359898e-03 -7.68354384e-04 9.99995747e-01 8.90655614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18255784400003 meters 0.2822431248272562 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99993807e-01 2.09165111e-03 -2.83022802e-03 3.50567718e+00] [-2.08580010e-03 9.99995685e-01 2.06870385e-03 9.27920803e-02] [ 2.83454281e-03 -2.06278775e-03 9.99993855e-01 8.90995646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters 0.281322600998237 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99992682e-01 2.34219618e-03 -3.02482087e-03 3.50618894e+00] [-2.33412651e-03 9.99993715e-01 2.66859771e-03 9.02286301e-02] [ 3.03105224e-03 -2.66151786e-03 9.99991864e-01 8.91014645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters 0.28137231170946 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99992088e-01 2.51111940e-03 -3.08529640e-03 3.50612838e+00] [-2.50162780e-03 9.99992139e-01 3.07641523e-03 8.85288292e-02] [ 3.09299739e-03 -3.06867263e-03 9.99990508e-01 8.91505482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.362557844 meters 0.28124464224831885 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99991912e-01 2.56324560e-03 -3.09925233e-03 3.50617127e+00] [-2.55331175e-03 9.99991604e-01 3.20496143e-03 8.79829691e-02] [ 3.10744142e-03 -3.19702215e-03 9.99990061e-01 8.91499517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.422557844 meters 0.2840895870410006 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99993691e-01 -1.69394479e-03 -3.12214098e-03 3.50627202e+00] [ 1.69116704e-03 9.99998172e-01 -8.92117375e-04 8.69485342e-02] [ 3.12364647e-03 8.86831685e-04 9.99994728e-01 8.91405846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.482557844 meters 0.2817048888426803 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.89 [[ 9.99976245e-01 6.20170668e-03 -3.00801626e-03 3.48618668e+00] [-6.20692111e-03 9.99979245e-01 -1.72728625e-03 8.15462904e-02] [ 2.99724171e-03 1.74591574e-03 9.99993984e-01 8.90309112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.542557844 meters 0.28236833774312314 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99996254e-01 -1.64297630e-03 -2.18907273e-03 3.50542110e+00] [ 1.64123565e-03 9.99998336e-01 -7.96713923e-04 8.67625643e-02] [ 2.19037807e-03 7.93118155e-04 9.99997287e-01 8.91090651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.602557844 meters 0.28329613630915307 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995983e-01 -1.73060846e-03 -2.24460517e-03 3.50590566e+00] [ 1.72832260e-03 9.99997986e-01 -1.01992100e-03 8.76534822e-02] [ 2.24636574e-03 1.01603750e-03 9.99996961e-01 8.90300830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.662557844 meters 0.28363341614042153 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995659e-01 -1.88560551e-03 -2.26408986e-03 3.50617458e+00] [ 1.88236618e-03 9.99997203e-01 -1.43202128e-03 8.93498155e-02] [ 2.26678375e-03 1.42775322e-03 9.99996412e-01 8.89798018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.722557844 meters 0.28236059451413587 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995444e-01 -1.99025219e-03 -2.26950756e-03 3.50631869e+00] [ 1.98642374e-03 9.99996603e-01 -1.68791211e-03 9.04259491e-02] [ 2.27285922e-03 1.68339622e-03 9.99996000e-01 8.89509587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.782557844 meters 0.28335637715321443 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995604e-01 -2.11113654e-03 -2.08188563e-03 3.50594306e+00] [ 2.10699557e-03 9.99995802e-01 -1.98924007e-03 9.17049515e-02] [ 2.08607645e-03 1.98484480e-03 9.99995854e-01 8.89257314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.842557844 meters 0.2823789562325066 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995365e-01 -2.12694687e-03 -2.17867523e-03 3.50640048e+00] [ 2.12252587e-03 9.99995688e-01 -2.02952127e-03 9.18074391e-02] [ 2.18298252e-03 2.02488757e-03 9.99995567e-01 8.88774878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.902557844 meters 0.2838076874236172 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 9.99995024e-01 -2.14183728e-03 -2.31619202e-03 3.50683458e+00] [ 2.13706410e-03 9.99995592e-01 -2.06130522e-03 9.19152053e-02] [ 2.32059679e-03 2.05634511e-03 9.99995193e-01 8.88585655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.962557844 meters 0.28257675359252915 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.89 [[ 9.99980612e-01 5.28100521e-03 -3.29950594e-03 3.48871935e+00] [-5.29212977e-03 9.99980311e-01 -3.37199889e-03 8.48766278e-02] [ 3.28163343e-03 3.38939493e-03 9.99988871e-01 8.87215982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.022557844 meters 0.285032119778564 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99999921e-01 1.60612917e-04 3.62817267e-04 3.50888248e+00] [-1.60667533e-04 9.99999976e-01 1.50508711e-04 8.22697044e-02] [-3.62793084e-04 -1.50566992e-04 9.99999923e-01 8.86989522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.082557844 meters 0.28302381717953645 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99999825e-01 4.67297245e-04 3.62689815e-04 3.50849836e+00] [-4.67707863e-04 9.99999249e-01 1.13288978e-03 7.84247905e-02] [-3.62160146e-04 -1.13305922e-03 9.99999293e-01 8.87918848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.142557844 meters 0.28372031875851517 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99999576e-01 8.13126474e-04 4.31704749e-04 3.50805334e+00] [-8.14101515e-04 9.99997108e-01 2.26323150e-03 7.38820433e-02] [-4.29863207e-04 -2.26358199e-03 9.99997346e-01 8.88541741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.202557844 meters 0.28278265122878316 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99999238e-01 1.09227693e-03 5.75001874e-04 3.50744413e+00] [-1.09402930e-03 9.99994732e-01 3.05613408e-03 7.06296803e-02] [-5.71660700e-04 -3.05676082e-03 9.99995165e-01 8.89132972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.262557844 meters 0.28508794184058717 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.89 [[ 9.99968018e-01 7.70141883e-03 2.15675997e-03 3.52917200e+00] [-7.70131051e-03 9.99970343e-01 -5.85239855e-05 6.78752359e-02] [-2.15714673e-03 4.19122356e-05 9.99997672e-01 8.88287574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.322557844 meters 0.2832440614107524 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99999027e-01 -1.38875649e-03 1.30010630e-04 3.51059678e+00] [ 1.38863999e-03 9.99998638e-01 8.91910746e-04 7.07112205e-02] [-1.31249100e-04 -8.91729341e-04 9.99999594e-01 8.86996111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.382557844 meters 0.2855315169636884 Centerline is valid? [False, False] Translation: X:3.53, Y:0.07, Z:0.89 [[ 9.99977756e-01 6.24123814e-03 2.35240125e-03 3.53062352e+00] [-6.23697552e-03 9.99978903e-01 -1.81503066e-03 7.29523791e-02] [-2.36367966e-03 1.80031842e-03 9.99995586e-01 8.87305482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.442557844 meters 0.2838437433205969 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99992825e-01 -3.69701340e-03 8.25386545e-04 3.50930645e+00] [ 3.69815138e-03 9.99992208e-01 -1.38148312e-03 7.16950275e-02] [-8.20272752e-04 1.38452561e-03 9.99998705e-01 8.88178767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.502557844 meters 0.28413767441166393 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99993370e-01 -3.54224076e-03 8.44170414e-04 3.50917107e+00] [ 3.54306767e-03 9.99993243e-01 -9.80082079e-04 6.99969491e-02] [-8.40693023e-04 9.83066534e-04 9.99999163e-01 8.88386843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.562557844 meters 0.284547409115231 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99993890e-01 -3.42629483e-03 6.92817006e-04 3.50960595e+00] [ 3.42676944e-03 9.99993894e-01 -6.85008476e-04 6.87122000e-02] [-6.90465734e-04 6.87378415e-04 9.99999525e-01 8.88282940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.622557844 meters 0.2854341928872513 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99993831e-01 -3.47520218e-03 5.10877889e-04 3.51024288e+00] [ 3.47561536e-03 9.99993632e-01 -8.10122321e-04 6.91785793e-02] [-5.08059297e-04 8.11892938e-04 9.99999541e-01 8.87836584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68255784400003 meters 0.28429938857419956 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.89 [[ 9.99984893e-01 5.28974335e-03 1.49443632e-03 3.48569450e+00] [-5.28821711e-03 9.99985494e-01 -1.02339114e-03 6.82214142e-02] [-1.49982812e-03 1.01547278e-03 9.99998360e-01 8.88495549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters 0.28612750448689683 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99995620e-01 5.58374098e-04 2.90640690e-03 3.50831735e+00] [-5.65499874e-04 9.99996835e-01 2.45150367e-03 7.19116114e-02] [-2.90502884e-03 -2.45313651e-03 9.99992771e-01 8.87719410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80255784400003 meters 0.28535327228255947 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99995990e-01 6.74682569e-04 2.75047900e-03 3.50871978e+00] [-6.82317658e-04 9.99995914e-01 2.77592004e-03 7.05277460e-02] [-2.74859490e-03 -2.77778561e-03 9.99992365e-01 8.87730945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.862557844 meters 0.2857598035747309 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99995986e-01 8.48985575e-04 2.70304738e-03 3.50877137e+00] [-8.57778151e-04 9.99994340e-01 3.25334244e-03 6.85453003e-02] [-2.70027004e-03 -3.25564800e-03 9.99991055e-01 8.87919866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.922557844 meters 0.28481066546505146 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99996248e-01 9.03711243e-04 2.58596690e-03 3.50903325e+00] [-9.12475865e-04 9.99993837e-01 3.39013146e-03 6.79555607e-02] [-2.58288726e-03 -3.39247838e-03 9.99990910e-01 8.88023526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.982557844 meters 0.28685226772611266 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99996401e-01 7.87343459e-04 2.56459087e-03 3.50922759e+00] [-7.95217253e-04 9.99994969e-01 3.07062369e-03 6.93063310e-02] [-2.56216033e-03 -3.07265205e-03 9.99991997e-01 8.87662116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.042557844 meters 0.28539669472884416 Centerline is valid? [False, False] Translation: X:3.49, Y:0.07, Z:0.89 [[ 9.99979042e-01 6.44439939e-03 6.20678314e-04 3.48573094e+00] [-6.44448200e-03 9.99979226e-01 1.31200645e-04 7.04624502e-02] [-6.19819910e-04 -1.35197845e-04 9.99999799e-01 8.90190295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.102557844 meters 0.28666211339709347 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99997546e-01 -2.20016501e-03 2.60828484e-04 3.50896087e+00] [ 2.20019658e-03 9.99997572e-01 -1.20812559e-04 7.51930072e-02] [-2.60562044e-04 1.21386137e-04 9.99999959e-01 8.89682418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.162557844 meters 0.28699005755607754 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99997481e-01 -2.22478585e-03 2.96189937e-04 3.50924252e+00] [ 2.22483831e-03 9.99997509e-01 -1.76891313e-04 7.54225667e-02] [-2.95795654e-04 1.77549842e-04 9.99999940e-01 8.88938869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.222557844 meters 0.284819910421439 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:0.89 [[ 9.99995558e-01 2.76184165e-03 -1.12075817e-03 3.48493519e+00] [-2.76572648e-03 9.99990121e-01 -3.47962614e-03 7.51192325e-02] [ 1.11113692e-03 3.48271039e-03 9.99993318e-01 8.91080029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.282557844 meters 0.2848554216481751 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:0.89 [[ 9.99988766e-01 -4.72738376e-03 3.45674710e-04 3.50462827e+00] [ 4.72820139e-03 9.99985932e-01 -2.40404516e-03 7.88863878e-02] [-3.34305003e-04 2.40565257e-03 9.99997051e-01 8.92498764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.342557844 meters 0.28587003529881877 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99996423e-01 -2.51935694e-03 -8.98750192e-04 3.51076245e+00] [ 2.51913824e-03 9.99996797e-01 -2.44387590e-04 7.77326383e-02] [ 8.99363013e-04 2.42122640e-04 9.99999566e-01 8.88081980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.402557844 meters 0.28468166324535166 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99996433e-01 -2.53411083e-03 -8.43698703e-04 3.51057434e+00] [ 2.53387320e-03 9.99996750e-01 -2.82598846e-04 7.79081104e-02] [ 8.44412098e-04 2.80460013e-04 9.99999604e-01 8.88181734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.462557844 meters 0.286340234209023 Centerline is valid? [False, False] Translation: X:3.53, Y:0.08, Z:0.89 [[ 9.99980644e-01 5.65330470e-03 2.59842789e-03 3.52881528e+00] [-5.64869060e-03 9.99982462e-01 -1.77965005e-03 7.73051822e-02] [-2.60844323e-03 1.76493789e-03 9.99995040e-01 8.88701818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.522557844 meters 0.285693117436776 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99994701e-01 -3.17883096e-03 7.02788422e-04 3.51076532e+00] [ 3.17924857e-03 9.99994770e-01 -5.93898895e-04 8.10842270e-02] [-7.00896842e-04 5.96130087e-04 9.99999577e-01 8.87009620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.582557844 meters 0.28513146732980066 Centerline is valid? [False, False] Translation: X:3.51, Y:0.08, Z:0.89 [[ 9.99994075e-01 -3.37361041e-03 6.85357278e-04 3.51099999e+00] [ 3.37440651e-03 9.99993629e-01 -1.16376855e-03 8.34108184e-02] [-6.81426810e-04 1.16607433e-03 9.99999088e-01 8.86518285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.642557844 meters 0.2862161329389938 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:0.88 [[ 9.99998426e-01 -1.65077153e-03 -6.50470334e-04 3.51613503e+00] [ 1.65093963e-03 9.99998604e-01 2.57977788e-04 8.36582574e-02] [ 6.50043564e-04 -2.59051269e-04 9.99999755e-01 8.83699500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.702557844 meters 0.28542382283929 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:0.88 [[ 9.99998256e-01 -1.81489269e-03 -4.41175592e-04 3.51547627e+00] [ 1.81481116e-03 9.99998336e-01 -1.85119697e-04 8.55666163e-02] [ 4.41510830e-04 1.84318724e-04 9.99999886e-01 8.83968334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.762557844 meters 0.2850929565040648 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:0.88 [[ 9.99997991e-01 -1.96232007e-03 -4.08651127e-04 3.51534386e+00] [ 1.96210458e-03 9.99997936e-01 -5.27050879e-04 8.70457921e-02] [ 4.09684526e-04 5.26248004e-04 9.99999778e-01 8.84027307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.822557844 meters 0.28717231750480393 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:0.88 [[ 9.99997995e-01 -1.94844260e-03 -4.61189969e-04 3.51546779e+00] [ 1.94821288e-03 9.99997978e-01 -4.98024952e-04 8.68877217e-02] [ 4.62159409e-04 4.97125458e-04 9.99999770e-01 8.84050114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.882557844 meters 0.2858604127844517 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:0.88 [[ 9.99990598e-01 2.81550674e-03 -3.29797283e-03 3.49349798e+00] [-2.82792435e-03 9.99988908e-01 -3.76663205e-03 8.62028343e-02] [ 3.28733127e-03 3.77592305e-03 9.99987468e-01 8.84809084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.942557844 meters 0.2865307167489857 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:0.88 [[ 9.99995762e-01 -2.69869652e-03 -1.09259446e-03 3.51581155e+00] [ 2.69789839e-03 9.99996093e-01 -7.31307430e-04 8.70880603e-02] [ 1.09456377e-03 7.28356622e-04 9.99999136e-01 8.83492708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.002557844 meters 0.2860059437001024 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:0.89 [[ 9.99991864e-01 2.81626581e-03 -2.88793310e-03 3.49188681e+00] [-2.82775041e-03 9.99988080e-01 -3.98041238e-03 8.96469182e-02] [ 2.87668878e-03 3.98854635e-03 9.99987908e-01 8.85596168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.062557844 meters 0.2856320534859156 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:0.89 [[ 9.99992792e-01 2.61942984e-03 -2.74857778e-03 3.49152833e+00] [-2.63177918e-03 9.99986416e-01 -4.49903823e-03 9.18474156e-02] [ 2.73675553e-03 4.50623945e-03 9.99986102e-01 8.85583459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.122557844 meters 0.28521674329047786 Centerline is valid? [False, False] Translation: X:3.49, Y:0.09, Z:0.89 [[ 9.99992949e-01 2.49897035e-03 -2.80294900e-03 3.49173599e+00] [-2.51239570e-03 9.99985341e-01 -4.79647300e-03 9.30979484e-02] [ 2.79092167e-03 4.80348130e-03 9.99984569e-01 8.85420616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18255784400003 meters 0.28534539270823606 Centerline is valid? [False, False] Translation: X:3.52, Y:0.09, Z:0.89 [[ 9.99975282e-01 -6.10329922e-03 -3.49076944e-03 3.51507103e+00] [ 6.08822180e-03 9.99972163e-01 -4.31366328e-03 9.44857192e-02] [ 3.51699984e-03 4.29230407e-03 9.99984603e-01 8.85816511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24255784400003 meters 0.28652853460755545 Centerline is valid? [False, False] Translation: X:3.51, Y:0.09, Z:0.89 [[ 0.99997632 -0.0059051 -0.00353261 3.51482198] [ 0.00589227 0.99997605 -0.00363058 0.09168675] [ 0.00355396 0.00360968 0.99998717 0.886571 ] [ 0. 0. 0. 1. ]] SLAMing on 453.30255784400003 meters 0.2854339029073612 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.89 [[ 9.99993333e-01 2.67378567e-03 -2.48709089e-03 3.49375045e+00] [-2.68223895e-03 9.99990617e-01 -3.40175960e-03 8.39400991e-02] [ 2.47797198e-03 3.40840790e-03 9.99991121e-01 8.85883039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.362557844 meters 0.28506470501938735 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.89 [[ 9.99991915e-01 3.11418558e-03 -2.54383533e-03 3.49371769e+00] [-3.12012877e-03 9.99992405e-01 -2.33568977e-03 7.94017854e-02] [ 2.53654224e-03 2.34360798e-03 9.99994037e-01 8.86164951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.422557844 meters 0.2837070060863022 Centerline is valid? [False, False] Translation: X:3.49, Y:0.08, Z:0.89 [[ 9.99990832e-01 3.44262180e-03 -2.54627821e-03 3.49349608e+00] [-3.44644915e-03 9.99992936e-01 -1.50025560e-03 7.58943023e-02] [ 2.54109541e-03 1.50901747e-03 9.99995633e-01 8.86640986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.482557844 meters 0.28482606627456725 Centerline is valid? [False, False] Translation: X:3.51, Y:0.07, Z:0.89 [[ 9.99990103e-01 -4.37104891e-03 -8.28976148e-04 3.51406456e+00] [ 4.37101359e-03 9.99990446e-01 -4.44140969e-05 7.39105044e-02] [ 8.29162364e-04 4.07901913e-05 9.99999655e-01 8.87160169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.542557844 meters 0.28335852868379524 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99992163e-01 3.38940516e-03 -2.04579572e-03 3.49575292e+00] [-3.38968074e-03 9.99994246e-01 -1.31253293e-04 6.28229765e-02] [ 2.04533908e-03 1.38186859e-04 9.99997899e-01 8.85723294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.602557844 meters 0.28345892451675053 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99991255e-01 3.59397067e-03 -2.13832522e-03 3.49594085e+00] [-3.59315636e-03 9.99993471e-01 3.84540410e-04 6.06394253e-02] [ 2.13969329e-03 -3.76853710e-04 9.99997640e-01 8.85818460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.662557844 meters 0.28435528509223945 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99990439e-01 3.78858892e-03 -2.18381725e-03 3.49615586e+00] [-3.78674978e-03 9.99992473e-01 8.45687026e-04 5.86495333e-02] [ 2.18700477e-03 -8.37409371e-04 9.99997258e-01 8.85620263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.722557844 meters 0.284765005862278 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99990658e-01 3.67978273e-03 -2.26790477e-03 3.49657749e+00] [-3.67852185e-03 9.99993077e-01 5.59888278e-04 5.98384654e-02] [ 2.26994934e-03 -5.51540510e-04 9.99997272e-01 8.85125369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.782557844 meters 0.28632599061305875 Centerline is valid? [False, False] Translation: X:3.52, Y:0.07, Z:0.89 [[ 9.99974744e-01 -4.75764028e-03 -5.27976742e-03 3.52024440e+00] [ 4.75872353e-03 9.99988659e-01 1.92624874e-04 6.66332725e-02] [ 5.27879110e-03 -2.17744963e-04 9.99986043e-01 8.85178543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.842557844 meters 0.285091668929228 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.88 [[ 9.99967818e-01 2.55483265e-03 -7.60494379e-03 3.50089982e+00] [-2.56418534e-03 9.99995968e-01 -1.22032023e-03 6.53605728e-02] [ 7.60179541e-03 1.23978144e-03 9.99970337e-01 8.84118623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.902557844 meters 0.2849449858990487 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.88 [[ 9.99968632e-01 2.50332043e-03 -7.51449728e-03 3.50031345e+00] [-2.51350282e-03 9.99995935e-01 -1.34589488e-03 6.60221114e-02] [ 7.51109753e-03 1.36474038e-03 9.99970860e-01 8.84885589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.962557844 meters 0.284605549728176 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99969201e-01 2.56964735e-03 -7.41577409e-03 3.49973822e+00] [-2.57844954e-03 9.99995982e-01 -1.17763774e-03 6.53286935e-02] [ 7.41271819e-03 1.19672267e-03 9.99971809e-01 8.85642565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.022557844 meters 0.2844189273758411 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99969874e-01 2.56190568e-03 -7.32715568e-03 3.49944879e+00] [-2.57074328e-03 9.99995979e-01 -1.19697853e-03 6.54383970e-02] [ 7.32405967e-03 1.21577871e-03 9.99972440e-01 8.85777198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.082557844 meters 0.28311192385395506 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:0.89 [[ 9.99941190e-01 -6.38804635e-03 -8.76409709e-03 3.47971206e+00] [ 6.38936310e-03 9.99979580e-01 1.22252822e-04 6.64114172e-02] [ 8.76313718e-03 -1.78242631e-04 9.99961587e-01 8.85306209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.142557844 meters 0.2837491385427044 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99968933e-01 2.29384383e-03 -7.54125720e-03 3.49865051e+00] [-2.30336254e-03 9.99996561e-01 -1.25377532e-03 6.26975499e-02] [ 7.53835530e-03 1.27110662e-03 9.99970778e-01 8.86772240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.202557844 meters 0.2840182099306465 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99968396e-01 2.39206634e-03 -7.58183812e-03 3.49869365e+00] [-2.39977962e-03 9.99996612e-01 -1.00840229e-03 6.16648165e-02] [ 7.57940027e-03 1.02656516e-03 9.99970749e-01 8.86904382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.262557844 meters 0.28302483182749055 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:0.89 [[ 9.99967470e-01 2.63353871e-03 -7.62389509e-03 3.49860702e+00] [-2.63684193e-03 9.99996434e-01 -4.23252271e-04 5.92093720e-02] [ 7.62275326e-03 4.43341509e-04 9.99970848e-01 8.87298752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.322557844 meters 0.2852670630848609 Centerline is valid? [False, False] Translation: X:3.52, Y:0.06, Z:0.89 [[ 9.99970173e-01 -5.00388175e-03 -5.88334061e-03 3.51799156e+00] [ 5.00768771e-03 9.99987262e-01 6.32352935e-04 6.27125890e-02] [ 5.88010145e-03 -6.61796007e-04 9.99982493e-01 8.88070867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.382557844 meters 0.28524917717397896 Centerline is valid? [False, False] Translation: X:3.52, Y:0.06, Z:0.89 [[ 9.99968297e-01 -5.07724196e-03 -6.13399408e-03 3.51887633e+00] [ 5.07998305e-03 9.99987004e-01 4.31371000e-04 6.34807375e-02] [ 6.13172418e-03 -4.62517911e-04 9.99981094e-01 8.87394022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.442557844 meters 0.28411071100208346 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99954444e-01 3.45298610e-04 -9.53887781e-03 3.49831663e+00] [-3.71039705e-04 9.99996295e-01 -2.69690750e-03 6.55530641e-02] [ 9.53791123e-03 2.70032394e-03 9.99950867e-01 8.87656385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.502557844 meters 0.28525093482374875 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99955616e-01 2.98062770e-04 -9.41690670e-03 3.49802393e+00] [-3.24645351e-04 9.99995967e-01 -2.82145453e-03 6.60877841e-02] [ 9.41602775e-03 2.82438646e-03 9.99951679e-01 8.87622960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.562557844 meters 0.28650678895864756 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99954550e-01 2.48623717e-04 -9.53080709e-03 3.49835030e+00] [-2.76643799e-04 9.99995644e-01 -2.93874290e-03 6.65717975e-02] [ 9.53003493e-03 2.94124597e-03 9.99950263e-01 8.87536622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.622557844 meters 0.2850920487933569 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99954674e-01 1.26214695e-04 -9.52017860e-03 3.49827788e+00] [-1.57066305e-04 9.99994739e-01 -3.23997650e-03 6.78590834e-02] [ 9.51971958e-03 3.24132494e-03 9.99949433e-01 8.87617513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68255784400003 meters 0.28506317717379787 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99954630e-01 5.28284287e-05 -9.52548135e-03 3.49819984e+00] [-8.54033292e-05 9.99994150e-01 -3.41938991e-03 6.86336641e-02] [ 9.52524498e-03 3.42004828e-03 9.99948785e-01 8.87810251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters 0.2842166182256127 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:0.89 [[ 9.99955983e-01 1.12210361e-04 -9.38185775e-03 3.49778279e+00] [-1.42980116e-04 9.99994614e-01 -3.27910171e-03 6.80574296e-02] [ 9.38143927e-03 3.28029880e-03 9.99950613e-01 8.87937509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters 0.28600915577939273 Centerline is valid? [False, False] Translation: X:3.52, Y:0.06, Z:0.89 [[ 9.99963769e-01 -5.60551658e-03 -6.40615004e-03 3.52059568e+00] [ 5.60331194e-03 9.99984236e-01 -3.62041224e-04 6.31473497e-02] [ 6.40807848e-03 3.26132450e-04 9.99979415e-01 8.85725921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.862557844 meters 0.28467352889564307 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.88 [[ 9.99991847e-01 1.60355964e-03 -3.70590607e-03 3.50033428e+00] [-1.60414585e-03 9.99998701e-01 -1.55216303e-04 4.99815384e-02] [ 3.70565236e-03 1.61159851e-04 9.99993121e-01 8.84310385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.922557844 meters 0.2854714184627926 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.88 [[ 9.99991312e-01 1.67454662e-03 -3.81717740e-03 3.50056207e+00] [-1.67444014e-03 9.99998598e-01 3.10912218e-05 4.92100214e-02] [ 3.81722411e-03 -2.46993166e-05 9.99992714e-01 8.84428166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.982557844 meters 0.28631997820007493 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.88 [[ 9.99990266e-01 1.60501294e-03 -4.10998268e-03 3.50164657e+00] [-1.60566410e-03 9.99998699e-01 -1.55140075e-04 4.98365474e-02] [ 4.10972833e-03 1.61737817e-04 9.99991542e-01 8.83454620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.042557844 meters 0.2865233192937892 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:0.88 [[ 9.99992906e-01 1.41065917e-03 -3.49264251e-03 3.50046403e+00] [-1.41393525e-03 9.99998563e-01 -9.35701542e-04 5.28344416e-02] [ 3.49131753e-03 9.40633274e-04 9.99993463e-01 8.82912586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.102557844 meters 0.2859907107671576 Centerline is valid? [False, False] Translation: X:3.52, Y:0.06, Z:0.88 [[ 9.99986021e-01 -3.65805939e-03 -3.81802320e-03 3.52479616e+00] [ 3.66446157e-03 9.99991889e-01 1.67118396e-03 6.07670224e-02] [ 3.81187894e-03 -1.68515160e-03 9.99991315e-01 8.81500461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.162557844 meters 0.28688871629876767 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.88 [[ 9.99984756e-01 -3.76396940e-03 -4.03994704e-03 3.52561250e+00] [ 3.76965926e-03 9.99991912e-01 1.40170939e-03 6.17968532e-02] [ 4.03463837e-03 -1.41691725e-03 9.99990857e-01 8.80806721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.222557844 meters 0.28553586683926 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.88 [[ 9.99984441e-01 -3.88945131e-03 -3.99873428e-03 3.52530679e+00] [ 3.89361980e-03 9.99991884e-01 1.03519777e-03 6.33049033e-02] [ 3.99467548e-03 -1.05075121e-03 9.99991469e-01 8.81246081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.282557844 meters 0.28601664568124874 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.88 [[ 9.99984064e-01 -3.98832644e-03 -3.99567299e-03 3.52535340e+00] [ 3.99152738e-03 9.99991719e-01 7.93446708e-04 6.43102251e-02] [ 3.99247537e-03 -8.09382902e-04 9.99991702e-01 8.81098450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.342557844 meters 0.2851976004658873 Centerline is valid? [False, False] Translation: X:3.53, Y:0.06, Z:0.88 [[ 9.99983398e-01 -3.98622763e-03 -4.16103839e-03 3.52579276e+00] [ 3.98962228e-03 9.99991715e-01 8.07836443e-04 6.42462399e-02] [ 4.15778370e-03 -8.24424003e-04 9.99991017e-01 8.81016348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.402557844 meters 0.28621782903666043 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:0.88 [[ 9.99983663e-01 4.80671241e-03 -3.09357598e-03 3.54472365e+00] [-4.80806562e-03 9.99988349e-01 -4.30137476e-04 5.97209302e-02] [ 3.09147239e-03 4.45004565e-04 9.99995122e-01 8.82597167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.462557844 meters 0.2847112929665266 Centerline is valid? [False, False] Translation: X:3.54, Y:0.06, Z:0.89 [[ 9.99993057e-01 3.10220361e-03 -2.06460766e-03 3.53991304e+00] [-3.10691083e-03 9.99992573e-01 -2.28067070e-03 6.18846225e-02] [ 2.05751722e-03 2.28706942e-03 9.99995268e-01 8.85797811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.522557844 meters 0.28608176084329334 Centerline is valid? [False, False] Translation: X:3.56, Y:0.06, Z:0.89 [[ 9.99999208e-01 -1.17957489e-03 4.38282507e-04 3.56113916e+00] [ 1.17889530e-03 9.99998108e-01 1.54759959e-03 6.42973105e-02] [-4.40107188e-04 -1.54708167e-03 9.99998706e-01 8.85342389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.582557844 meters 0.2860130393830753 Centerline is valid? [False, False] Translation: X:3.54, Y:0.07, Z:0.89 [[ 9.99965928e-01 8.13126582e-03 -1.42327857e-03 3.53981842e+00] [-8.12921343e-03 9.99965918e-01 1.44190588e-03 6.72760752e-02] [ 1.43495458e-03 -1.43028662e-03 9.99997948e-01 8.85704981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.642557844 meters 0.2864524670431727 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:0.89 [[ 9.99999093e-01 1.90399488e-04 -1.33322342e-03 3.55935104e+00] [-1.87951299e-04 9.99998297e-01 1.83617811e-03 7.56479504e-02] [ 1.33357075e-03 -1.83592587e-03 9.99997425e-01 8.86394281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.702557844 meters 0.2865126536066666 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:0.89 [[ 9.99999728e-01 -8.70214106e-05 -7.32039639e-04 3.55758490e+00] [ 8.76775433e-05 9.99999594e-01 8.96323256e-04 7.98379053e-02] [ 7.31961343e-04 -8.96387196e-04 9.99999330e-01 8.87066117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.762557844 meters 0.28635482387491934 Centerline is valid? [False, False] Translation: X:3.56, Y:0.08, Z:0.89 [[ 9.99999693e-01 -3.84308864e-04 -6.83069472e-04 3.55751112e+00] [ 3.84411033e-04 9.99999915e-01 1.49448477e-04 8.29830285e-02] [ 6.83011979e-04 -1.49711011e-04 9.99999756e-01 8.86909069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.822557844 meters 0.2852698231841787 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.89 [[ 9.99999101e-01 -1.02346466e-03 -8.66032606e-04 3.55872705e+00] [ 1.02199327e-03 9.99998037e-01 -1.69774540e-03 9.09765292e-02] [ 8.67768488e-04 1.69685879e-03 9.99998184e-01 8.85412789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.882557844 meters 0.2866922579110803 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.88 [[ 9.99995242e-01 2.91190783e-03 -1.01861987e-03 3.55938957e+00] [-2.91024713e-03 9.99994440e-01 1.62804196e-03 9.50884274e-02] [ 1.02335492e-03 -1.62506978e-03 9.99998156e-01 8.84649463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.942557844 meters 0.28653800509716676 Centerline is valid? [False, False] Translation: X:3.58, Y:0.10, Z:0.88 [[ 9.99994377e-01 -3.03546676e-03 1.42519474e-03 3.58100208e+00] [ 3.03029820e-03 9.99988875e-01 3.61482022e-03 1.02176699e-01] [-1.43615155e-03 -3.61048113e-03 9.99992451e-01 8.84053347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.002557844 meters 0.2863238138878448 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.89 [[ 9.99993207e-01 3.02109435e-03 2.11143032e-03 3.55656944e+00] [-3.02317377e-03 9.99994948e-01 9.82343517e-04 9.94164145e-02] [-2.10845190e-03 -9.88720065e-04 9.99997288e-01 8.85054270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.062557844 meters 0.2848559632228673 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.88 [[ 9.99993284e-01 3.04010363e-03 2.04700182e-03 3.55678813e+00] [-3.04222023e-03 9.99994840e-01 1.03167782e-03 9.91925909e-02] [-2.04385485e-03 -1.03789832e-03 9.99997373e-01 8.84935628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.122557844 meters 0.2841001106882997 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.89 [[ 9.99993452e-01 3.10635737e-03 1.85657879e-03 3.55714684e+00] [-3.10867713e-03 9.99994389e-01 1.24790400e-03 9.83233359e-02] [-1.85269194e-03 -1.25366733e-03 9.99997498e-01 8.85190995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18255784400003 meters 0.2833649697571051 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.89 [[ 9.99993331e-01 3.23242085e-03 1.70001946e-03 3.55729775e+00] [-3.23510798e-03 9.99993518e-01 1.58027725e-03 9.69617149e-02] [-1.69490032e-03 -1.58576646e-03 9.99997306e-01 8.85743348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters 0.28443026773568186 Centerline is valid? [False, False] Translation: X:3.56, Y:0.10, Z:0.89 [[ 9.99992856e-01 3.40278694e-03 1.64592820e-03 3.55723850e+00] [-3.40604501e-03 9.99992238e-01 1.98073232e-03 9.52688991e-02] [-1.63917541e-03 -1.98632427e-03 9.99996684e-01 8.86160015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters 0.2848284685625503 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.89 [[ 9.99992663e-01 3.42999499e-03 1.70569451e-03 3.55698558e+00] [-3.43350462e-03 9.99991986e-01 2.05894164e-03 9.49893107e-02] [-1.69861869e-03 -2.06478304e-03 9.99996426e-01 8.86396905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.362557844 meters 0.28542589896105913 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998519e-01 1.34401205e-03 1.07518796e-03 3.56048535e+00] [-1.34485398e-03 9.99998789e-01 7.82708927e-04 9.01792850e-02] [-1.07413469e-03 -7.84153738e-04 9.99999116e-01 8.83690564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.422557844 meters 0.2860987868295027 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998488e-01 1.28293093e-03 1.17424311e-03 3.56021628e+00] [-1.28364948e-03 9.99998989e-01 6.11375660e-04 9.09043047e-02] [-1.17345757e-03 -6.12882052e-04 9.99999124e-01 8.83739951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.482557844 meters 0.28750561158044213 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998866e-01 1.08817572e-03 1.04082227e-03 3.56090573e+00] [-1.08822857e-03 9.99999407e-01 5.02131872e-05 9.31944840e-02] [-1.04076701e-03 -5.13457828e-05 9.99999457e-01 8.82902383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.542557844 meters 0.2847478947753051 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998824e-01 9.67550106e-04 1.19018987e-03 3.56029661e+00] [-9.67258427e-04 9.99999502e-01 -2.45620480e-04 9.45281085e-02] [-1.19042693e-03 2.44468970e-04 9.99999262e-01 8.83376763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.602557844 meters 0.2845623630617596 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998566e-01 1.03065994e-03 1.34374773e-03 3.55955473e+00] [-1.03055621e-03 9.99999466e-01 -7.78848837e-05 9.39289631e-02] [-1.34382728e-03 7.64999645e-05 9.99999094e-01 8.84318114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.662557844 meters 0.28394676718676265 Centerline is valid? [False, False] Translation: X:3.56, Y:0.09, Z:0.88 [[ 9.99998984e-01 1.00555319e-03 1.01009765e-03 3.56039194e+00] [-1.00552007e-03 9.99999494e-01 -3.32966724e-05 9.36084351e-02] [-1.01013062e-03 3.22809652e-05 9.99999489e-01 8.84182892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.722557844 meters 0.2843133991919103 Centerline is valid? [False, False] Translation: X:3.58, Y:0.10, Z:0.89 [[ 9.99970916e-01 -7.36473370e-03 1.98176274e-03 3.58099287e+00] [ 7.36313435e-03 9.99972561e-01 8.13122922e-04 9.51452465e-02] [-1.98769680e-03 -7.98507288e-04 9.99997706e-01 8.85501762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.782557844 meters 0.28317655996144775 Centerline is valid? [False, False] Translation: X:3.58, Y:0.09, Z:0.89 [[ 9.99970966e-01 -7.28519514e-03 2.23459693e-03 3.58007899e+00] [ 7.28286457e-03 9.99972929e-01 1.04932138e-03 9.42032022e-02] [-2.24218094e-03 -1.03301664e-03 9.99996953e-01 8.86293942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.842557844 meters 0.2834604054894798 Centerline is valid? [False, False] Translation: X:3.58, Y:0.09, Z:0.89 [[ 9.99993488e-01 -3.07750112e-03 1.88489556e-03 3.58104135e+00] [ 3.06760601e-03 9.99981617e-01 5.23027167e-03 9.40392301e-02] [-1.90095707e-03 -5.22445550e-03 9.99984546e-01 8.85953774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.902557844 meters 0.28277828915403314 Centerline is valid? [False, False] Translation: X:3.58, Y:0.10, Z:0.89 [[ 9.99992814e-01 -3.16857813e-03 2.08149454e-03 3.58018735e+00] [ 3.15816709e-03 9.99982582e-01 4.98610520e-03 9.51483548e-02] [-2.09725715e-03 -4.97949566e-03 9.99985403e-01 8.86822019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.962557844 meters 0.2818792033893126 Centerline is valid? [False, False] Translation: X:3.58, Y:0.10, Z:0.89 [[ 9.99992585e-01 -3.22885490e-03 2.09888988e-03 3.57999266e+00] [ 3.21872179e-03 9.99983235e-01 4.81342299e-03 9.58671310e-02] [-2.11439654e-03 -4.80663155e-03 9.99986213e-01 8.87169877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.022557844 meters 0.2824740991927908 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.89 [[ 9.99975664e-01 6.03288061e-03 3.50361217e-03 3.59914143e+00] [-6.04651739e-03 9.99974135e-01 3.89474381e-03 9.35681713e-02] [-3.48002502e-03 -3.91583368e-03 9.99986278e-01 8.87649563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.082557844 meters 0.2813448382305942 Centerline is valid? [False, False] Translation: X:3.60, Y:0.09, Z:0.89 [[ 9.99976293e-01 5.96542773e-03 3.43892559e-03 3.59938663e+00] [-5.97816423e-03 9.99975266e-01 3.70532489e-03 9.43356049e-02] [-3.41673668e-03 -3.72579551e-03 9.99987222e-01 8.87429003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.142557844 meters 0.28254884169057126 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:0.89 [[ 9.99990621e-01 -2.24911805e-03 3.70129737e-03 3.62083290e+00] [ 2.23343494e-03 9.99988534e-01 4.23588725e-03 9.86721964e-02] [-3.71078194e-03 -4.22758092e-03 9.99984179e-01 8.87684365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.202557844 meters 0.2814315959777351 Centerline is valid? [False, False] Translation: X:3.62, Y:0.10, Z:0.89 [[ 9.99991119e-01 -2.24558128e-03 3.56650733e-03 3.62123561e+00] [ 2.23042572e-03 9.99988491e-01 4.24772056e-03 9.86066869e-02] [-3.57600489e-03 -4.23972800e-03 9.99984618e-01 8.87532141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.262557844 meters 0.2842382162504037 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.89 [[ 9.99982035e-01 4.90870880e-03 3.44018039e-03 3.64466779e+00] [-4.91370748e-03 9.99986882e-01 1.44608600e-03 9.74064909e-02] [-3.43303685e-03 -1.46296406e-03 9.99993037e-01 8.86358164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.322557844 meters 0.2838620242950561 Centerline is valid? [False, False] Translation: X:3.63, Y:0.10, Z:0.89 [[ 9.99993191e-01 -3.50578378e-03 1.15173254e-03 3.62569590e+00] [ 3.50208380e-03 9.99988751e-01 3.19899426e-03 9.64355799e-02] [-1.16293456e-03 -3.19493901e-03 9.99994220e-01 8.85269741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.382557844 meters 0.28316401791759216 Centerline is valid? [False, False] Translation: X:3.63, Y:0.10, Z:0.89 [[ 9.99993282e-01 -3.40911520e-03 1.34644828e-03 3.62508738e+00] [ 3.40441654e-03 9.99988161e-01 3.47668006e-03 9.52960061e-02] [-1.35828474e-03 -3.47207284e-03 9.99993050e-01 8.85603922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.442557844 meters 0.2813507136341716 Centerline is valid? [False, False] Translation: X:3.63, Y:0.10, Z:0.89 [[ 9.99993384e-01 -3.39695065e-03 1.30065316e-03 3.62509151e+00] [ 3.39236651e-03 9.99988084e-01 3.51062148e-03 9.51747824e-02] [-1.31256307e-03 -3.50618596e-03 9.99992992e-01 8.85848332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.502557844 meters 0.2837297518853535 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:0.88 [[ 9.99986756e-01 3.54464942e-03 3.73136476e-03 3.64698619e+00] [-3.54747229e-03 9.99993426e-01 7.50178232e-04 9.69927485e-02] [-3.72868111e-03 -7.63405210e-04 9.99992757e-01 8.83756086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.562557844 meters 0.28289523605622374 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:0.88 [[ 9.99986571e-01 3.44503811e-03 3.87171353e-03 3.64653727e+00] [-3.44697500e-03 9.99993937e-01 4.93703517e-04 9.80911754e-02] [-3.86998923e-03 -5.07042586e-04 9.99992383e-01 8.83994307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.622557844 meters 0.28347841038210403 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:0.88 [[ 9.99976058e-01 -4.68301179e-03 5.09431217e-03 3.66732106e+00] [ 4.67674232e-03 9.99988293e-01 1.24189762e-03 1.00508451e-01] [-5.10006835e-03 -1.21804310e-03 9.99986253e-01 8.84886466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68255784400003 meters 0.2818039139381146 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.89 [[ 9.99981050e-01 1.67780117e-03 5.92329280e-03 3.64260483e+00] [-1.67031602e-03 9.99997801e-01 -1.26840193e-03 9.78263304e-02] [-5.92540790e-03 1.25848412e-03 9.99981653e-01 8.86448312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters 0.28413710807253595 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:0.88 [[ 9.99959481e-01 -4.37641449e-03 7.86662462e-03 3.66585821e+00] [ 4.36486590e-03 9.99989372e-01 1.48461985e-03 9.71812227e-02] [-7.87303832e-03 -1.45022294e-03 9.99967956e-01 8.84196896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters 0.2805450510644331 Centerline is valid? [False, False] Translation: X:3.64, Y:0.10, Z:0.89 [[ 9.99991715e-01 1.35791520e-03 3.83745386e-03 3.64466628e+00] [-1.35273977e-03 9.99998173e-01 -1.35093492e-03 1.02990094e-01] [-3.83928130e-03 1.34573265e-03 9.99991724e-01 8.86236968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.862557844 meters 0.28298571461446076 Centerline is valid? [False, False] Translation: X:3.64, Y:0.11, Z:0.89 [[ 9.99992137e-01 1.11356726e-03 3.80612251e-03 3.64490227e+00] [-1.10612055e-03 9.99997471e-01 -1.95805433e-03 1.05523256e-01] [-3.80829331e-03 1.95382890e-03 9.99990840e-01 8.85961254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.922557844 meters 0.2817257780240552 Centerline is valid? [False, False] Translation: X:3.65, Y:0.11, Z:0.89 [[ 9.99992330e-01 1.05759675e-03 3.77107480e-03 3.64525647e+00] [-1.04965768e-03 9.99997230e-01 -2.10661230e-03 1.06124869e-01] [-3.77329231e-03 2.10263781e-03 9.99990671e-01 8.85325333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.982557844 meters 0.2824031410017107 Centerline is valid? [False, False] Translation: X:3.65, Y:0.11, Z:0.89 [[ 9.99992617e-01 1.08977901e-03 3.68495356e-03 3.64552627e+00] [-1.08232630e-03 9.99997366e-01 -2.02386084e-03 1.05760020e-01] [-3.68714941e-03 2.01985758e-03 9.99991163e-01 8.85186815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.042557844 meters 0.28479470007105545 Centerline is valid? [False, False] Translation: X:3.67, Y:0.11, Z:0.89 [[ 9.99960607e-01 -7.77046588e-03 4.28995893e-03 3.66761325e+00] [ 7.77650541e-03 9.99968792e-01 -1.39294799e-03 1.05255049e-01] [-4.27900119e-03 1.42625401e-03 9.99989828e-01 8.85556504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.102557844 meters 0.28395562923520173 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:0.88 [[ 9.99988637e-01 1.34064092e-03 4.57469794e-03 3.64646570e+00] [-1.33436593e-03 9.99998165e-01 -1.37444916e-03 1.01343403e-01] [-4.57653219e-03 1.36832922e-03 9.99988591e-01 8.84906337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.162557844 meters 0.2830269236595895 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:0.89 [[ 9.99988502e-01 1.49207640e-03 4.55731231e-03 3.64639643e+00] [-1.48772942e-03 9.99998435e-01 -9.57088254e-04 9.96276604e-02] [-4.55873323e-03 9.50297202e-04 9.99989157e-01 8.85118655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.222557844 meters 0.2853805090781308 Centerline is valid? [False, False] Translation: X:3.65, Y:0.10, Z:0.89 [[ 9.99988610e-01 1.47163562e-03 4.54017368e-03 3.64642675e+00] [-1.46707281e-03 9.99998416e-01 -1.00815218e-03 9.98431763e-02] [-4.54165012e-03 1.00147993e-03 9.99989185e-01 8.85153168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.282557844 meters 0.28232385765742557 Centerline is valid? [False, False] Translation: X:3.62, Y:0.11, Z:0.89 [[ 9.99943595e-01 -8.23166620e-03 6.71173155e-03 3.62207539e+00] [ 8.24091775e-03 9.99965129e-01 -1.35192607e-03 1.06205294e-01] [-6.70036890e-03 1.40716064e-03 9.99976562e-01 8.86347972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.342557844 meters 0.28172650504818714 Centerline is valid? [False, False] Translation: X:3.62, Y:0.11, Z:0.89 [[ 9.99968115e-01 -4.01459596e-03 6.90300470e-03 3.62137371e+00] [ 3.99589697e-03 9.99988316e-01 2.72048064e-03 1.07119077e-01] [-6.91384568e-03 -2.69281021e-03 9.99972473e-01 8.86776013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.402557844 meters 0.28307059453487937 Centerline is valid? [False, False] Translation: X:3.62, Y:0.11, Z:0.89 [[ 9.99966760e-01 -4.26268485e-03 6.95048683e-03 3.62107436e+00] [ 4.24821311e-03 9.99988781e-01 2.09555564e-03 1.09782838e-01] [-6.95934155e-03 -2.06595883e-03 9.99973649e-01 8.87203529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.462557844 meters 0.28336270392423085 Centerline is valid? [False, False] Translation: X:3.62, Y:0.11, Z:0.89 [[ 9.99964377e-01 -4.79673472e-03 6.94518020e-03 3.62103000e+00] [ 4.79063525e-03 9.99988125e-01 8.94601660e-04 1.14865656e-01] [-6.94938889e-03 -8.61297966e-04 9.99975482e-01 8.87420499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.522557844 meters 0.28067674747259846 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:0.89 [[ 9.99976752e-01 -8.35248760e-04 6.76741547e-03 3.62160677e+00] [ 8.06961072e-04 9.99990931e-01 4.18163688e-03 1.18800164e-01] [-6.77084681e-03 -4.17607862e-03 9.99968357e-01 8.86946927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.582557844 meters 0.28252030740031353 Centerline is valid? [False, False] Translation: X:3.62, Y:0.12, Z:0.89 [[ 9.99975579e-01 -1.18219122e-03 6.88790548e-03 3.62125583e+00] [ 1.15865579e-03 9.99993481e-01 3.41991099e-03 1.22013273e-01] [-6.89190356e-03 -3.41184676e-03 9.99970430e-01 8.87091203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.642557844 meters 0.2823949424831041 Centerline is valid? [False, False] Translation: X:3.62, Y:0.13, Z:0.89 [[ 9.99975802e-01 -1.61234136e-03 6.76720956e-03 3.62210937e+00] [ 1.59605908e-03 9.99995820e-01 2.41076745e-03 1.26303207e-01] [-6.77106825e-03 -2.39990825e-03 9.99974196e-01 8.86051347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.702557844 meters 0.2842205558169865 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99943541e-01 7.81696776e-03 7.19791067e-03 3.64462767e+00] [-7.82867120e-03 9.99968077e-01 1.59921125e-03 1.28638987e-01] [-7.18517991e-03 -1.65547103e-03 9.99972816e-01 8.85168699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.762557844 meters 0.2830638563692305 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.88 [[ 9.99950160e-01 7.33557057e-03 6.77245069e-03 3.64603145e+00] [-7.33331558e-03 9.99973047e-01 -3.57737503e-04 1.37014190e-01] [-6.77489236e-03 3.08055155e-04 9.99977003e-01 8.84537077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.822557844 meters 0.28259012061855404 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.88 [[ 9.99952743e-01 6.84154039e-03 6.90681953e-03 3.64570976e+00] [-6.82737915e-03 9.99974547e-01 -2.07182755e-03 1.43958484e-01] [-6.92081823e-03 2.02457417e-03 9.99974001e-01 8.84634114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.882557844 meters 0.2846236615051029 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:0.88 [[ 9.99990840e-01 1.45329839e-03 4.02582274e-03 3.66883674e+00] [-1.45120154e-03 9.99998810e-01 -5.23724177e-04 1.61472735e-01] [-4.02657907e-03 5.17877100e-04 9.99991759e-01 8.84928588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.942557844 meters 0.28223411088613964 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99987205e-01 -4.22887786e-03 2.77620443e-03 3.64672041e+00] [ 4.22304350e-03 9.99988869e-01 2.10406894e-03 1.71067392e-01] [-2.78507138e-03 -2.09231799e-03 9.99993933e-01 8.85572437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.002557844 meters 0.2839036731799305 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:0.89 [[ 9.99981377e-01 3.98884834e-03 4.61891507e-03 3.66718203e+00] [-3.98905687e-03 9.99992043e-01 3.59346205e-05 1.75848719e-01] [-4.61873498e-03 -5.43590662e-05 9.99989332e-01 8.85423813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.062557844 meters 0.2835900947387097 Centerline is valid? [False, False] Translation: X:3.64, Y:0.20, Z:0.89 [[ 9.99973603e-01 -1.87769556e-03 7.01912670e-03 3.64384748e+00] [ 1.86919749e-03 9.99997512e-01 1.21706662e-03 1.95393507e-01] [-7.02139452e-03 -1.20391436e-03 9.99974625e-01 8.86110074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.122557844 meters 0.2838651703462788 Centerline is valid? [False, False] Translation: X:3.64, Y:0.21, Z:0.89 [[ 9.99974276e-01 1.34795491e-03 7.04487346e-03 3.64412939e+00] [-1.36945860e-03 9.99994416e-01 3.04845655e-03 2.05356019e-01] [-7.04072494e-03 -3.05802580e-03 9.99970538e-01 8.85770549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18255784400003 meters 0.2826087361220075 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:0.88 [[ 9.99953124e-01 -6.85168094e-03 6.84135233e-03 3.62448947e+00] [ 6.82936003e-03 9.99971298e-01 3.28069380e-03 2.18292157e-01] [-6.86363424e-03 -3.23381795e-03 9.99971216e-01 8.84746863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters 0.2828218203930283 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:0.89 [[ 9.99948838e-01 -7.25120337e-03 7.05272717e-03 3.62374039e+00] [ 7.23515628e-03 9.99971185e-01 2.29816234e-03 2.22464730e-01] [-7.06918839e-03 -2.24701718e-03 9.99972488e-01 8.85355118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30255784400003 meters 0.2846849441370207 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.89 [[ 9.99968211e-01 -3.60465982e-03 7.11225329e-03 3.62367673e+00] [ 3.56858551e-03 9.99980738e-01 5.07832312e-03 2.28892119e-01] [-7.13042192e-03 -5.05278100e-03 9.99961813e-01 8.85287276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.362557844 meters 0.2840268938576625 Centerline is valid? [False, False] Translation: X:3.61, Y:0.25, Z:0.89 [[ 9.99979279e-01 5.73321506e-03 2.92779234e-03 3.60572975e+00] [-5.74401736e-03 9.99976678e-01 3.69459036e-03 2.45389151e-01] [-2.90654218e-03 -3.71133110e-03 9.99988889e-01 8.85259472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.422557844 meters 0.284401522580963 Centerline is valid? [False, False] Translation: X:3.63, Y:0.26, Z:0.89 [[ 9.99993811e-01 -2.08251204e-03 2.83554694e-03 3.62550131e+00] [ 2.07016546e-03 9.99988395e-01 4.35021089e-03 2.58309001e-01] [-2.84457340e-03 -4.34431392e-03 9.99986518e-01 8.87287081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.482557844 meters 0.28367387567612407 Centerline is valid? [False, False] Translation: X:3.62, Y:0.27, Z:0.89 [[ 9.99995258e-01 1.07794041e-03 2.88469171e-03 3.62477214e+00] [-1.09552094e-03 9.99980796e-01 6.09979513e-03 2.70436576e-01] [-2.87806110e-03 -6.10292644e-03 9.99977235e-01 8.88447239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.542557844 meters 0.2844494788285739 Centerline is valid? [False, False] Translation: X:3.63, Y:0.28, Z:0.89 [[ 9.99996542e-01 4.39643352e-04 2.59279086e-03 3.62589232e+00] [-4.51611468e-04 9.99989239e-01 4.61714270e-03 2.77082359e-01] [-2.59073306e-03 -4.61829767e-03 9.99985980e-01 8.87945460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.602557844 meters 0.2857486646746852 Centerline is valid? [False, False] Translation: X:3.63, Y:0.28, Z:0.89 [[ 9.99997056e-01 6.13506191e-05 2.42574382e-03 3.62677678e+00] [-7.04231921e-05 9.99993003e-01 3.74021153e-03 2.80956441e-01] [-2.42549739e-03 -3.74037134e-03 9.99990063e-01 8.87052407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.662557844 meters 0.2863589540835637 Centerline is valid? [False, False] Translation: X:3.63, Y:0.28, Z:0.89 [[ 9.99997113e-01 -2.41761400e-04 2.39052066e-03 3.62691115e+00] [ 2.34775077e-04 9.99995702e-01 2.92235998e-03 2.84223899e-01] [-2.39121690e-03 -2.92179031e-03 9.99992873e-01 8.86991300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.722557844 meters 0.28655331776466997 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:0.89 [[ 9.99997332e-01 -4.08787357e-04 2.27329947e-03 3.62728108e+00] [ 4.03062229e-04 9.99996748e-01 2.51831037e-03 2.85935156e-01] [-2.27432154e-03 -2.51738737e-03 9.99994245e-01 8.86862874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.782557844 meters 0.28683368782304713 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:0.89 [[ 9.99997598e-01 -6.41424448e-04 2.09597364e-03 3.62832148e+00] [ 6.37529746e-04 9.99998070e-01 1.85832258e-03 2.88800368e-01] [-2.09716157e-03 -1.85698187e-03 9.99996077e-01 8.85325068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.842557844 meters 0.2864473366857604 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:0.89 [[ 9.99997616e-01 -6.89689060e-04 2.07185087e-03 3.62851932e+00] [ 6.86084379e-04 9.99998251e-01 1.74004337e-03 2.89314838e-01] [-2.07304734e-03 -1.73861775e-03 9.99996340e-01 8.85039892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.902557844 meters 0.2866557122113506 Centerline is valid? [False, False] Translation: X:3.63, Y:0.29, Z:0.89 [[ 9.99996649e-01 -7.41172845e-04 2.48062208e-03 3.62719135e+00] [ 7.37134251e-04 9.99998402e-01 1.62857533e-03 2.89623836e-01] [-2.48182517e-03 -1.62674132e-03 9.99995597e-01 8.85979019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.962557844 meters 0.28853121737129506 Centerline is valid? [False, False] Translation: X:3.60, Y:0.29, Z:0.89 [[ 9.99983388e-01 5.58622255e-03 1.42059122e-03 3.60360333e+00] [-5.58370324e-03 9.99982842e-01 -1.77124643e-03 2.89864706e-01] [-1.43046142e-03 1.76328485e-03 9.99997422e-01 8.87864826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.022557844 meters 0.28640074160997236 Centerline is valid? [False, False] Translation: X:3.60, Y:0.29, Z:0.89 [[ 9.99982819e-01 5.71080689e-03 1.32255010e-03 3.60422109e+00] [-5.70890707e-03 9.99982673e-01 -1.43583203e-03 2.88537643e-01] [-1.33072694e-03 1.42825704e-03 9.99998095e-01 8.86931072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.082557844 meters 0.28517419886328627 Centerline is valid? [False, False] Translation: X:3.58, Y:0.29, Z:0.89 [[ 9.99999873e-01 -4.96631116e-04 8.96671441e-05 3.58036625e+00] [ 4.96546543e-04 9.99999434e-01 9.40751116e-04 2.90564442e-01] [-9.01342996e-05 -9.40706473e-04 9.99999553e-01 8.89090952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.142557844 meters 0.28780278451381675 Centerline is valid? [False, False] Translation: X:3.60, Y:0.29, Z:0.89 [[ 9.99976140e-01 5.90468627e-03 3.58535614e-03 3.60176149e+00] [-5.89979282e-03 9.99981652e-01 -1.37388935e-03 2.93282737e-01] [-3.59340275e-03 1.35270371e-03 9.99992629e-01 8.87753815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.202557844 meters 0.2857058193979657 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99994098e-01 -2.15155736e-03 2.67852387e-03 3.58246984e+00] [ 2.15317118e-03 9.99997502e-01 -5.99767139e-04 2.99067708e-01] [-2.67722674e-03 6.05530919e-04 9.99996233e-01 8.86894094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.262557844 meters 0.2863818510543614 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99994159e-01 -2.04988223e-03 2.73508391e-03 3.58240003e+00] [ 2.05081659e-03 9.99997840e-01 -3.38861056e-04 2.97966069e-01] [-2.73438337e-03 3.44468232e-04 9.99996202e-01 8.86715337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.322557844 meters 0.28588625117249716 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99993933e-01 -1.96618053e-03 2.87550055e-03 3.58191443e+00] [ 1.96646402e-03 9.99998062e-01 -9.57639689e-05 2.96901890e-01] [-2.87530669e-03 1.01417956e-04 9.99995861e-01 8.87032782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.382557844 meters 0.2851188900885423 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99994636e-01 -1.86126171e-03 2.69525610e-03 3.58243083e+00] [ 1.86081379e-03 9.99998254e-01 1.68687411e-04 2.95814733e-01] [-2.69556536e-03 -1.63671136e-04 9.99996354e-01 8.86858087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.442557844 meters 0.28797100812020104 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99994967e-01 -1.81356006e-03 2.60332717e-03 3.58296223e+00] [ 1.81282677e-03 9.99998316e-01 2.84005131e-04 2.95370917e-01] [-2.60383785e-03 -2.79284320e-04 9.99996571e-01 8.86166648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.502557844 meters 0.28360937982023965 Centerline is valid? [False, False] Translation: X:3.56, Y:0.30, Z:0.89 [[ 9.99981443e-01 6.07067167e-03 5.09545003e-04 3.56026165e+00] [-6.06983942e-03 9.99980267e-01 -1.61927900e-03 2.97490998e-01] [-5.19365060e-04 1.61615609e-03 9.99998559e-01 8.88393609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.562557844 meters 0.286642051117376 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.89 [[ 9.99995123e-01 -3.12161728e-03 9.77025223e-05 3.58047265e+00] [ 3.12170232e-03 9.99994738e-01 -8.82756967e-04 3.02503764e-01] [-9.49463788e-05 8.83057660e-04 9.99999606e-01 8.89839059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.622557844 meters 0.28453542041315316 Centerline is valid? [False, False] Translation: X:3.58, Y:0.31, Z:0.89 [[ 9.99994331e-01 -3.36264343e-03 1.74510732e-04 3.58019790e+00] [ 3.36295858e-03 9.99992656e-01 -1.83819332e-03 3.06182582e-01] [-1.68328262e-04 1.83876977e-03 9.99998295e-01 8.90054982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68255784400003 meters 0.2863236381270432 Centerline is valid? [False, False] Translation: X:3.58, Y:0.31, Z:0.89 [[ 9.99999772e-01 6.23135536e-04 2.60985463e-04 3.57976597e+00] [-6.23552237e-04 9.99998526e-01 1.59961572e-03 3.09891750e-01] [-2.59988301e-04 -1.59977809e-03 9.99998687e-01 8.90600798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters 0.2834838885775783 Centerline is valid? [False, False] Translation: X:3.58, Y:0.32, Z:0.89 [[ 9.99999935e-01 2.34731227e-04 2.73263937e-04 3.57944895e+00] [-2.34794504e-04 9.99999946e-01 2.31549240e-04 3.15122654e-01] [-2.73209571e-04 -2.31613386e-04 9.99999936e-01 8.91280664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.802557844 meters 0.28444597644443564 Centerline is valid? [False, False] Translation: X:3.58, Y:0.32, Z:0.89 [[ 9.99999973e-01 -1.21958774e-06 2.32055677e-04 3.57950871e+00] [ 1.32694378e-06 9.99999893e-01 -4.62630936e-04 3.17950216e-01] [-2.32055088e-04 4.62631231e-04 9.99999866e-01 8.91396409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.862557844 meters 0.2863931204756805 Centerline is valid? [False, False] Translation: X:3.58, Y:0.32, Z:0.89 [[ 9.99999951e-01 -2.98962362e-04 9.04216928e-05 3.57966901e+00] [ 2.99085600e-04 9.99999022e-01 -1.36599879e-03 3.21589213e-01] [-9.00132221e-05 1.36602577e-03 9.99999063e-01 8.91837268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.922557844 meters 0.28546844141375477 Centerline is valid? [False, False] Translation: X:3.58, Y:0.32, Z:0.89 [[ 9.99999840e-01 -5.01564726e-04 2.60782422e-04 3.57913913e+00] [ 5.02076109e-04 9.99997944e-01 -1.96460327e-03 3.23983160e-01] [-2.59796510e-04 1.96473389e-03 9.99998036e-01 8.92126616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.982557844 meters 0.2818333915053177 Centerline is valid? [False, False] Translation: X:3.54, Y:0.33, Z:0.89 [[ 9.99994080e-01 2.32985723e-03 2.53195320e-03 3.53874773e+00] [-2.32419039e-03 9.99994793e-01 -2.23877085e-03 3.34592257e-01] [-2.53715604e-03 2.23287286e-03 9.99994289e-01 8.90227927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.042557844 meters 0.2846132181760391 Centerline is valid? [False, False] Translation: X:3.58, Y:0.34, Z:0.89 [[ 9.99998056e-01 1.96759956e-03 -1.27474858e-04 3.58302332e+00] [-1.96783007e-03 9.99996382e-01 -1.83412033e-03 3.36080063e-01] [ 1.23865582e-04 1.83436762e-03 9.99998310e-01 8.90727502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.102557844 meters 0.28478803710012013 Centerline is valid? [False, False] Translation: X:3.58, Y:0.34, Z:0.89 [[ 9.99998545e-01 1.68242983e-03 -2.83091726e-04 3.58338251e+00] [-1.68315154e-03 9.99995284e-01 -2.56873455e-03 3.39115804e-01] [ 2.78768676e-04 2.56920730e-03 9.99996661e-01 8.90838663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.162557844 meters 0.2834101766699204 Centerline is valid? [False, False] Translation: X:3.56, Y:0.34, Z:0.89 [[ 9.99992666e-01 -2.69113181e-03 -2.72507500e-03 3.56091955e+00] [ 2.69349999e-03 9.99995998e-01 8.65735632e-04 3.41905791e-01] [ 2.72273429e-03 -8.73069272e-04 9.99995912e-01 8.91693896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.222557844 meters 0.28412050189266 Centerline is valid? [False, False] Translation: X:3.57, Y:0.34, Z:0.89 [[ 9.99991874e-01 -1.15822190e-03 -3.86140252e-03 3.56634085e+00] [ 1.16616352e-03 9.99997208e-01 2.05505214e-03 3.43905405e-01] [ 3.85901154e-03 -2.05953847e-03 9.99990433e-01 8.88101974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.282557844 meters 0.28508521536068726 Centerline is valid? [False, False] Translation: X:3.57, Y:0.35, Z:0.89 [[ 9.99991418e-01 -1.33278392e-03 -3.92271183e-03 3.56634641e+00] [ 1.33895423e-03 9.99997870e-01 1.57076448e-03 3.45880930e-01] [ 3.92060999e-03 -1.57600333e-03 9.99991072e-01 8.88425386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.342557844 meters 0.28337380343632274 Centerline is valid? [False, False] Translation: X:3.57, Y:0.35, Z:0.89 [[ 9.99992224e-01 -1.49573439e-03 -3.64905317e-03 3.56555659e+00] [ 1.49953257e-03 9.99998337e-01 1.03835380e-03 3.47961188e-01] [ 3.64749400e-03 -1.04381759e-03 9.99992803e-01 8.88720323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.402557844 meters 0.28368859887861136 Centerline is valid? [False, False] Translation: X:3.58, Y:0.35, Z:0.89 [[ 9.99982258e-01 5.94740489e-03 -3.33706861e-04 3.58382636e+00] [-5.94752904e-03 9.99982244e-01 -3.72263614e-04 3.47883216e-01] [ 3.31486933e-04 3.74241741e-04 9.99999875e-01 8.90091749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.462557844 meters 0.2827626608359618 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996249e-01 -2.73494783e-03 -1.49052289e-04 3.56249020e+00] [ 2.73490229e-03 9.99996214e-01 -3.04900425e-04 3.53070311e-01] [ 1.49885612e-04 3.04491638e-04 9.99999942e-01 8.90398067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.522557844 meters 0.2845259803547483 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996251e-01 -2.70882365e-03 -4.01216627e-04 3.56335732e+00] [ 2.70872614e-03 9.99996302e-01 -2.43366528e-04 3.52883809e-01] [ 4.01874380e-04 2.42278830e-04 9.99999890e-01 8.89761841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.582557844 meters 0.28467341405407437 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996683e-01 -2.54467888e-03 -3.99135692e-04 3.56340252e+00] [ 2.54473958e-03 9.99996751e-01 1.51650207e-04 3.51214526e-01] [ 3.98748494e-04 -1.52665400e-04 9.99999909e-01 8.89670219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.642557844 meters 0.28413493484717645 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996976e-01 -2.43721996e-03 -3.27345282e-04 3.56338461e+00] [ 2.43735585e-03 9.99996943e-01 4.15370339e-04 3.50107461e-01] [ 3.26331933e-04 -4.16166940e-04 9.99999860e-01 8.89342729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.702557844 meters 0.28387494632258614 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996948e-01 -2.45648782e-03 2.63357866e-04 3.56177916e+00] [ 2.45639047e-03 9.99996915e-01 3.69333493e-04 3.50240193e-01] [-2.64264317e-04 -3.68685456e-04 9.99999897e-01 8.89905802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.762557844 meters 0.28318132939670687 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996871e-01 -2.49153141e-03 2.22320627e-04 3.56199630e+00] [ 2.49147133e-03 9.99996860e-01 2.70113947e-04 3.50647112e-01] [-2.22992926e-04 -2.69559196e-04 9.99999939e-01 8.89619966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.822557844 meters 0.28394649812622424 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99996926e-01 -2.47403696e-03 1.65434507e-04 3.56226670e+00] [ 2.47398542e-03 9.99996891e-01 3.11028502e-04 3.50473629e-01] [-1.66203489e-04 -3.10618264e-04 9.99999938e-01 8.89340540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.882557844 meters 0.28313223918404956 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99997122e-01 -2.39485345e-03 1.44893758e-04 3.56221023e+00] [ 2.39478063e-03 9.99997007e-01 5.00634713e-04 3.49646897e-01] [-1.46092271e-04 -5.00286283e-04 9.99999864e-01 8.89593722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.942557844 meters 0.2835669689500007 Centerline is valid? [False, False] Translation: X:3.56, Y:0.35, Z:0.89 [[ 9.99997405e-01 -2.27602132e-03 9.52613356e-05 3.56237583e+00] [ 2.27594529e-03 9.99997097e-01 7.90729288e-04 3.48412739e-01] [-9.70607758e-05 -7.90510427e-04 9.99999683e-01 8.89527745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.002557844 meters 0.2855237280833669 Centerline is valid? [False, False] Translation: X:3.59, Y:0.35, Z:0.89 [[ 9.99992340e-01 3.53938574e-03 1.67140192e-03 3.58692075e+00] [-3.53643404e-03 9.99992188e-01 -1.76566904e-03 3.47800012e-01] [-1.67763825e-03 1.75974472e-03 9.99997044e-01 8.86865747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.062557844 meters 0.2838690929014032 Centerline is valid? [False, False] Translation: X:3.57, Y:0.35, Z:0.89 [[ 9.99986739e-01 -4.93234427e-03 1.48117966e-03 3.56577765e+00] [ 4.93393528e-03 9.99987253e-01 -1.07242548e-03 3.50407355e-01] [-1.47587121e-03 1.07971930e-03 9.99998328e-01 8.86622938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.122557844 meters 0.2846094869129691 Centerline is valid? [False, False] Translation: X:3.59, Y:0.35, Z:0.89 [[ 9.99987588e-01 3.36171669e-03 3.67737030e-03 3.58501217e+00] [-3.35401924e-03 9.99992176e-01 -2.09736178e-03 3.51232763e-01] [-3.68439227e-03 2.08500178e-03 9.99991039e-01 8.87793059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18255784400003 meters 0.28484275878757903 Centerline is valid? [False, False] Translation: X:3.59, Y:0.35, Z:0.89 [[ 9.99988432e-01 3.21707293e-03 3.57577520e-03 3.58529936e+00] [-3.20806715e-03 9.99991675e-01 -2.52144184e-03 3.53001489e-01] [-3.58385709e-03 2.50994134e-03 9.99990428e-01 8.87661490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters 0.2859847133310936 Centerline is valid? [False, False] Translation: X:3.59, Y:0.36, Z:0.89 [[ 9.99989007e-01 3.00014918e-03 3.60356909e-03 3.58510760e+00] [-2.98872445e-03 9.99990504e-01 -3.17160558e-03 3.55652725e-01] [-3.61305016e-03 3.16080063e-03 9.99988478e-01 8.87938253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.302557844 meters 0.28494473807635173 Centerline is valid? [False, False] Translation: X:3.57, Y:0.36, Z:0.89 [[ 9.99984508e-01 -5.00625594e-03 2.43342758e-03 3.56542286e+00] [ 5.01289901e-03 9.99983705e-01 -2.73153000e-03 3.62312316e-01] [-2.41971319e-03 2.74368621e-03 9.99993309e-01 8.87258245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.362557844 meters 0.2848913253674665 Centerline is valid? [False, False] Translation: X:3.57, Y:0.36, Z:0.89 [[ 9.99984854e-01 -5.00732874e-03 2.28447766e-03 3.56581498e+00] [ 5.01358079e-03 9.99983680e-01 -2.73928620e-03 3.62330368e-01] [-2.27072387e-03 2.75069812e-03 9.99993639e-01 8.87216712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.422557844 meters 0.28518225663342617 Centerline is valid? [False, False] Translation: X:3.59, Y:0.36, Z:0.89 [[ 9.99992123e-01 3.38167933e-03 2.07788517e-03 3.58669095e+00] [-3.37514612e-03 9.99989375e-01 -3.13966585e-03 3.57061622e-01] [-2.08848043e-03 3.13262796e-03 9.99992912e-01 8.88046051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.482557844 meters 0.28573333114616145 Centerline is valid? [False, False] Translation: X:3.59, Y:0.35, Z:0.89 [[ 9.99990967e-01 3.72002294e-03 2.05594503e-03 3.58664773e+00] [-3.71585541e-03 9.99991041e-01 -2.02717895e-03 3.52518468e-01] [-2.06346776e-03 2.01952104e-03 9.99995832e-01 8.88277801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.542557844 meters 0.2850020440455922 Centerline is valid? [False, False] Translation: X:3.59, Y:0.35, Z:0.89 [[ 9.99989739e-01 4.02562201e-03 2.07732998e-03 3.58644838e+00] [-4.02317906e-03 9.99991212e-01 -1.17884756e-03 3.48996416e-01] [-2.08205732e-03 1.17047799e-03 9.99997148e-01 8.88608288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.602557844 meters 0.28590515683990514 Centerline is valid? [False, False] Translation: X:3.61, Y:0.35, Z:0.89 [[ 9.99980055e-01 -4.90045728e-03 3.98431269e-03 3.60623458e+00] [ 4.89831545e-03 9.99987853e-01 5.47145432e-04 3.45880402e-01] [-3.98694555e-03 -5.27618099e-04 9.99991913e-01 8.88569413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.662557844 meters 0.2853038949938986 Centerline is valid? [False, False] Translation: X:3.59, Y:0.34, Z:0.89 [[ 9.99986177e-01 3.83576518e-03 3.59610981e-03 3.58634888e+00] [-3.83498881e-03 9.99992622e-01 -2.22761266e-04 3.39043159e-01] [-3.59693774e-03 2.08967146e-04 9.99993509e-01 8.87071670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.722557844 meters 0.285453279244798 Centerline is valid? [False, False] Translation: X:3.59, Y:0.34, Z:0.89 [[ 9.99985487e-01 3.93775649e-03 3.67686814e-03 3.58603324e+00] [-3.93787805e-03 9.99992246e-01 2.58213243e-05 3.37955542e-01] [-3.67673796e-03 -4.03000079e-05 9.99993240e-01 8.87341036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.782557844 meters 0.28572118143414993 Centerline is valid? [False, False] Translation: X:3.59, Y:0.34, Z:0.89 [[ 9.99984377e-01 4.15393438e-03 3.74052432e-03 3.58601508e+00] [-4.15606577e-03 9.99991205e-01 5.62217505e-04 3.35711633e-01] [-3.73815601e-03 -5.77754587e-04 9.99992846e-01 8.87079636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.842557844 meters 0.284589634872562 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:0.89 [[ 9.99997299e-01 -2.31767856e-03 -1.75358861e-04 3.56550627e+00] [ 2.31814645e-03 9.99993623e-01 2.71672766e-03 3.30964400e-01] [ 1.69061242e-04 -2.71712683e-03 9.99996294e-01 8.88191548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.902557844 meters 0.28668212418479655 Centerline is valid? [False, False] Translation: X:3.59, Y:0.33, Z:0.89 [[ 9.99994120e-01 3.24411430e-03 1.11177976e-03 3.58935771e+00] [-3.24389809e-03 9.99994719e-01 -1.96215232e-04 3.29458811e-01] [-1.11241044e-03 1.92607578e-04 9.99999363e-01 8.86551915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.962557844 meters 0.2853847658891156 Centerline is valid? [False, False] Translation: X:3.59, Y:0.33, Z:0.89 [[ 9.99993211e-01 3.45988470e-03 1.26765029e-03 3.58886557e+00] [-3.46028554e-03 9.99993964e-01 3.14154184e-04 3.27306942e-01] [-1.26655571e-03 -3.18538483e-04 9.99999147e-01 8.86819008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.022557844 meters 0.2860131812657253 Centerline is valid? [False, False] Translation: X:3.59, Y:0.33, Z:0.89 [[ 9.99992784e-01 3.50883337e-03 1.45592123e-03 3.58828372e+00] [-3.50947847e-03 9.99993745e-01 4.40770045e-04 3.26773962e-01] [-1.45436553e-03 -4.45876389e-04 9.99998843e-01 8.87094303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.082557844 meters 0.2849582643465914 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:0.89 [[ 9.99988968e-01 -4.39863783e-03 -1.64773049e-03 3.56975877e+00] [ 4.40115041e-03 9.99989153e-01 1.52436009e-03 3.26330175e-01] [ 1.64100751e-03 -1.53159518e-03 9.99997481e-01 8.86152871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.142557844 meters 0.28571083003502734 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99993406e-01 3.57092850e-03 -6.60499555e-04 3.58972393e+00] [-3.57057369e-03 9.99993481e-01 5.37587768e-04 3.22546499e-01] [ 6.62414937e-04 -5.35225861e-04 9.99999637e-01 8.87339894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.202557844 meters 0.2867966024537653 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99992599e-01 3.82475704e-03 -4.16603678e-04 3.58876801e+00] [-3.82420384e-03 9.99991816e-01 1.32067071e-03 3.19191013e-01] [ 4.21651513e-04 -1.31906776e-03 9.99999041e-01 8.88236213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.262557844 meters 0.2861407490531232 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99991770e-01 4.04586931e-03 -3.02687346e-04 3.58841468e+00] [-4.04528143e-03 9.99989978e-01 1.91826355e-03 3.16719245e-01] [ 3.10445356e-04 -1.91702330e-03 9.99998114e-01 8.88401658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.322557844 meters 0.28601441448622955 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99991198e-01 4.18025556e-03 -3.60993564e-04 3.58891504e+00] [-4.17942418e-03 9.99988681e-01 2.27386468e-03 3.15254154e-01] [ 3.70494813e-04 -2.27233591e-03 9.99997350e-01 8.87598688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.382557844 meters 0.28592533030492306 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99991530e-01 4.10774976e-03 -2.56965728e-04 3.58863365e+00] [-4.10720558e-03 9.99989395e-01 2.08358283e-03 3.16043059e-01] [ 2.65521839e-04 -2.08250977e-03 9.99997796e-01 8.87625873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.442557844 meters 0.2862753214179139 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99992144e-01 3.96355003e-03 -3.57448303e-05 3.58818625e+00] [-3.96348768e-03 9.99990862e-01 1.60218022e-03 3.18000059e-01] [ 4.20948251e-05 -1.60202596e-03 9.99998716e-01 8.87386316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.502557844 meters 0.28591342353606686 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99992936e-01 3.75803316e-03 -7.16512110e-05 3.58847353e+00] [-3.75795761e-03 9.99992412e-01 1.02695267e-03 3.20404159e-01] [ 7.55099895e-05 -1.02667615e-03 9.99999470e-01 8.86864233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.562557844 meters 0.28656846464175373 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99994078e-01 3.43877864e-03 -1.34740715e-04 3.58856797e+00] [-3.43874464e-03 9.99994056e-01 2.51775325e-04 3.23674142e-01] [ 1.35605713e-04 -2.51310495e-04 9.99999959e-01 8.86959438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.622557844 meters 0.2869462592223645 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99994249e-01 3.38874144e-03 -1.39236710e-04 3.58836191e+00] [-3.38872450e-03 9.99994251e-01 1.21719016e-04 3.24226609e-01] [ 1.39648384e-04 -1.21246481e-04 9.99999983e-01 8.87429508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68255784400003 meters 0.28547308789081016 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:0.89 [[ 9.99988255e-01 -4.58773471e-03 -1.56256460e-03 3.56797716e+00] [ 4.58956492e-03 9.99988784e-01 1.16971794e-03 3.25740928e-01] [ 1.55718072e-03 -1.17687569e-03 9.99998095e-01 8.86572620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters 0.28700607221454916 Centerline is valid? [False, False] Translation: X:3.57, Y:0.33, Z:0.89 [[ 9.99987771e-01 -4.53856601e-03 -1.96438201e-03 3.56922368e+00] [ 4.54119208e-03 9.99988798e-01 1.33444910e-03 3.25002973e-01] [ 1.95830352e-03 -1.34335342e-03 9.99997180e-01 8.85871785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.802557844 meters 0.2853828198291014 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:0.89 [[ 9.99988007e-01 -4.43605174e-03 -2.07544494e-03 3.56929385e+00] [ 4.43939717e-03 9.99988850e-01 1.61008958e-03 3.23857924e-01] [ 2.06827936e-03 -1.61928399e-03 9.99996550e-01 8.86359884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.862557844 meters 0.28604398903808953 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:0.89 [[ 9.99988532e-01 -4.27085781e-03 -2.16672575e-03 3.56946570e+00] [ 4.27527945e-03 9.99988780e-01 2.04019171e-03 3.22061724e-01] [ 2.15798807e-03 -2.04943167e-03 9.99995571e-01 8.86543445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.922557844 meters 0.2872803133629635 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99992136e-01 3.77878314e-03 -1.20384015e-03 3.59039045e+00] [-3.77738496e-03 9.99992191e-01 1.16159643e-03 3.19196884e-01] [ 1.20822017e-03 -1.15703993e-03 9.99998601e-01 8.87455522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.982557844 meters 0.2875497849930266 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99992720e-01 3.68383745e-03 -9.94783142e-04 3.58984456e+00] [-3.68295177e-03 9.99992821e-01 8.90698652e-04 3.20303228e-01] [ 9.98057190e-04 -8.87028430e-04 9.99999109e-01 8.87507388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.042557844 meters 0.28723479983865485 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99993430e-01 3.53830636e-03 -7.87633137e-04 3.58930280e+00] [-3.53795604e-03 9.99993642e-01 4.45720280e-04 3.22112212e-01] [ 7.89205224e-04 -4.42930740e-04 9.99999590e-01 8.87547814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.102557844 meters 0.2866459565787659 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99994189e-01 3.35876929e-03 -5.84000092e-04 3.58867276e+00] [-3.35886933e-03 9.99994344e-01 -1.70404038e-04 3.24573918e-01] [ 5.83424441e-04 1.72364627e-04 9.99999815e-01 8.87816303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.162557844 meters 0.28664782595107713 Centerline is valid? [False, False] Translation: X:3.59, Y:0.33, Z:0.89 [[ 9.99994848e-01 3.19263608e-03 -3.34177049e-04 3.58795179e+00] [-3.19284203e-03 9.99994712e-01 -6.17609283e-04 3.26444886e-01] [ 3.32203480e-04 6.18673076e-04 9.99999753e-01 8.88014139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.222557844 meters 0.2870878600404309 Centerline is valid? [False, False] Translation: X:3.61, Y:0.33, Z:0.89 [[ 9.99995456e-01 -2.76261232e-03 1.20688726e-03 3.60981823e+00] [ 2.75913054e-03 9.99992055e-01 2.87712760e-03 3.29163268e-01] [-1.21482606e-03 -2.87378457e-03 9.99995133e-01 8.87141162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.282557844 meters 0.2857503435773182 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99982770e-01 5.76809954e-03 1.09061302e-03 3.59072591e+00] [-5.76995873e-03 9.99981893e-01 1.70933616e-03 3.22603751e-01] [-1.08073365e-03 -1.71559950e-03 9.99997944e-01 8.86375845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.342557844 meters 0.2855142828126738 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99998188e-01 1.52919448e-03 1.13392414e-03 3.59070733e+00] [-1.52648423e-03 9.99995986e-01 -2.38718045e-03 3.21631331e-01] [-1.13757005e-03 2.38544521e-03 9.99996508e-01 8.86139081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.402557844 meters 0.2862547973770114 Centerline is valid? [False, False] Translation: X:3.59, Y:0.32, Z:0.89 [[ 9.99997598e-01 1.91314289e-03 1.06936453e-03 3.59091801e+00] [-1.91194938e-03 9.99997549e-01 -1.11600357e-03 3.16569924e-01] [-1.07149699e-03 1.11395632e-03 9.99998805e-01 8.86093316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.462557844 meters 0.28714676111293685 Centerline is valid? [False, False] Translation: X:3.61, Y:0.31, Z:0.89 [[ 9.99970215e-01 -7.45089745e-03 2.01340487e-03 3.61260668e+00] [ 7.45116609e-03 9.99972232e-01 -1.25957250e-04 3.13974837e-01] [-2.01241046e-03 1.40955713e-04 9.99997965e-01 8.85340758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.522557844 meters 0.28664044568596747 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:0.88 [[ 9.99982627e-01 -1.92669227e-03 5.57085146e-03 3.59944094e+00] [ 1.93142859e-03 9.99997778e-01 -8.44941341e-04 3.04055068e-01] [-5.56921114e-03 8.55686363e-04 9.99984126e-01 8.79682588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.582557844 meters 0.2862388708969514 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:0.88 [[ 9.99965979e-01 6.57816758e-03 4.97685269e-03 3.58044427e+00] [-6.57046973e-03 9.99977195e-01 -1.56150419e-03 2.96214475e-01] [-4.98701103e-03 1.52875081e-03 9.99986396e-01 8.78321069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.642557844 meters 0.2867766550549401 Centerline is valid? [False, False] Translation: X:3.60, Y:0.29, Z:0.88 [[ 9.99981487e-01 -2.94788693e-03 5.32311216e-03 3.60256102e+00] [ 2.95092511e-03 9.99995488e-01 -5.62988008e-04 2.92688618e-01] [-5.32142851e-03 5.78685690e-04 9.99985674e-01 8.77916627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.702557844 meters 0.2855423515674884 Centerline is valid? [False, False] Translation: X:3.60, Y:0.29, Z:0.88 [[ 9.99981300e-01 -2.62595103e-03 5.52313284e-03 3.60177372e+00] [ 2.62263211e-03 9.99996376e-01 6.08068543e-04 2.88079797e-01] [-5.52470958e-03 -5.93572026e-04 9.99984563e-01 8.78846104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.762557844 meters 0.28559760152588803 Centerline is valid? [False, False] Translation: X:3.60, Y:0.28, Z:0.88 [[ 9.99960106e-01 -6.27241981e-03 6.35942690e-03 3.59933351e+00] [ 6.28119489e-03 9.99979347e-01 -1.36082157e-03 2.78266883e-01] [-6.35075992e-03 1.40071208e-03 9.99978853e-01 8.80481365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.822557844 meters 0.28427785133442557 Centerline is valid? [False, False] Translation: X:3.58, Y:0.27, Z:0.88 [[ 9.99987466e-01 2.02429819e-03 4.57929005e-03 3.58169854e+00] [-2.01729853e-03 9.99996791e-01 -1.53264993e-03 2.65710810e-01] [-4.58237790e-03 1.52339293e-03 9.99988340e-01 8.79064962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.882557844 meters 0.2852640057449305 Centerline is valid? [False, False] Translation: X:3.59, Y:0.26, Z:0.88 [[ 9.99996508e-01 1.37824332e-04 2.63905473e-03 3.58826269e+00] [-1.31490653e-04 9.99997111e-01 -2.40000348e-03 2.56688872e-01] [-2.63937789e-03 2.39964809e-03 9.99993638e-01 8.76263932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.942557844 meters 0.28549018872383514 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:0.88 [[ 9.99996222e-01 3.56471478e-04 2.72563481e-03 3.58817899e+00] [-3.51300971e-04 9.99998139e-01 -1.89723536e-03 2.54585030e-01] [-2.72630604e-03 1.89627067e-03 9.99994486e-01 8.76064099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.002557844 meters 0.28490371512422263 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:0.88 [[ 9.99995347e-01 5.78098202e-04 2.99531278e-03 3.58752622e+00] [-5.74395282e-04 9.99999070e-01 -1.23695089e-03 2.52141588e-01] [-2.99602507e-03 1.23522464e-03 9.99994749e-01 8.76203515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.062557844 meters 0.2854897857608961 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:0.88 [[ 9.99995437e-01 6.19375515e-04 2.95675337e-03 3.58775414e+00] [-6.16076224e-04 9.99999187e-01 -1.11662990e-03 2.51652598e-01] [-2.95744258e-03 1.11480322e-03 9.99995005e-01 8.75903607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.122557844 meters 0.28605058810080003 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:0.88 [[ 9.99995206e-01 6.65533776e-04 3.02407274e-03 3.58775858e+00] [-6.62561333e-04 9.99999297e-01 -9.83822672e-04 2.51105603e-01] [-3.02472538e-03 9.81814322e-04 9.99994944e-01 8.75521352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18255784400003 meters 0.28675138180343973 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:0.88 [[ 9.99994893e-01 9.60458439e-04 3.04804414e-03 3.58779847e+00] [-9.59590501e-04 9.99999499e-01 -2.86202030e-04 2.48149434e-01] [-3.04831750e-03 2.83275694e-04 9.99995314e-01 8.75410284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters 0.28653944375684753 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:0.88 [[ 9.99994884e-01 1.24961830e-03 2.94448997e-03 3.58812751e+00] [-1.25143396e-03 9.99999028e-01 6.14866509e-04 2.44487890e-01] [-2.94371876e-03 -6.18548198e-04 9.99995476e-01 8.75305136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.302557844 meters 0.28629824076272636 Centerline is valid? [False, False] Translation: X:3.61, Y:0.24, Z:0.88 [[ 9.99962830e-01 -7.56923315e-03 4.12871413e-03 3.60887785e+00] [ 7.56234880e-03 9.99969993e-01 1.68050297e-03 2.44080769e-01] [-4.14131036e-03 -1.64921773e-03 9.99990065e-01 8.75848181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.362557844 meters 0.2854144702699736 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99991714e-01 3.06986587e-04 4.05934570e-03 3.59098676e+00] [-3.09393790e-04 9.99999777e-01 5.92388060e-04 2.34027866e-01] [-4.05916294e-03 -5.93639088e-04 9.99991585e-01 8.74052316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.422557844 meters 0.28511358150875277 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99991629e-01 3.70148762e-04 4.07482418e-03 3.59081786e+00] [-3.73204808e-04 9.99999650e-01 7.49247588e-04 2.33371136e-01] [-4.07454542e-03 -7.50762060e-04 9.99991417e-01 8.74349678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.482557844 meters 0.2856301002080477 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99991948e-01 3.81611630e-04 3.99483652e-03 3.59123646e+00] [-3.84740164e-04 9.99999620e-01 7.82405308e-04 2.33222346e-01] [-3.99453642e-03 -7.83935982e-04 9.99991715e-01 8.73876694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.542557844 meters 0.2864492653983968 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99992673e-01 4.15592078e-04 3.80547276e-03 3.59186108e+00] [-4.18934825e-04 9.99999527e-01 8.77650253e-04 2.32782784e-01] [-3.80510621e-03 -8.79238067e-04 9.99992374e-01 8.73549728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.602557844 meters 0.28459102705221095 Centerline is valid? [False, False] Translation: X:3.55, Y:0.23, Z:0.87 [[ 9.99986802e-01 -7.51293372e-04 5.08252450e-03 3.55127246e+00] [ 7.50393141e-04 9.99999702e-01 1.79027345e-04 2.28597283e-01] [-5.08265749e-03 -1.75211090e-04 9.99987068e-01 8.71594995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.662557844 meters 0.28595718701173084 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.88 [[ 9.99988167e-01 -6.92211816e-04 4.81528960e-03 3.58774761e+00] [ 6.91094082e-04 9.99999734e-01 2.33781920e-04 2.30756677e-01] [-4.81545014e-03 -2.30451335e-04 9.99988379e-01 8.76131801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.722557844 meters 0.28485014166437356 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.88 [[ 9.99987800e-01 -7.39334084e-04 4.88404526e-03 3.58767032e+00] [ 7.38784709e-04 9.99999721e-01 1.14286729e-04 2.31260434e-01] [-4.88412839e-03 -1.10677076e-04 9.99988066e-01 8.75899920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.782557844 meters 0.284287719778279 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99989088e-01 -9.71399757e-04 4.56939219e-03 3.58870912e+00] [ 9.74735874e-04 9.99999260e-01 -7.27930475e-04 2.34525608e-01] [-4.56868170e-03 7.32376483e-04 9.99989295e-01 8.74924657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.842557844 meters 0.2854855986681275 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:0.88 [[ 9.99987347e-01 -1.15920627e-03 4.89513074e-03 3.58770191e+00] [ 1.16587474e-03 9.99998396e-01 -1.35963274e-03 2.37182702e-01] [-4.89354680e-03 1.36532264e-03 9.99987094e-01 8.75405030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.902557844 meters 0.2843268871035468 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:0.88 [[ 9.99986667e-01 -1.28648932e-03 5.00103473e-03 3.58727489e+00] [ 1.29498964e-03 9.99997722e-01 -1.69684675e-03 2.38617126e-01] [-4.99884036e-03 1.70330041e-03 9.99986055e-01 8.75755487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.962557844 meters 0.28494705074604093 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:0.88 [[ 9.99988204e-01 -1.20962711e-03 4.70420846e-03 3.58796946e+00] [ 1.21642683e-03 9.99998219e-01 -1.44286108e-03 2.37592284e-01] [-4.70245476e-03 1.44856638e-03 9.99987894e-01 8.75832647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.022557844 meters 0.28498352782587694 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:0.88 [[ 9.99990051e-01 -1.02330861e-03 4.34167491e-03 3.58904428e+00] [ 1.02692731e-03 9.99999127e-01 -8.31333170e-04 2.35054779e-01] [-4.34082041e-03 8.35783484e-04 9.99990229e-01 8.75356435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.082557844 meters 0.2838880188909986 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.88 [[ 9.99992144e-01 -6.60168273e-04 3.90850899e-03 3.59023414e+00] [ 6.58860480e-04 9.99999727e-01 3.35879509e-04 2.30203480e-01] [-3.90872966e-03 -3.33301709e-04 9.99992305e-01 8.75062411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.142557844 meters 0.28513654759232426 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99992749e-01 -3.74738556e-04 3.78956978e-03 3.59067666e+00] [ 3.70805935e-04 9.99999392e-01 1.03839796e-03 2.27230128e-01] [-3.78995660e-03 -1.03698523e-03 9.99992280e-01 8.74820253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.202557844 meters 0.2837691537308556 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:0.87 [[ 9.99992334e-01 -1.81896078e-04 3.91138955e-03 3.59041131e+00] [ 1.75941458e-04 9.99998825e-01 1.52266978e-03 2.25211292e-01] [-3.91166193e-03 -1.52196993e-03 9.99991191e-01 8.74819830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.262557844 meters 0.2870817844879829 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:0.87 [[ 9.99991155e-01 -6.07744862e-05 4.20542570e-03 3.58966103e+00] [ 5.29839258e-05 9.99998283e-01 1.85258883e-03 2.23903851e-01] [-4.20553107e-03 -1.85234963e-03 9.99989441e-01 8.74958587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.322557844 meters 0.2842295910701179 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:0.87 [[ 9.99991500e-01 -1.30148715e-05 4.12315194e-03 3.58996741e+00] [ 4.89421018e-06 9.99998060e-01 1.96953150e-03 2.23376492e-01] [-4.12316958e-03 -1.96949458e-03 9.99989560e-01 8.74747651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.382557844 meters 0.2847028613640126 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:0.88 [[ 9.99990604e-01 -1.02751734e-05 4.33491650e-03 3.58929473e+00] [ 1.70815531e-06 9.99998047e-01 1.97628122e-03 2.23404984e-01] [-4.33492834e-03 -1.97625524e-03 9.99988651e-01 8.75105054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.442557844 meters 0.28426293377857215 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:0.88 [[ 9.99990580e-01 1.23005247e-04 4.33881369e-03 3.58899752e+00] [-1.33086340e-04 9.99997292e-01 2.32325532e-03 2.21947923e-01] [-4.33851617e-03 -2.32381087e-03 9.99987889e-01 8.75793009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.502557844 meters 0.28510977325221293 Centerline is valid? [False, False] Translation: X:3.59, Y:0.22, Z:0.88 [[ 9.99991807e-01 3.82930658e-04 4.02978364e-03 3.58961057e+00] [-3.96009734e-04 9.99994656e-01 3.24530528e-03 2.18279728e-01] [-4.02851938e-03 -3.24687452e-03 9.99986614e-01 8.76179281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.562557844 meters 0.28338817472910655 Centerline is valid? [False, False] Translation: X:3.59, Y:0.21, Z:0.88 [[ 9.99986201e-01 -3.55613511e-03 3.86675461e-03 3.59013737e+00] [ 3.55676528e-03 9.99993663e-01 -1.56106944e-04 2.14203848e-01] [-3.86617497e-03 1.69857928e-04 9.99992512e-01 8.75972058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.622557844 meters 0.28320135676324426 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:0.88 [[ 9.99994095e-01 1.84533345e-03 2.89903516e-03 3.56735963e+00] [-1.83590263e-03 9.99993026e-01 -3.25238887e-03 2.08082311e-01] [-2.90501668e-03 3.24704732e-03 9.99990509e-01 8.77181006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68255784400003 meters 0.2845164745004804 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:0.88 [[ 9.99991213e-01 3.29205816e-03 2.59531683e-03 3.60515563e+00] [-3.28774045e-03 9.99993207e-01 -1.66617159e-03 2.06232623e-01] [-2.60078433e-03 1.65762423e-03 9.99995244e-01 8.80727938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters 0.2879908231008666 Centerline is valid? [False, False] Translation: X:3.61, Y:0.21, Z:0.88 [[ 9.99990843e-01 3.34374649e-03 2.67090788e-03 3.60506476e+00] [-3.33964603e-03 9.99993240e-01 -1.53821816e-03 2.05693965e-01] [-2.67603324e-03 1.52928419e-03 9.99995250e-01 8.80530619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.802557844 meters 0.283293071127158 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:0.88 [[ 9.99996679e-01 -2.55203692e-03 3.58831028e-04 3.58314504e+00] [ 2.55147564e-03 9.99995534e-01 1.55603281e-03 2.06319085e-01] [-3.62800479e-04 -1.55511209e-03 9.99998725e-01 8.81409178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.862557844 meters 0.28435085037068397 Centerline is valid? [False, False] Translation: X:3.60, Y:0.21, Z:0.88 [[ 9.99982852e-01 4.26691967e-03 4.01104616e-03 3.60308872e+00] [-4.26322924e-03 9.99990482e-01 -9.28167899e-04 2.09663449e-01] [-4.01496840e-03 9.11051974e-04 9.99991525e-01 8.80688323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.922557844 meters 0.2841647786416067 Centerline is valid? [False, False] Translation: X:3.60, Y:0.21, Z:0.88 [[ 9.99982856e-01 4.22870459e-03 4.05036553e-03 3.60288372e+00] [-4.22459482e-03 9.99990553e-01 -1.02268445e-03 2.10083240e-01] [-4.05465190e-03 1.00555576e-03 9.99991274e-01 8.80908464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.982557844 meters 0.28696901163549254 Centerline is valid? [False, False] Translation: X:3.60, Y:0.21, Z:0.88 [[ 9.99983288e-01 4.32230371e-03 3.83933222e-03 3.60353844e+00] [-4.31942300e-03 9.99990384e-01 -7.58291610e-04 2.08953190e-01] [-3.84257287e-03 7.41695237e-04 9.99992342e-01 8.80641215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.042557844 meters 0.286693728296243 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.88 [[ 9.99985547e-01 -5.26387165e-03 1.09432515e-03 3.58324511e+00] [ 5.26420742e-03 9.99986098e-01 -3.04178352e-04 2.03404422e-01] [-1.09270878e-03 3.09934711e-04 9.99999355e-01 8.81055387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.102557844 meters 0.2842529380245327 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.88 [[ 9.99992422e-01 3.44926109e-03 1.80524313e-03 3.60380270e+00] [-3.44780982e-03 9.99993731e-01 -8.06418232e-04 1.97552280e-01] [-1.80801336e-03 8.00187986e-04 9.99998045e-01 8.82086032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.162557844 meters 0.2822907763698721 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:0.88 [[ 9.99994379e-01 -2.71368372e-03 -1.96911876e-03 3.58263233e+00] [ 2.71834111e-03 9.99993505e-01 2.36640559e-03 1.90030870e-01] [ 1.96268430e-03 -2.37174502e-03 9.99995261e-01 8.83936409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.222557844 meters 0.2856528420090662 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.88 [[ 9.99994516e-01 3.06121234e-03 -1.26367828e-03 3.60564943e+00] [-3.06221329e-03 9.99994999e-01 -7.90921862e-04 1.84506309e-01] [ 1.26125078e-03 7.94787177e-04 9.99998889e-01 8.83542353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.282557844 meters 0.28468517494855705 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:0.88 [[ 9.99980593e-01 -5.21439982e-03 -3.40944746e-03 3.58764416e+00] [ 5.21834281e-03 9.99985725e-01 1.14861844e-03 1.83739173e-01] [ 3.40340944e-03 -1.16638781e-03 9.99993528e-01 8.82224338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.342557844 meters 0.2840897043130909 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.88 [[ 9.99995672e-01 2.74460622e-03 -1.06004960e-03 3.60693261e+00] [-2.74495652e-03 9.99996178e-01 -3.29138626e-04 1.81561341e-01] [ 1.05914220e-03 3.32046991e-04 9.99999384e-01 8.83025048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.402557844 meters 0.2881292877446488 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.88 [[ 9.99995143e-01 2.88433893e-03 -1.18076819e-03 3.60743663e+00] [-2.88430410e-03 9.99995840e-01 3.11941272e-05 1.79999236e-01] [ 1.18085325e-03 -2.77882812e-05 9.99999302e-01 8.82623318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.462557844 meters 0.28360371840205695 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:0.88 [[ 9.99999298e-01 1.10550343e-03 -4.26645149e-04 3.56663063e+00] [-1.10583568e-03 9.99999085e-01 -7.79295323e-04 1.75913981e-01] [ 4.25783245e-04 7.79766576e-04 9.99999605e-01 8.80508506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.522557844 meters 0.28479908822342015 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:0.88 [[ 9.99999184e-01 1.24054262e-03 -3.05409807e-04 3.56613741e+00] [-1.24066252e-03 9.99999153e-01 -3.92740201e-04 1.74292021e-01] [ 3.04922337e-04 3.93118791e-04 9.99999876e-01 8.81011476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.582557844 meters 0.2857608260427959 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:0.88 [[ 9.99988214e-01 -4.29494419e-03 2.26391105e-03 3.58755301e+00] [ 4.28770432e-03 9.99985710e-01 3.19315757e-03 1.72744324e-01] [-2.27759313e-03 -3.18341295e-03 9.99992339e-01 8.80296831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.642557844 meters 0.2827611320474626 Centerline is valid? [False, False] Translation: X:3.54, Y:0.17, Z:0.88 [[ 9.99986201e-01 -5.11887161e-03 -1.18102680e-03 3.54455488e+00] [ 5.12252133e-03 9.99982049e-01 3.10824787e-03 1.65176989e-01] [ 1.16509488e-03 -3.11425481e-03 9.99994472e-01 8.81874399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.702557844 meters 0.28325708527999316 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:0.88 [[ 9.99995441e-01 2.97862898e-03 4.95961276e-04 3.56323547e+00] [-2.97946882e-03 9.99994114e-01 1.70130936e-03 1.61678630e-01] [-4.90890788e-04 -1.70277930e-03 9.99998430e-01 8.84024402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.762557844 meters 0.283909222053761 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.88 [[ 9.99987139e-01 4.85038329e-03 1.48166232e-03 3.60556020e+00] [-4.85453787e-03 9.99984259e-01 2.81339536e-03 1.65429867e-01] [-1.46799296e-03 -2.82055197e-03 9.99994945e-01 8.84151974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.822557844 meters 0.28538244154846065 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:0.88 [[ 9.99987548e-01 4.67127651e-03 1.75569368e-03 3.60465309e+00] [-4.67526539e-03 9.99986484e-01 2.27477653e-03 1.67754497e-01] [-1.74504384e-03 -2.28295654e-03 9.99995871e-01 8.84645888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.882557844 meters 0.2850671855595818 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:0.88 [[ 9.99988583e-01 4.45661583e-03 1.72405765e-03 3.60487850e+00] [-4.45954528e-03 9.99988613e-01 1.69906361e-03 1.70155644e-01] [-1.71646594e-03 -1.70673273e-03 9.99997070e-01 8.84258057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.942557844 meters 0.28412448448534716 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.88 [[ 9.99989698e-01 4.21431586e-03 1.68606488e-03 3.60516424e+00] [-4.21609897e-03 9.99990555e-01 1.05540426e-03 1.72848319e-01] [-1.68160115e-03 -1.06250201e-03 9.99998022e-01 8.83766098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.002557844 meters 0.28393984274643536 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:0.88 [[ 9.99990014e-01 4.09385380e-03 1.79236066e-03 3.60460777e+00] [-4.09521268e-03 9.99991329e-01 7.55138704e-04 1.74214183e-01] [-1.78925369e-03 -7.62471261e-04 9.99998109e-01 8.84360332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.062557844 meters 0.285088009107457 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:0.89 [[ 9.99996592e-01 -2.60517463e-03 -1.72117186e-04 3.58145441e+00] [ 2.60571258e-03 9.99991476e-01 3.20294072e-03 1.75028140e-01] [ 1.63771499e-04 -3.20337829e-03 9.99994856e-01 8.86106067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.122557844 meters 0.2836487523025454 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:0.89 [[ 9.99975431e-01 7.00707412e-03 1.94786930e-04 3.60445225e+00] [-7.00760238e-03 9.99971361e-01 2.85831102e-03 1.75624236e-01] [-1.74752955e-04 -2.85960578e-03 9.99995896e-01 8.85244385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18255784400003 meters 0.283851029677858 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:0.89 [[ 9.99996920e-01 2.47040162e-03 2.37947932e-04 3.60420858e+00] [-2.46992419e-03 9.99994977e-01 -1.98627753e-03 1.78234898e-01] [-2.42853640e-04 1.98568370e-03 9.99997999e-01 8.85321126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters 0.2842879329018714 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:0.89 [[ 9.99997136e-01 2.38295693e-03 2.21059904e-04 3.60407734e+00] [-2.38246377e-03 9.99994731e-01 -2.20497779e-03 1.79164077e-01] [-2.26313107e-04 2.20444481e-03 9.99997545e-01 8.85682435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.302557844 meters 0.2877316318891741 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:0.89 [[ 9.99997457e-01 2.25013314e-03 1.52558261e-04 3.60436322e+00] [-2.24974043e-03 9.99994276e-01 -2.52721568e-03 1.80541386e-01] [-1.58243960e-04 2.52686604e-03 9.99996795e-01 8.85409227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.362557844 meters 0.28505606583161885 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:0.89 [[ 9.99990597e-01 -3.73986926e-03 -2.19514404e-03 3.58085408e+00] [ 3.74014413e-03 9.99992998e-01 1.21127485e-04 1.81830633e-01] [ 2.19467567e-03 -1.29336501e-04 9.99997583e-01 8.87626026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.422557844 meters 0.28583696937039527 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:0.89 [[ 9.99986975e-01 4.96932025e-03 -1.16398769e-03 3.60133580e+00] [-4.97108894e-03 9.99986486e-01 -1.52157669e-03 1.85503562e-01] [ 1.15641076e-03 1.52734316e-03 9.99998165e-01 8.88374657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.482557844 meters 0.28265573754897744 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:0.89 [[ 9.99990560e-01 -3.46779919e-03 -2.61802459e-03 3.58229601e+00] [ 3.46575992e-03 9.99993688e-01 -7.83070164e-04 1.91320791e-01] [ 2.62072360e-03 7.73989327e-04 9.99996266e-01 8.86733768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.542557844 meters 0.28393892522157904 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99982874e-01 5.82370380e-03 -5.80666968e-04 3.60453193e+00] [-5.82454293e-03 9.99981980e-01 -1.45404638e-03 1.98221073e-01] [ 5.72188569e-04 1.45740359e-03 9.99998774e-01 8.85879436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.602557844 meters 0.28289733346639184 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99984561e-01 5.53885338e-03 -4.47008494e-04 3.60380336e+00] [-5.53979503e-03 9.99982379e-01 -2.13353849e-03 2.01213159e-01] [ 4.35183260e-04 2.13598188e-03 9.99997624e-01 8.86632592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.662557844 meters 0.282955833561044 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99986181e-01 5.24282072e-03 -3.87265210e-04 3.60348964e+00] [-5.24389785e-03 9.99982233e-01 -2.83479000e-03 2.04171139e-01] [ 3.72396033e-04 2.83678161e-03 9.99995907e-01 8.86890792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.722557844 meters 0.2832857165080664 Centerline is valid? [False, False] Translation: X:3.60, Y:0.21, Z:0.89 [[ 9.99986683e-01 5.12494034e-03 -6.07926733e-04 3.60430537e+00] [-5.12681999e-03 9.99981954e-01 -3.13173840e-03 2.05396734e-01] [ 5.91865790e-04 3.13481343e-03 9.99994911e-01 8.86212547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.782557844 meters 0.28370495560438835 Centerline is valid? [False, False] Translation: X:3.60, Y:0.21, Z:0.89 [[ 9.99986550e-01 5.14025974e-03 -6.90676446e-04 3.60441841e+00] [-5.14237153e-03 9.99982000e-01 -3.09138711e-03 2.05231244e-01] [ 6.74773481e-04 3.09489725e-03 9.99994983e-01 8.86417883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.842557844 meters 0.2849570127068399 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99986034e-01 5.23638812e-03 -7.15619881e-04 3.60437839e+00] [-5.23840313e-03 9.99982237e-01 -2.84351081e-03 2.04202225e-01] [ 7.00717443e-04 2.84721981e-03 9.99995701e-01 8.86662004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.902557844 meters 0.28455624446266437 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99984802e-01 5.46406801e-03 -7.34510939e-04 3.60439761e+00] [-5.46569389e-03 9.99982576e-01 -2.23008069e-03 2.01651577e-01] [ 7.22312829e-04 2.23406141e-03 9.99997244e-01 8.86718016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.962557844 meters 0.28435762834391726 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99983962e-01 5.61555594e-03 -7.35606673e-04 3.60438246e+00] [-5.61692317e-03 9.99982477e-01 -1.86995812e-03 2.00126292e-01] [ 7.25092929e-04 1.87405998e-03 9.99997981e-01 8.86772517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.022557844 meters 0.28472406116933147 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99982929e-01 5.77286432e-03 -9.03528361e-04 3.60490228e+00] [-5.77421922e-03 9.99982198e-01 -1.50421414e-03 1.98539981e-01] [ 8.94828652e-04 1.50940563e-03 9.99998460e-01 8.86603288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.082557844 meters 0.2834243493883858 Centerline is valid? [False, False] Translation: X:3.59, Y:0.20, Z:0.89 [[ 9.99989349e-01 -2.47869209e-03 -3.89343828e-03 3.58579922e+00] [ 2.47729937e-03 9.99996866e-01 -3.62493089e-04 1.98055133e-01] [ 3.89432458e-03 3.52844016e-04 9.99992355e-01 8.86305852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.142557844 meters 0.28416615012772906 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:0.89 [[ 9.99984153e-01 5.56678206e-03 -8.39296328e-04 3.60430777e+00] [-5.56770662e-03 9.99983892e-01 -1.10330520e-03 1.93829383e-01] [ 8.33140949e-04 1.10796068e-03 9.99999039e-01 8.87779690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.202557844 meters 0.2830554408299828 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:0.89 [[ 9.99991782e-01 -3.88972405e-03 -1.14272679e-03 3.58187238e+00] [ 3.88899553e-03 9.99992234e-01 -6.39062568e-04 1.93950029e-01] [ 1.14520369e-03 6.34613257e-04 9.99999143e-01 8.88368839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.262557844 meters 0.2853361674944204 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:0.89 [[ 9.99989748e-01 4.52581116e-03 -1.43580806e-04 3.60191997e+00] [-4.52604935e-03 9.99988305e-01 -1.70441953e-03 1.90943279e-01] [ 1.35865246e-04 1.70505191e-03 9.99998537e-01 8.89698741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.322557844 meters 0.28626855335878576 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:0.89 [[ 9.99990591e-01 -4.06933164e-03 -1.50248760e-03 3.58260560e+00] [ 4.06852471e-03 9.99991578e-01 -5.39731815e-04 1.92455034e-01] [ 1.50467129e-03 5.33613829e-04 9.99998726e-01 8.88416126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.382557844 meters 0.285366816555783 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.89 [[ 9.99985401e-01 5.07790216e-03 -1.84744881e-03 3.60563166e+00] [-5.08007434e-03 9.99986408e-01 -1.17298338e-03 1.91808297e-01] [ 1.84146740e-03 1.18235143e-03 9.99997606e-01 8.88563470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.442557844 meters 0.2866162504438728 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:0.89 [[ 9.99991996e-01 -1.99057222e-03 -3.47077046e-03 3.58380628e+00] [ 1.99493855e-03 9.99997223e-01 1.25502166e-03 1.92093272e-01] [ 3.46826260e-03 -1.26193559e-03 9.99993189e-01 8.89368532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.502557844 meters 0.287430413562619 Centerline is valid? [False, False] Translation: X:3.60, Y:0.20, Z:0.89 [[ 9.99975933e-01 6.90503091e-03 6.73466332e-04 3.60124673e+00] [-6.90516655e-03 9.99976139e-01 1.99278067e-04 1.99440200e-01] [-6.72074242e-04 -2.03923668e-04 9.99999753e-01 8.90134307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.562557844 meters 0.2886008683852566 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:0.89 [[ 9.99997379e-01 -2.27424947e-03 -2.64995931e-04 3.58028585e+00] [ 2.27422499e-03 9.99997410e-01 -9.26268848e-05 2.06966569e-01] [ 2.65205901e-04 9.20239816e-05 9.99999961e-01 8.89682537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.622557844 meters 0.28670451943868297 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:0.89 [[ 9.99997710e-01 5.91764687e-05 -2.13943166e-03 3.62064639e+00] [-5.93694483e-05 9.99999994e-01 -9.01379338e-05 2.20209130e-01] [ 2.13942631e-03 9.02647442e-05 9.99997707e-01 8.92023624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68255784400003 meters 0.2878331767585658 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:0.89 [[ 9.99997941e-01 -2.56265923e-04 -2.01317783e-03 3.61978121e+00] [ 2.54643650e-04 9.99999643e-01 -8.06042125e-04 2.23353683e-01] [ 2.01338367e-03 8.05527822e-04 9.99997649e-01 8.92976076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters 0.28520752221071494 Centerline is valid? [False, False] Translation: X:3.58, Y:0.22, Z:0.89 [[ 9.99999037e-01 -9.51053588e-04 -1.01059193e-03 3.58177062e+00] [ 9.49523931e-04 9.99998405e-01 -1.51302822e-03 2.22113660e-01] [ 1.01202928e-03 1.51206719e-03 9.99998345e-01 8.88876361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.802557844 meters 0.2892564443453764 Centerline is valid? [False, False] Translation: X:3.58, Y:0.22, Z:0.89 [[ 9.99998745e-01 -1.15181320e-03 -1.08810797e-03 3.58198385e+00] [ 1.14964339e-03 9.99997354e-01 -1.99263595e-03 2.24128582e-01] [ 1.09040023e-03 1.99138251e-03 9.99997423e-01 8.88792904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.862557844 meters 0.2872428875205528 Centerline is valid? [False, False] Translation: X:3.62, Y:0.23, Z:0.89 [[ 9.99997396e-01 -4.98733453e-04 -2.22693558e-03 3.62243065e+00] [ 4.93849982e-04 9.99997474e-01 -2.19292222e-03 2.28948534e-01] [ 2.22802363e-03 2.19181674e-03 9.99995116e-01 8.91464639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.922557844 meters 0.2850098780750171 Centerline is valid? [False, False] Translation: X:3.58, Y:0.23, Z:0.89 [[ 9.99999530e-01 -1.91605178e-04 -9.50605994e-04 3.58323155e+00] [ 1.89860442e-04 9.99998298e-01 -1.83514419e-03 2.26768429e-01] [ 9.50955999e-04 1.83496284e-03 9.99997864e-01 8.88138619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.982557844 meters 0.28538940314888067 Centerline is valid? [False, False] Translation: X:3.58, Y:0.23, Z:0.89 [[ 9.99999502e-01 -1.94405794e-04 -9.79116216e-04 3.58330272e+00] [ 1.92597945e-04 9.99998277e-01 -1.84616579e-03 2.26802154e-01] [ 9.79473434e-04 1.84597630e-03 9.99997816e-01 8.88141984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.042557844 meters 0.28500103443051367 Centerline is valid? [False, False] Translation: X:3.58, Y:0.23, Z:0.89 [[ 9.99999264e-01 -1.42411395e-04 -1.20493147e-03 3.58390853e+00] [ 1.40377915e-04 9.99998566e-01 -1.68754752e-03 2.26126309e-01] [ 1.20517007e-03 1.68737713e-03 9.99997850e-01 8.88019277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.102557844 meters 0.2845350079237456 Centerline is valid? [False, False] Translation: X:3.58, Y:0.22, Z:0.89 [[ 9.99999285e-01 5.12466441e-05 -1.19462996e-03 3.58358239e+00] [-5.24978158e-05 9.99999450e-01 -1.04732215e-03 2.23627274e-01] [ 1.19457563e-03 1.04738412e-03 9.99998738e-01 8.88815827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.162557844 meters 0.2854782589727939 Centerline is valid? [False, False] Translation: X:3.58, Y:0.22, Z:0.89 [[ 9.99998902e-01 2.93325054e-04 -1.45250992e-03 3.58413628e+00] [-2.93646718e-04 9.99999932e-01 -2.21246052e-04 2.20353324e-01] [ 1.45244492e-03 2.21672334e-04 9.99998921e-01 8.89022506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.222557844 meters 0.28584533811723445 Centerline is valid? [False, False] Translation: X:3.58, Y:0.22, Z:0.89 [[ 9.99998633e-01 5.51034218e-04 -1.55881711e-03 3.58436298e+00] [-5.50162837e-04 9.99999692e-01 5.59375045e-04 2.17180988e-01] [ 1.55912486e-03 -5.58516677e-04 9.99998629e-01 8.89138049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.282557844 meters 0.28510489744231693 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:0.89 [[ 9.99998825e-01 8.55297297e-04 -1.27201651e-03 3.58330602e+00] [-8.53358659e-04 9.99998475e-01 1.52382964e-03 2.13240567e-01] [ 1.27331789e-03 -1.52274237e-03 9.99998030e-01 8.90087539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.342557844 meters 0.2844923663451779 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:0.89 [[ 9.99994766e-01 -2.93003597e-03 -1.37207821e-03 3.58358626e+00] [ 2.92795294e-03 9.99994562e-01 -1.51771253e-03 2.07719616e-01] [ 1.37651770e-03 1.51368720e-03 9.99997907e-01 8.90137544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.402557844 meters 0.2849396597315039 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.89 [[ 9.99995610e-01 -2.60693377e-03 -1.40827094e-03 3.58391166e+00] [ 2.60594848e-03 9.99996359e-01 -7.01023497e-04 2.04361397e-01] [ 1.41009334e-03 6.97350538e-04 9.99998763e-01 8.89714346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.462557844 meters 0.2857604650641384 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.89 [[ 9.99996246e-01 -2.40574372e-03 -1.31156356e-03 3.58348901e+00] [ 2.40543943e-03 9.99997080e-01 -2.33533006e-04 2.02365443e-01] [ 1.31212155e-03 2.30377242e-04 9.99999113e-01 8.90120072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.522557844 meters 0.28539942856938494 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.89 [[ 9.99997284e-01 -1.97323399e-03 -1.24041429e-03 3.58295860e+00] [ 1.97414650e-03 9.99997781e-01 7.34854631e-04 1.98167753e-01] [ 1.23896149e-03 -7.37301395e-04 9.99998961e-01 8.90864212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.582557844 meters 0.28579442015396866 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.89 [[ 9.99990965e-01 4.25083356e-03 1.43344822e-05 3.60548097e+00] [-4.25079428e-03 9.99988778e-01 -2.09142247e-03 1.94803203e-01] [-2.32246101e-05 2.09134264e-03 9.99997813e-01 8.90074381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.642557844 meters 0.286351055663754 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.89 [[ 9.99988933e-01 4.70433732e-03 6.06466457e-05 3.60555405e+00] [-4.70426776e-03 9.99988330e-01 -1.10025105e-03 1.90523248e-01] [-6.58218900e-05 1.09995358e-03 9.99999393e-01 8.89733861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.702557844 meters 0.28813490488906374 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:0.89 [[ 9.99992525e-01 -3.86511526e-03 -1.00048606e-04 3.62676858e+00] [ 3.86510945e-03 9.99992529e-01 -5.82835102e-05 1.92346969e-01] [ 1.00273131e-04 5.78963757e-05 9.99999993e-01 8.89960954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.762557844 meters 0.287079347081017 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:0.89 [[ 9.99991190e-01 3.93164855e-03 -1.47016006e-03 3.60808507e+00] [-3.93305301e-03 9.99991811e-01 -9.53645939e-04 1.85055717e-01] [ 1.46639862e-03 9.59419755e-04 9.99998465e-01 8.87972975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.822557844 meters 0.28767019941606914 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.89 [[ 9.99990242e-01 4.13021720e-03 -1.56729228e-03 3.60836430e+00] [-4.13098576e-03 9.99991349e-01 -4.87454227e-04 1.83078983e-01] [ 1.56526543e-03 4.93923933e-04 9.99998653e-01 8.87929117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.882557844 meters 0.2864142329333158 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.89 [[ 9.99989431e-01 4.38193157e-03 -1.39136272e-03 3.60779980e+00] [-4.38167533e-03 9.99990383e-01 1.87158545e-04 1.80290324e-01] [ 1.39216945e-03 -1.81060067e-04 9.99999015e-01 8.88302027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.942557844 meters 0.28640807542789204 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:0.89 [[ 9.99988419e-01 4.64931117e-03 -1.24346016e-03 3.60720219e+00] [-4.64803554e-03 9.99988671e-01 1.02680422e-03 1.76936611e-01] [ 1.24822001e-03 -1.02101268e-03 9.99998700e-01 8.88967420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.002557844 meters 0.2857009051899374 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.89 [[ 9.99998551e-01 8.50363436e-04 -1.47465821e-03 3.60790324e+00] [-8.52948671e-04 9.99998099e-01 -1.75336613e-03 1.70468521e-01] [ 1.47316441e-03 1.75462139e-03 9.99997376e-01 8.88687294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.062557844 meters 0.2852789983675432 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.89 [[ 9.99997919e-01 1.21874661e-03 -1.63624216e-03 3.60825441e+00] [-1.21995649e-03 9.99998983e-01 -7.38637051e-04 1.66284891e-01] [ 1.63534028e-03 7.40631658e-04 9.99998389e-01 8.88792616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.122557844 meters 0.28757327298266927 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99997084e-01 1.88611580e-03 -1.50793080e-03 3.64561043e+00] [-1.88738375e-03 9.99997866e-01 -8.39872853e-04 1.65930704e-01] [ 1.50634349e-03 8.42716448e-04 9.99998510e-01 8.92167002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18255784400003 meters 0.28698416178465275 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99997036e-01 1.81930060e-03 -1.61820754e-03 3.64620975e+00] [-1.82097066e-03 9.99997810e-01 -1.03116760e-03 1.66653123e-01] [ 1.61632799e-03 1.03411125e-03 9.99998159e-01 8.91358263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters 0.29036836521817605 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.89 [[ 9.99967079e-01 -7.17304634e-03 -3.79327920e-03 3.62769619e+00] [ 7.16992299e-03 9.99973946e-01 -8.36349894e-04 1.72360809e-01] [ 3.79917954e-03 8.09124840e-04 9.99992456e-01 8.89795516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.302557844 meters 0.28749953123943545 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.89 [[ 9.99966631e-01 -7.24263916e-03 -3.77894651e-03 3.62768487e+00] [ 7.23886698e-03 9.99973288e-01 -1.01093260e-03 1.73086346e-01] [ 3.78616738e-03 9.83543575e-04 9.99992349e-01 8.89721340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.362557844 meters 0.2894386925287673 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99996089e-01 2.08715068e-03 -1.86174378e-03 3.64853676e+00] [-2.09014426e-03 9.99996524e-01 -1.60745212e-03 1.74656462e-01] [ 1.85838232e-03 1.61133714e-03 9.99996975e-01 8.89580400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.422557844 meters 0.2902072993812926 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:0.89 [[ 9.99992827e-01 -3.77226045e-03 3.40157784e-04 3.67011674e+00] [ 3.77183089e-03 9.99992099e-01 1.25474738e-03 1.77783339e-01] [-3.44888331e-04 -1.25345536e-03 9.99999155e-01 8.88562643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.482557844 meters 0.2878212035041355 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99989796e-01 4.49108529e-03 -4.88061782e-04 3.65055487e+00] [-4.49102557e-03 9.99989908e-01 1.23396182e-04 1.74228538e-01] [ 4.88611039e-04 -1.21203025e-04 9.99999873e-01 8.87693898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.542557844 meters 0.2879234245977115 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99989841e-01 4.47112143e-03 -5.71539480e-04 3.65068737e+00] [-4.47107509e-03 9.99990001e-01 8.23303844e-05 1.74429480e-01] [ 5.71901875e-04 -7.97741520e-05 9.99999833e-01 8.87854539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.602557844 meters 0.287261278777403 Centerline is valid? [False, False] Translation: X:3.65, Y:0.17, Z:0.89 [[ 9.99989383e-01 4.55576661e-03 -6.92604107e-04 3.65102193e+00] [-4.55555075e-03 9.99989574e-01 3.12923463e-04 1.73460818e-01] [ 6.94022493e-04 -3.09764948e-04 9.99999711e-01 8.87811284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.662557844 meters 0.2854201851445971 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.88 [[ 9.99998614e-01 8.16451521e-04 1.45109709e-03 3.61149110e+00] [-8.15406463e-04 9.99999408e-01 -7.20630741e-04 1.63857111e-01] [-1.45168459e-03 7.19446508e-04 9.99998688e-01 8.84942483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.722557844 meters 0.2871259788118263 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.88 [[ 9.99998860e-01 1.19115112e-03 9.28203015e-04 3.61304930e+00] [-1.19171086e-03 9.99999108e-01 6.02723464e-04 1.58314425e-01] [-9.27484252e-04 -6.03828926e-04 9.99999388e-01 8.84358373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.782557844 meters 0.2865925501615566 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.88 [[ 9.99998549e-01 1.47306717e-03 8.55077313e-04 3.61341852e+00] [-1.47417559e-03 9.99998072e-01 1.29710154e-03 1.55363655e-01] [-8.53164947e-04 -1.29836019e-03 9.99998793e-01 8.84020759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.842557844 meters 0.2866036247228157 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99997425e-01 -9.62005117e-04 2.05560619e-03 3.60826653e+00] [ 9.62620398e-04 9.99999492e-01 -2.98350111e-04 1.49721306e-01] [-2.05531814e-03 3.00328111e-04 9.99997843e-01 8.87227510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.902557844 meters 0.28755344448284764 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.89 [[ 9.99976746e-01 5.84221553e-03 3.51785776e-03 3.62934781e+00] [-5.83050464e-03 9.99977458e-01 -3.33008519e-03 1.48393511e-01] [-3.53723354e-03 3.30949687e-03 9.99988268e-01 8.86917524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.962557844 meters 0.28715761666309203 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.89 [[ 9.99975331e-01 5.78439573e-03 3.98473673e-03 3.62815317e+00] [-5.77032659e-03 9.99977109e-01 -3.53325191e-03 1.49297559e-01] [-4.00508324e-03 3.51017152e-03 9.99985819e-01 8.87093813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.022557844 meters 0.2868376828697861 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.89 [[ 9.99975023e-01 5.74956176e-03 4.11034649e-03 3.62778495e+00] [-5.73465823e-03 9.99976974e-01 -3.62849436e-03 1.49709911e-01] [-4.13111409e-03 3.60483230e-03 9.99984969e-01 8.87211328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.082557844 meters 0.286192855109203 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:0.89 [[ 0.99997585 0.00564508 0.00405376 3.62812326] [-0.00562932 0.99997659 -0.00388847 0.15078627] [-0.00407561 0.00386556 0.99998422 0.88676402] [ 0. 0. 0. 1. ]] SLAMing on 472.142557844 meters 0.2858977909638636 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99996167e-01 -2.44229797e-03 1.30458707e-03 3.60993869e+00] [ 2.44540773e-03 9.99994160e-01 -2.38746036e-03 1.52440031e-01] [-1.29874857e-03 2.39064145e-03 9.99996299e-01 8.85357525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.202557844 meters 0.2857379579353122 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99998921e-01 1.17458243e-03 8.82638634e-04 3.61086719e+00] [-1.17554189e-03 9.99998718e-01 1.08729824e-03 1.53067924e-01] [-8.81360381e-04 -1.08833464e-03 9.99999019e-01 8.85513376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.262557844 meters 0.28757260938385004 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99998730e-01 1.39338357e-03 7.74011757e-04 3.61126174e+00] [-1.39471951e-03 9.99997534e-01 1.72814482e-03 1.50427355e-01] [-7.71601880e-04 -1.72922215e-03 9.99998207e-01 8.85223749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.322557844 meters 0.28610306506167976 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99996519e-01 -2.37834713e-03 1.14271623e-03 3.61027286e+00] [ 2.37987166e-03 9.99996277e-01 -1.33463057e-03 1.46921237e-01] [-1.13953776e-03 1.33734544e-03 9.99998456e-01 8.85377896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.382557844 meters 0.28774665404391786 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:0.89 [[ 9.99999049e-01 4.50805828e-04 1.30302166e-03 3.65276408e+00] [-4.50649439e-04 9.99999891e-01 -1.20311240e-04 1.52232909e-01] [-1.30307576e-03 1.19723919e-04 9.99999144e-01 8.85497692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.442557844 meters 0.28994504905004165 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.88 [[ 9.99998269e-01 6.86358963e-04 1.72928355e-03 3.61488827e+00] [-6.86922155e-04 9.99999711e-01 3.25106717e-04 1.53480639e-01] [-1.72905991e-03 -3.26294037e-04 9.99998452e-01 8.82182438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.502557844 meters 0.2865850855137137 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.88 [[ 9.99998126e-01 6.13765185e-04 1.83594267e-03 3.61445851e+00] [-6.14012308e-04 9.99999803e-01 1.34042222e-04 1.54311252e-01] [-1.83586004e-03 -1.35169262e-04 9.99998306e-01 8.82541990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.562557844 meters 0.2884075779985396 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:0.88 [[ 9.99961761e-01 -7.69071077e-03 4.16294994e-03 3.63296717e+00] [ 7.68716196e-03 9.99970077e-01 8.67805967e-04 1.58365561e-01] [-4.16949941e-03 -8.35771512e-04 9.99990958e-01 8.84278393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.622557844 meters 0.28635582287097294 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:0.88 [[ 9.99987062e-01 -3.82547377e-03 3.35289800e-03 3.63501519e+00] [ 3.81077835e-03 9.99983154e-01 4.37838580e-03 1.60100254e-01] [-3.36959091e-03 -4.36555200e-03 9.99984794e-01 8.83916042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68255784400003 meters 0.2849683371120271 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.88 [[ 9.99988340e-01 1.83570014e-03 4.46645620e-03 3.61251108e+00] [-1.84286206e-03 9.99997022e-01 1.59990448e-03 1.52220175e-01] [-4.46350595e-03 -1.60811688e-03 9.99988745e-01 8.84772337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters 0.28585214913987267 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99988292e-01 1.92819652e-03 4.43816743e-03 3.61228313e+00] [-1.93637194e-03 9.99996435e-01 1.83851331e-03 1.51220041e-01] [-4.43460659e-03 -1.84708573e-03 9.99988461e-01 8.85457107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.802557844 meters 0.2859500120432278 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.88 [[ 9.99988617e-01 1.82466987e-03 4.40877361e-03 3.61259452e+00] [-1.83134525e-03 9.99997182e-01 1.51054980e-03 1.52532974e-01] [-4.40600493e-03 -1.51860660e-03 9.99989140e-01 8.84835758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.862557844 meters 0.2862591672817677 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.88 [[ 9.99989910e-01 1.66552904e-03 4.17195439e-03 3.61328309e+00] [-1.66972749e-03 9.99998103e-01 1.00306910e-03 1.54469530e-01] [-4.17027584e-03 -1.01002501e-03 9.99990794e-01 8.84439885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.922557844 meters 0.288210743230242 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.88 [[ 9.99990118e-01 1.58214682e-03 4.15458159e-03 3.61317124e+00] [-1.58529199e-03 9.99998459e-01 7.53853729e-04 1.55518863e-01] [-4.15338248e-03 -7.60432504e-04 9.99991086e-01 8.84798103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.982557844 meters 0.2860207591189166 Centerline is valid? [False, False] Translation: X:3.59, Y:0.15, Z:0.89 [[ 9.99986946e-01 -5.05143792e-03 7.68683283e-04 3.59180763e+00] [ 5.04855952e-03 9.99980405e-01 3.70154832e-03 1.50399411e-01] [-7.87366362e-04 -3.69761926e-03 9.99992854e-01 8.87204218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.042557844 meters 0.28878050919687154 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99990350e-01 4.36357151e-03 5.09458379e-04 3.61329131e+00] [-4.36536181e-03 9.99984108e-01 3.56756499e-03 1.44590802e-01] [-4.93882957e-04 -3.56975454e-03 9.99993506e-01 8.87633005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.102557844 meters 0.2894674577698039 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989847e-01 4.49507880e-03 3.17767344e-04 3.61394503e+00] [-4.49628896e-03 9.99982224e-01 3.91611919e-03 1.43081921e-01] [-3.00158431e-04 -3.91750820e-03 9.99992281e-01 8.87235595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.162557844 meters 0.28987853077922254 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989315e-01 4.61587602e-03 2.53629817e-04 3.61397662e+00] [-4.61690544e-03 9.99980436e-01 4.22029791e-03 1.41831549e-01] [-2.34144483e-04 -4.22142380e-03 9.99991062e-01 8.87546158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.222557844 meters 0.2878621369584878 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989124e-01 4.65380770e-03 3.06922119e-04 3.61369604e+00] [-4.65508816e-03 9.99979867e-01 4.31225736e-03 1.41472338e-01] [-2.86847523e-04 -4.31363921e-03 9.99990655e-01 8.87873200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.282557844 meters 0.2871254334973471 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989010e-01 4.67230037e-03 3.86026540e-04 3.61308934e+00] [-4.67393981e-03 9.99979567e-01 4.36121598e-03 1.41370840e-01] [-3.65641741e-04 -4.36297232e-03 9.99990415e-01 8.88837842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.342557844 meters 0.286580286211439 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989273e-01 4.61287166e-03 4.18349795e-04 3.61294387e+00] [-4.61459419e-03 9.99980472e-01 4.21445055e-03 1.41997807e-01] [-3.98900905e-04 -4.21633586e-03 9.99991032e-01 8.88965374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.402557844 meters 0.2874141321865775 Centerline is valid? [False, False] Translation: X:3.61, Y:0.14, Z:0.89 [[ 9.99989868e-01 4.45609510e-03 6.37972145e-04 3.61246448e+00] [-4.45847109e-03 9.99982945e-01 3.77260826e-03 1.43833777e-01] [-6.21150163e-04 -3.77541441e-03 9.99992680e-01 8.88776798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.462557844 meters 0.28688071400086795 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99991026e-01 4.21234212e-03 4.51720979e-04 3.61332399e+00] [-4.21371263e-03 9.99986388e-01 3.07720735e-03 1.46682276e-01] [-4.38752580e-04 -3.07908315e-03 9.99995163e-01 8.87666491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.522557844 meters 0.2883877144248345 Centerline is valid? [False, False] Translation: X:3.61, Y:0.15, Z:0.89 [[ 9.99992691e-01 3.81835532e-03 1.94670762e-04 3.61470915e+00] [-3.81869729e-03 9.99991111e-01 1.78766442e-03 1.52610281e-01] [-1.87843093e-04 -1.78839474e-03 9.99998383e-01 8.86115458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.582557844 meters 0.28867512604962353 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99993683e-01 3.54191678e-03 2.99064335e-04 3.61430755e+00] [-3.54223319e-03 9.99993160e-01 1.06418582e-03 1.55659897e-01] [-2.95293032e-04 -1.06523845e-03 9.99999389e-01 8.86363856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.642557844 meters 0.28826866489410774 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99994949e-01 3.16195156e-03 3.21456333e-04 3.61456583e+00] [-3.16199115e-03 9.99994993e-01 1.22736461e-04 1.59565734e-01] [-3.21066637e-04 -1.23752283e-04 9.99999941e-01 8.85684145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.702557844 meters 0.2883242306113493 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99996317e-01 2.69043291e-03 3.57280486e-04 3.61443606e+00] [-2.69011861e-03 9.99995997e-01 -8.77280982e-04 1.63775523e-01] [-3.59639321e-04 8.76316624e-04 9.99999551e-01 8.85631164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.762557844 meters 0.28833777944584327 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.89 [[ 9.99981001e-01 -5.16572414e-03 3.36347203e-03 3.63135014e+00] [ 5.16528535e-03 9.99986650e-01 1.39133531e-04 1.70447839e-01] [-3.36414585e-03 -1.21757594e-04 9.99994334e-01 8.87944562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.822557844 meters 0.28732105960899745 Centerline is valid? [False, False] Translation: X:3.63, Y:0.17, Z:0.89 [[ 9.99981893e-01 -5.20019067e-03 3.02856084e-03 3.63241740e+00] [ 5.20006940e-03 9.99986478e-01 4.79153628e-05 1.70750106e-01] [-3.02876906e-03 -3.21657686e-05 9.99995413e-01 8.87277914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.882557844 meters 0.2849045120258906 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.89 [[ 9.99991868e-01 3.71051998e-03 1.57974888e-03 3.61241118e+00] [-3.71059079e-03 9.99993115e-01 4.18915227e-05 1.65439570e-01] [-1.57958256e-03 -4.77529837e-05 9.99998751e-01 8.87384504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.942557844 meters 0.28602735742034496 Centerline is valid? [False, False] Translation: X:3.61, Y:0.17, Z:0.89 [[ 9.99991737e-01 3.73854951e-03 1.59668078e-03 3.61223600e+00] [-3.73873896e-03 9.99993004e-01 1.15681878e-04 1.65147250e-01] [-1.59623712e-03 -1.21650495e-04 9.99998719e-01 8.87691734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.002557844 meters 0.2860783499095701 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99991658e-01 3.80157509e-03 1.49411573e-03 3.61253887e+00] [-3.80199510e-03 9.99992734e-01 2.78367891e-04 1.64457767e-01] [-1.49304664e-03 -2.84046190e-04 9.99998845e-01 8.87607199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.062557844 meters 0.2859235423516394 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99991100e-01 3.90034336e-03 1.60841203e-03 3.61214501e+00] [-3.90120194e-03 9.99992249e-01 5.31012509e-04 1.63421367e-01] [-1.60632843e-03 -5.37282523e-04 9.99998566e-01 8.87855906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.122557844 meters 0.28550390805503567 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:0.89 [[ 9.99990953e-01 3.95876366e-03 1.55660257e-03 3.61225161e+00] [-3.95982809e-03 9.99991928e-01 6.81327120e-04 1.62800534e-01] [-1.55389279e-03 -6.87484835e-04 9.99998556e-01 8.87915345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18255784400003 meters 0.2867930437507048 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:0.89 [[ 9.99984536e-01 -5.29879854e-03 1.68827309e-03 3.63566594e+00] [ 5.29702420e-03 9.99985415e-01 1.05372502e-03 1.60465049e-01] [-1.69383195e-03 -1.04476590e-03 9.99998020e-01 8.86907491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters 0.2865850765170417 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:0.89 [[ 9.99986318e-01 -4.95671845e-03 1.67197230e-03 3.63559578e+00] [ 4.95337824e-03 9.99985740e-01 1.99602659e-03 1.56636050e-01] [-1.68184220e-03 -1.98771737e-03 9.99996610e-01 8.87194484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.302557844 meters 0.28652521762868716 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:0.89 [[ 9.99988546e-01 -4.47936470e-03 1.68636122e-03 3.63551674e+00] [ 4.47387172e-03 9.99984720e-01 3.24710097e-03 1.51541168e-01] [-1.70088040e-03 -3.23951921e-03 9.99993306e-01 8.87325085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.362557844 meters 0.2857471872521086 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:0.89 [[ 9.99989413e-01 -4.24692805e-03 1.77115377e-03 3.63540891e+00] [ 4.24015413e-03 9.99983749e-01 3.81095231e-03 1.49212423e-01] [-1.78730982e-03 -3.80340200e-03 9.99991170e-01 8.87162153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.422557844 meters 0.28662305164575397 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:0.89 [[ 9.99990654e-01 -3.91018292e-03 1.84434093e-03 3.63524660e+00] [ 3.90164290e-03 9.99981756e-01 4.61148422e-03 1.45945250e-01] [-1.86233903e-03 -4.60424517e-03 9.99987666e-01 8.87207869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.482557844 meters 0.28658623510413384 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:0.89 [[ 9.99991879e-01 -3.65800415e-03 1.69131741e-03 3.63588020e+00] [ 3.64908727e-03 9.99979584e-01 5.24551568e-03 1.43255951e-01] [-1.71047100e-03 -5.23930132e-03 9.99984812e-01 8.86729047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.542557844 meters 0.2865168554926967 Centerline is valid? [False, False] Translation: X:3.64, Y:0.14, Z:0.89 [[ 9.99992943e-01 -3.35461229e-03 1.69118046e-03 3.63591037e+00] [ 3.34437569e-03 9.99976288e-01 6.01985013e-03 1.40061981e-01] [-1.71133462e-03 -6.01415170e-03 9.99980450e-01 8.86735235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.602557844 meters 0.28552100919138257 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:0.89 [[ 9.99993957e-01 -2.85316091e-03 1.98630753e-03 3.63483716e+00] [ 2.83818740e-03 9.99967841e-01 7.50080322e-03 1.33996947e-01] [-2.00764465e-03 -7.49512038e-03 9.99969896e-01 8.87430979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.662557844 meters 0.2857768404812221 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99994950e-01 -2.56338158e-03 1.87851521e-03 3.63519819e+00] [ 2.54778155e-03 9.99962637e-01 8.26031524e-03 1.30868763e-01] [-1.89961937e-03 -8.25548748e-03 9.99964119e-01 8.87280690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.722557844 meters 0.28648882638328427 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99995873e-01 -2.32966354e-03 1.68118797e-03 3.63589287e+00] [ 2.31471671e-03 9.99958261e-01 8.83847830e-03 1.28419000e-01] [-1.70170848e-03 -8.83455036e-03 9.99959527e-01 8.86890931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.782557844 meters 0.28604298996749644 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99996090e-01 -2.31844536e-03 1.56349559e-03 3.63632327e+00] [ 2.30449452e-03 9.99958037e-01 8.86639267e-03 1.28283272e-01] [-1.58398623e-03 -8.86275494e-03 9.99959470e-01 8.86608233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.842557844 meters 0.28708518583532233 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99995854e-01 -2.32972332e-03 1.69230150e-03 3.63589631e+00] [ 2.31468089e-03 9.99958274e-01 8.83697100e-03 1.28446285e-01] [-1.71281858e-03 -8.83301723e-03 9.99959521e-01 8.86834571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.902557844 meters 0.28544590549950116 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99995727e-01 -2.32902449e-03 1.76668482e-03 3.63562783e+00] [ 2.31332504e-03 9.99958277e-01 8.83698023e-03 1.28467423e-01] [-1.78719265e-03 -8.83285556e-03 9.99959392e-01 8.87028830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.962557844 meters 0.2857227445660407 Centerline is valid? [False, False] Translation: X:3.64, Y:0.13, Z:0.89 [[ 9.99995404e-01 -2.40120593e-03 1.85079756e-03 3.63540297e+00] [ 2.38509253e-03 9.99959659e-01 8.65977892e-03 1.29228814e-01] [-1.87151681e-03 -8.65532480e-03 9.99960791e-01 8.87039053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.022557844 meters 0.28584701428332077 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:0.89 [[ 0.99998016 0.00463475 0.00426645 3.65675069] [-0.00465963 0.99997208 0.00584116 0.13155041] [-0.00423926 -0.00586093 0.99997384 0.88580908] [ 0. 0. 0. 1. ]] SLAMing on 475.082557844 meters 0.2863854667221592 Centerline is valid? [False, False] Translation: X:3.66, Y:0.13, Z:0.89 [[ 9.99990234e-01 2.22399794e-04 4.41385669e-03 3.65653010e+00] [-2.27618686e-04 9.99999276e-01 1.18192101e-03 1.33460734e-01] [-4.41359063e-03 -1.18291415e-03 9.99989560e-01 8.85490175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.142557844 meters 0.28651368961065 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.89 [[ 9.99988872e-01 7.86334596e-05 4.71688098e-03 3.65575269e+00] [-8.22084509e-05 9.99999710e-01 7.57725150e-04 1.35236583e-01] [-4.71682003e-03 -7.58104486e-04 9.99988588e-01 8.85554098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.202557844 meters 0.2859743657819021 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.89 [[ 9.99988383e-01 -9.04450064e-06 4.82008530e-03 3.65544567e+00] [ 6.47836192e-06 9.99999858e-01 5.32399852e-04 1.36198265e-01] [-4.82008943e-03 -5.32362441e-04 9.99988242e-01 8.85644408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.262557844 meters 0.28630810388913525 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.89 [[ 9.99988891e-01 -7.04387638e-05 4.71310069e-03 3.65593155e+00] [ 6.86442027e-05 9.99999925e-01 3.80920869e-04 1.36780132e-01] [-4.71312717e-03 -3.80593110e-04 9.99988821e-01 8.85155130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.322557844 meters 0.28568729286473066 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.89 [[ 9.99988371e-01 -1.03028821e-04 4.82161787e-03 3.65557423e+00] [ 1.01607666e-04 9.99999951e-01 2.94990530e-04 1.37158995e-01] [-4.82164802e-03 -2.94497186e-04 9.99988332e-01 8.85334620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.382557844 meters 0.28532422258872253 Centerline is valid? [False, False] Translation: X:3.66, Y:0.14, Z:0.89 [[ 9.99987850e-01 -9.21929731e-05 4.92863917e-03 3.65503584e+00] [ 9.06067280e-05 9.99999944e-01 3.22064723e-04 1.37109463e-01] [-4.92866859e-03 -3.21614242e-04 9.99987802e-01 8.85987857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.442557844 meters 0.28497665528457033 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:0.89 [[ 9.99985164e-01 4.96052155e-03 2.25060990e-03 3.63347688e+00] [-4.95342687e-03 9.99982780e-01 -3.14703607e-03 1.37064389e-01] [-2.26618208e-03 3.13584115e-03 9.99992515e-01 8.87181341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.502557844 meters 0.28471624537650736 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99993174e-01 -2.81644589e-03 2.39162560e-03 3.65264227e+00] [ 2.82135244e-03 9.99993917e-01 -2.05066626e-03 1.42724202e-01] [-2.38583546e-03 2.05739988e-03 9.99995037e-01 8.88470519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.562557844 meters 0.28537688214057233 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99992926e-01 -2.89505242e-03 2.40126638e-03 3.65264668e+00] [ 2.90049030e-03 9.99993230e-01 -2.26420705e-03 1.43599352e-01] [-2.39469513e-03 2.27115589e-03 9.99994554e-01 8.88386676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.622557844 meters 0.2846144701287326 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99993039e-01 -2.97134206e-03 2.25697977e-03 3.65322678e+00] [ 2.97692200e-03 9.99992511e-01 -2.47297888e-03 1.44440600e-01] [-2.24961480e-03 2.47968052e-03 9.99994395e-01 8.87817532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68255784400003 meters 0.2851353702516463 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99993372e-01 -2.92673556e-03 2.16586732e-03 3.65359003e+00] [ 2.93184209e-03 9.99992921e-01 -2.35832160e-03 1.43933837e-01] [-2.15894980e-03 2.36465595e-03 9.99994874e-01 8.87517475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters 0.2859789028451366 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99993832e-01 -2.75428812e-03 2.17957884e-03 3.65327387e+00] [ 2.75848340e-03 9.99994344e-01 -1.92415258e-03 1.42110490e-01] [-2.17426684e-03 1.93015305e-03 9.99995774e-01 8.88151363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.802557844 meters 0.28578411370893714 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99994306e-01 -2.59847523e-03 2.15314749e-03 3.65343728e+00] [ 2.60172371e-03 9.99995480e-01 -1.50728584e-03 1.40373220e-01] [-2.14922112e-03 1.51287916e-03 9.99996546e-01 8.87952011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.862557844 meters 0.2856132740767684 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99995188e-01 -2.35328921e-03 2.02143009e-03 3.65379167e+00] [ 2.35483875e-03 9.99996935e-01 -7.64520329e-04 1.37353438e-01] [-2.01962475e-03 7.69276792e-04 9.99997665e-01 8.87913285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.922557844 meters 0.28580771188615883 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99995940e-01 -2.16925994e-03 1.84801759e-03 3.65445308e+00] [ 2.16976245e-03 9.99997610e-01 -2.69959949e-04 1.35210151e-01] [-1.84742756e-03 2.73968612e-04 9.99998256e-01 8.87389645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.982557844 meters 0.2855375544426985 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99996095e-01 -2.12626324e-03 1.81340171e-03 3.65458686e+00] [ 2.12656161e-03 9.99997726e-01 -1.62620852e-04 1.34746957e-01] [-1.81305181e-03 1.66476527e-04 9.99998343e-01 8.87298414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.042557844 meters 0.2859637621011815 Centerline is valid? [False, False] Translation: X:3.63, Y:0.13, Z:0.89 [[ 9.99990299e-01 3.79472758e-03 2.23663533e-03 3.63007340e+00] [-3.78829901e-03 9.99988702e-01 -2.87147583e-03 1.32374225e-01] [-2.24750653e-03 2.86297493e-03 9.99993376e-01 8.89033149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.102557844 meters 0.28559119876487715 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99980786e-01 -1.38774064e-03 6.04158977e-03 3.65048245e+00] [ 1.38519428e-03 9.99998950e-01 4.25636053e-04 1.29700686e-01] [-6.04217409e-03 -4.17259099e-04 9.99981659e-01 8.87854607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.162557844 meters 0.28451293341605893 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99981236e-01 -1.36569318e-03 5.97182926e-03 3.65097081e+00] [ 1.36283264e-03 9.99998955e-01 4.83047894e-04 1.29384373e-01] [-5.97248271e-03 -4.74900226e-04 9.99982052e-01 8.87140053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.222557844 meters 0.28480594555794514 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99981412e-01 -1.39067802e-03 5.93644292e-03 3.65114362e+00] [ 1.38819507e-03 9.99998947e-01 4.22355299e-04 1.29626236e-01] [-5.93702403e-03 -4.14106508e-04 9.99982290e-01 8.86943730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.282557844 meters 0.28435554058243956 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99980919e-01 -1.44546170e-03 6.00597399e-03 3.65079888e+00] [ 1.44383041e-03 9.99998920e-01 2.75938910e-04 1.30284338e-01] [-6.00636636e-03 -2.67262037e-04 9.99981926e-01 8.87322087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.342557844 meters 0.28571624425465275 Centerline is valid? [False, False] Translation: X:3.65, Y:0.13, Z:0.89 [[ 9.99981538e-01 -1.69520989e-03 5.83524069e-03 3.65172067e+00] [ 1.69773987e-03 9.99998467e-01 -4.28642395e-04 1.33139654e-01] [-5.83450511e-03 4.38541202e-04 9.99982883e-01 8.85973783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.402557844 meters 0.28561350634372124 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99981196e-01 -1.98526032e-03 5.80232910e-03 3.65210394e+00] [ 1.99221862e-03 9.99997303e-01 -1.19369279e-03 1.36328435e-01] [-5.79994366e-03 1.20522985e-03 9.99982454e-01 8.85346076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.462557844 meters 0.285417026339418 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99980986e-01 -2.17385091e-03 5.77085867e-03 3.65217098e+00] [ 2.18339876e-03 9.99996257e-01 -1.64871061e-03 1.38246967e-01] [-5.76725302e-03 1.66127935e-03 9.99981989e-01 8.85345422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.522557844 meters 0.28603650671752423 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99982935e-01 -2.27422503e-03 5.38114369e-03 3.65306960e+00] [ 2.28465008e-03 9.99995524e-01 -1.93197620e-03 1.39337163e-01] [-5.37672585e-03 1.94423726e-03 9.99983655e-01 8.85358799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.582557844 meters 0.28458398954839426 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:0.89 [[ 9.99982160e-01 -2.17029032e-03 5.56495912e-03 3.65236378e+00] [ 2.17933686e-03 9.99996313e-01 -1.62007727e-03 1.38120983e-01] [-5.56142256e-03 1.63217629e-03 9.99983203e-01 8.86072581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.642557844 meters 0.28537738354845166 Centerline is valid? [False, False] Translation: X:3.69, Y:0.13, Z:0.89 [[ 9.99976722e-01 -1.90064585e-03 6.55304323e-03 3.68937864e+00] [ 1.90964562e-03 9.99997242e-01 -1.36738924e-03 1.33667916e-01] [-6.55042623e-03 1.37987140e-03 9.99977594e-01 8.88977924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.702557844 meters 0.28357442270180183 Centerline is valid? [False, False] Translation: X:3.67, Y:0.13, Z:0.89 [[ 9.99978092e-01 3.22913239e-03 5.77823009e-03 3.66602810e+00] [-3.20481654e-03 9.99985992e-01 -4.21250544e-03 1.27142040e-01] [-5.79175188e-03 4.19389498e-03 9.99974433e-01 8.90551964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.762557844 meters 0.2846284988466682 Centerline is valid? [False, False] Translation: X:3.67, Y:0.12, Z:0.89 [[ 9.99983162e-01 -5.49393401e-04 5.77705300e-03 3.66595195e+00] [ 5.91471232e-04 9.99973293e-01 -7.28443114e-03 1.21724763e-01] [-5.77289669e-03 7.28772544e-03 9.99956780e-01 8.90713893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.822557844 meters 0.28360864934286134 Centerline is valid? [False, False] Translation: X:3.67, Y:0.12, Z:0.89 [[ 9.99983173e-01 -1.52982094e-04 5.79914496e-03 3.66586326e+00] [ 1.89870882e-04 9.99979750e-01 -6.36105701e-03 1.17810480e-01] [-5.79805440e-03 6.36205106e-03 9.99962953e-01 8.90768031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.882557844 meters 0.28569556425564463 Centerline is valid? [False, False] Translation: X:3.71, Y:0.11, Z:0.89 [[ 9.99988123e-01 1.33170519e-03 4.68822931e-03 3.70537999e+00] [-1.30562205e-03 9.99983678e-01 -5.56220773e-03 1.11767763e-01] [-4.69556001e-03 5.55602061e-03 9.99973541e-01 8.93413186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.942557844 meters 0.28727847118254213 Centerline is valid? [False, False] Translation: X:3.71, Y:0.11, Z:0.89 [[ 9.99988005e-01 1.81651870e-03 4.54857491e-03 3.70521043e+00] [-1.79559745e-03 9.99987811e-01 -4.59938556e-03 1.07661852e-01] [-4.55687434e-03 4.59116299e-03 9.99979078e-01 8.94345183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.002557844 meters 0.2865634531157852 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:0.89 [[ 9.99957408e-01 -5.89364444e-03 7.10263732e-03 3.72550661e+00] [ 5.91576560e-03 9.99977704e-01 -3.09752536e-03 1.04844791e-01] [-7.08422325e-03 3.13941097e-03 9.99969978e-01 8.94118234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.062557844 meters 0.28560970641954686 Centerline is valid? [False, False] Translation: X:3.70, Y:0.10, Z:0.89 [[ 9.99976215e-01 2.22071934e-03 6.52974491e-03 3.70438773e+00] [-2.19951474e-03 9.99992291e-01 -3.25277569e-03 9.87579329e-02] [-6.53691807e-03 3.23833606e-03 9.99973391e-01 8.93810627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.122557844 meters 0.28626327214615377 Centerline is valid? [False, False] Translation: X:3.70, Y:0.10, Z:0.89 [[ 9.99976912e-01 2.39611283e-03 6.35872985e-03 3.70495182e+00] [-2.37810323e-03 9.99993144e-01 -2.83831498e-03 9.69290409e-02] [-6.36548718e-03 2.82312774e-03 9.99975755e-01 8.93577448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18255784400003 meters 0.28613505844342496 Centerline is valid? [False, False] Translation: X:3.69, Y:0.09, Z:0.89 [[ 9.99985882e-01 -4.78616462e-03 2.30823053e-03 3.68603413e+00] [ 4.78667216e-03 9.99988521e-01 -2.14409757e-04 9.33828070e-02] [-2.30717783e-03 2.25455473e-04 9.99997313e-01 8.94801108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24255784400003 meters 0.2860079563798713 Centerline is valid? [False, False] Translation: X:3.69, Y:0.09, Z:0.89 [[ 9.99986130e-01 -4.71107585e-03 2.35491820e-03 3.68612497e+00] [ 4.71114741e-03 9.99988902e-01 -2.48417647e-05 9.25617234e-02] [-2.35477503e-03 3.59357869e-05 9.99997227e-01 8.94358102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.302557844 meters 0.2858299619361077 Centerline is valid? [False, False] Translation: X:3.69, Y:0.09, Z:0.89 [[ 9.99985566e-01 -4.82825896e-03 2.35690630e-03 3.68620408e+00] [ 4.82903317e-03 9.99988288e-01 -3.22905557e-04 9.37955511e-02] [-2.35531963e-03 3.34282475e-04 9.99997170e-01 8.94155181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.362557844 meters 0.28707264002888755 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.89 [[ 9.99978018e-01 5.24003455e-03 4.06264827e-03 3.70735824e+00] [-5.23724240e-03 9.99986042e-01 -6.97608581e-04 9.59717121e-02] [-4.06624706e-03 6.76316173e-04 9.99991504e-01 8.93329662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.422557844 meters 0.2860226620208371 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.89 [[ 9.99978695e-01 -4.40054950e-03 4.82122382e-03 3.68616147e+00] [ 4.40256336e-03 9.99990226e-01 -4.07173273e-04 1.02334886e-01] [-4.81938491e-03 4.28390342e-04 9.99988295e-01 8.92549971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.482557844 meters 0.2864034166892656 Centerline is valid? [False, False] Translation: X:3.66, Y:0.11, Z:0.89 [[ 9.99996098e-01 1.89530939e-03 2.05232168e-03 3.66397462e+00] [-1.88889005e-03 9.99993332e-01 -3.12527612e-03 1.07762101e-01] [-2.05823136e-03 3.12138731e-03 9.99993010e-01 8.94658718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.542557844 meters 0.2868935659444474 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.89 [[ 9.99994304e-01 -2.72301315e-03 1.99409478e-03 3.68782352e+00] [ 2.72296386e-03 9.99996292e-01 2.74309633e-05 1.15704025e-01] [-1.99416209e-03 -2.20009591e-05 9.99998011e-01 8.93770141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.602557844 meters 0.2861290076343151 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.89 [[ 9.99993318e-01 -3.02810539e-03 2.04803806e-03 3.68764105e+00] [ 3.02956625e-03 9.99995158e-01 -7.10571680e-04 1.18804137e-01] [-2.04587645e-03 7.16771599e-04 9.99997650e-01 8.93811712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.662557844 meters 0.2864864922448223 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.89 [[ 9.99992932e-01 -3.14809426e-03 2.05550025e-03 3.68754034e+00] [ 3.15018865e-03 9.99994522e-01 -1.01647971e-03 1.20082213e-01] [-2.05228902e-03 1.02294774e-03 9.99997371e-01 8.93969624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.722557844 meters 0.28483638209871764 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.89 [[ 9.99992819e-01 -3.04796979e-03 2.25189103e-03 3.68673197e+00] [ 3.04966944e-03 9.99995067e-01 -7.51716359e-04 1.19132611e-01] [-2.24958871e-03 7.58578485e-04 9.99997182e-01 8.94753880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.782557844 meters 0.28565494445762263 Centerline is valid? [False, False] Translation: X:3.69, Y:0.12, Z:0.89 [[ 9.99994005e-01 -2.89393325e-03 1.90138393e-03 3.68763454e+00] [ 2.89436961e-03 9.99995786e-01 -2.26781803e-04 1.16949750e-01] [-1.90071963e-03 2.32283751e-04 9.99998167e-01 8.94654552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.842557844 meters 0.2851097818100949 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99994898e-01 -2.67614044e-03 1.74444989e-03 3.68810435e+00] [ 2.67539325e-03 9.99996328e-01 4.30517073e-04 1.14238919e-01] [-1.74559561e-03 -4.25847787e-04 9.99998386e-01 8.94445664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.902557844 meters 0.2850504173958935 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99995463e-01 -2.41507037e-03 1.80064165e-03 3.68807372e+00] [ 2.41310161e-03 9.99996489e-01 1.09474166e-03 1.11435145e-01] [-1.80327921e-03 -1.09039156e-03 9.99997780e-01 8.94236079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.962557844 meters 0.28576928526917555 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99995995e-01 -2.29695128e-03 1.65367001e-03 3.68839790e+00] [ 2.29464805e-03 9.99996397e-01 1.39335419e-03 1.10177265e-01] [-1.65686452e-03 -1.38955402e-03 9.99997662e-01 8.94360477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.022557844 meters 0.2853580695329059 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99996341e-01 -2.10760932e-03 1.69615422e-03 3.68814734e+00] [ 2.10440348e-03 9.99996000e-01 1.88963897e-03 1.08136748e-01] [-1.70013006e-03 -1.88606266e-03 9.99996776e-01 8.94704437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.082557844 meters 0.2849843753258466 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.90 [[ 9.99996420e-01 -1.96775466e-03 1.81345281e-03 3.68771855e+00] [ 1.96367508e-03 9.99995544e-01 2.24865992e-03 1.06648771e-01] [-1.81786954e-03 -2.24509084e-03 9.99995827e-01 8.95004473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.142557844 meters 0.28514648217376115 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99996769e-01 -1.90934275e-03 1.67842768e-03 3.68807313e+00] [ 1.90531382e-03 9.99995308e-01 2.39874962e-03 1.06003673e-01] [-1.68299984e-03 -2.39554394e-03 9.99995714e-01 8.94972957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.202557844 meters 0.2860985325889701 Centerline is valid? [False, False] Translation: X:3.69, Y:0.11, Z:0.89 [[ 9.99996949e-01 -1.88125330e-03 1.60092616e-03 3.68832786e+00] [ 1.87728674e-03 9.99995174e-01 2.47557361e-03 1.05676105e-01] [-1.60557561e-03 -2.47256066e-03 9.99995654e-01 8.94839137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.262557844 meters 0.28558955209533243 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.89 [[ 9.99997376e-01 -1.78005777e-03 1.44170905e-03 3.68880250e+00] [ 1.77611262e-03 9.99994688e-01 2.73311728e-03 1.04567684e-01] [-1.44656650e-03 -2.73054947e-03 9.99995226e-01 8.94679991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.322557844 meters 0.2843016125831315 Centerline is valid? [False, False] Translation: X:3.67, Y:0.10, Z:0.90 [[ 9.99995361e-01 3.03432354e-03 -2.67286890e-04 3.66651988e+00] [-3.03452593e-03 9.99995107e-01 -7.60093242e-04 1.02139369e-01] [ 2.64979213e-04 7.60900805e-04 9.99999675e-01 8.95519370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.382557844 meters 0.28736377032419835 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.90 [[ 9.99990016e-01 2.81168137e-03 3.47302417e-03 3.70774860e+00] [-2.80405033e-03 9.99993648e-01 -2.20015096e-03 1.01315901e-01] [-3.47918823e-03 2.19039046e-03 9.99991549e-01 8.95399191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.442557844 meters 0.2861641801121467 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.89 [[ 9.99981673e-01 -5.80964115e-03 1.70340442e-03 3.68903213e+00] [ 5.81033829e-03 9.99983038e-01 -4.04598622e-04 1.01473144e-01] [-1.70102495e-03 4.14488563e-04 9.99998467e-01 8.94240587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.502557844 meters 0.2858519790010042 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.89 [[ 9.99982328e-01 -5.70032726e-03 1.68809134e-03 3.68914813e+00] [ 5.70054144e-03 9.99983744e-01 -1.22092631e-04 1.00294536e-01] [-1.68736793e-03 1.31713508e-04 9.99998568e-01 8.94093397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.562557844 meters 0.28835834798044524 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.90 [[ 9.99991116e-01 3.23327243e-03 2.70436448e-03 3.70876433e+00] [-3.22894053e-03 9.99993499e-01 -1.60465129e-03 9.97106038e-02] [-2.70953517e-03 1.59590481e-03 9.99995056e-01 8.95312127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.622557844 meters 0.2866300579962029 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.90 [[ 9.99987332e-01 -4.46108701e-03 2.33132148e-03 3.68716320e+00] [ 4.45880288e-03 9.99989575e-01 9.84039012e-04 1.01538244e-01] [-2.33568706e-03 -9.73631643e-04 9.99996798e-01 8.95632023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68255784400003 meters 0.2861905322143064 Centerline is valid? [False, False] Translation: X:3.69, Y:0.10, Z:0.90 [[ 9.99986861e-01 -4.48784543e-03 2.47727654e-03 3.68679062e+00] [ 4.48559927e-03 9.99989524e-01 9.11516974e-04 1.01852907e-01] [-2.48134134e-03 -9.00392927e-04 9.99996516e-01 8.95639437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74255784400003 meters 0.28702591436758107 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.90 [[ 9.99984490e-01 5.00877954e-03 2.43562293e-03 3.70745636e+00] [-5.00884319e-03 9.99987455e-01 2.00375151e-05 9.86483468e-02] [-2.43549201e-03 -3.22368577e-05 9.99997034e-01 8.95988106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.802557844 meters 0.28665616056138266 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.90 [[ 9.99984264e-01 5.13434402e-03 2.26056040e-03 3.70785738e+00] [-5.13528837e-03 9.99986729e-01 4.12143663e-04 9.70805791e-02] [-2.25841432e-03 -4.23745807e-04 9.99997360e-01 8.96049696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.862557844 meters 0.2862009970028566 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.90 [[ 9.99983713e-01 5.27007271e-03 2.19092037e-03 3.70797235e+00] [-5.27174610e-03 9.99985816e-01 7.58710846e-04 9.56474570e-02] [-2.18689083e-03 -7.70248465e-04 9.99997312e-01 8.96187379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.922557844 meters 0.28660011053447315 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.90 [[ 9.99983513e-01 5.33017847e-03 2.13613817e-03 3.70825365e+00] [-5.33213951e-03 9.99985367e-01 9.13385574e-04 9.49707041e-02] [-2.13123840e-03 -9.24760702e-04 9.99997301e-01 8.95877885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.982557844 meters 0.28581230987899126 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.89 [[ 9.99997197e-01 1.27682009e-03 1.99374174e-03 3.70902650e+00] [-1.27154280e-03 9.99995691e-01 -2.64595477e-03 9.18889314e-02] [-1.99711156e-03 2.64341222e-03 9.99994512e-01 8.94802964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.042557844 meters 0.2860634463913334 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.90 [[ 9.99996835e-01 1.60957133e-03 1.93358434e-03 3.70894577e+00] [-1.60597773e-03 9.99996983e-01 -1.85863666e-03 8.85977432e-02] [-1.93657011e-03 1.85552548e-03 9.99996403e-01 8.95296337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.102557844 meters 0.28783990130018505 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.90 [[ 9.99996065e-01 1.95687342e-03 2.01000560e-03 3.70861024e+00] [-1.95471866e-03 9.99997513e-01 -1.07342381e-03 8.53240058e-02] [-2.01210115e-03 1.06949059e-03 9.99997404e-01 8.95609786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.162557844 meters 0.2866499573827381 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:0.90 [[ 9.99995589e-01 2.05218489e-03 2.14703733e-03 3.70839614e+00] [-2.05041939e-03 9.99997558e-01 -8.24173304e-04 8.42868089e-02] [-2.14872344e-03 8.19767342e-04 9.99997355e-01 8.95347744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.222557844 meters 0.2874102854322912 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:0.90 [[ 9.99995642e-01 2.10852022e-03 2.06666725e-03 3.70860510e+00] [-2.10713835e-03 9.99997555e-01 -6.70594507e-04 8.36413175e-02] [-2.06807616e-03 6.66236830e-04 9.99997640e-01 8.95323032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.282557844 meters 0.2877968561508619 Centerline is valid? [False, False] Translation: X:3.71, Y:0.08, Z:0.90 [[ 9.99995909e-01 2.06664467e-03 1.97783626e-03 3.70894701e+00] [-2.06511062e-03 9.99997566e-01 -7.77348635e-04 8.40497343e-02] [-1.97943795e-03 7.73261004e-04 9.99997742e-01 8.95036222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.342557844 meters 0.2876010166439722 Centerline is valid? [False, False] Translation: X:3.71, Y:0.09, Z:0.90 [[ 9.99995196e-01 1.96564400e-03 2.39664220e-03 3.70778654e+00] [-1.96291662e-03 9.99997424e-01 -1.13982430e-03 8.56873565e-02] [-2.39887652e-03 1.13511441e-03 9.99996478e-01 8.95351121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.402557844 meters 0.2905733152779478 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:0.89 [[ 9.99989096e-01 -2.41900338e-03 3.99465103e-03 3.73045327e+00] [ 2.40989146e-03 9.99994487e-01 2.28426972e-03 8.99156018e-02] [-4.00015466e-03 -2.27461813e-03 9.99989412e-01 8.94395449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.462557844 meters 0.28985583401433135 Centerline is valid? [False, False] Translation: X:3.73, Y:0.09, Z:0.89 [[ 9.99987788e-01 -2.82794159e-03 4.05292795e-03 3.73065245e+00] [ 2.82327251e-03 9.99995345e-01 1.15728690e-03 9.44565186e-02] [-4.05618182e-03 -1.14583025e-03 9.99991117e-01 8.93659858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.522557844 meters 0.2887458478561469 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:0.89 [[ 9.99986925e-01 -3.12246197e-03 4.04959088e-03 3.73075404e+00] [ 3.12078658e-03 9.99995042e-01 4.19971204e-04 9.75205253e-02] [-4.05088214e-03 -4.07327804e-04 9.99991712e-01 8.93398598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.582557844 meters 0.28844236492872205 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:0.89 [[ 9.99986283e-01 -3.31889677e-03 4.05190678e-03 3.73046261e+00] [ 3.31915028e-03 9.99994490e-01 -5.58422179e-05 9.95834173e-02] [-4.05169912e-03 6.92903394e-05 9.99991789e-01 8.93944418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.642557844 meters 0.2885214161616184 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:0.89 [[ 9.99985439e-01 -3.48242182e-03 4.12232678e-03 3.73037439e+00] [ 3.48428912e-03 9.99993830e-01 -4.45876129e-04 1.01202958e-01] [-4.12074861e-03 4.60233015e-04 9.99991404e-01 8.93710295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.702557844 meters 0.28846525668644635 Centerline is valid? [False, False] Translation: X:3.73, Y:0.10, Z:0.89 [[ 9.99985576e-01 -3.55249542e-03 4.02825040e-03 3.73077515e+00] [ 3.55504941e-03 9.99993484e-01 -6.27038625e-04 1.01902973e-01] [-4.02599660e-03 6.41350210e-04 9.99991690e-01 8.93316032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.762557844 meters 0.2873325045429391 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.89 [[ 9.99989332e-01 4.26625927e-03 1.77056136e-03 3.71097526e+00] [-4.26323018e-03 9.99989448e-01 -1.71107042e-03 1.01101861e-01] [-1.77784255e-03 1.70350386e-03 9.99996969e-01 8.93543570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.822557844 meters 0.2879684861526668 Centerline is valid? [False, False] Translation: X:3.71, Y:0.10, Z:0.89 [[ 9.99990531e-01 3.97927390e-03 1.76178689e-03 3.71115352e+00] [-3.97494828e-03 9.99989094e-01 -2.45197431e-03 1.04141458e-01] [-1.77152475e-03 2.44494808e-03 9.99995442e-01 8.93178000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.882557844 meters 0.28609690136096366 Centerline is valid? [False, False] Translation: X:3.71, Y:0.11, Z:0.89 [[ 9.99992181e-01 3.48383285e-03 1.87106205e-03 3.71099062e+00] [-3.47662326e-03 9.99986573e-01 -3.84273654e-03 1.09834262e-01] [-1.88442438e-03 3.83620152e-03 9.99990866e-01 8.92928425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.942557844 meters 0.28662825733568775 Centerline is valid? [False, False] Translation: X:3.71, Y:0.11, Z:0.89 [[ 9.99992813e-01 3.21008769e-03 2.01733235e-03 3.71058458e+00] [-3.20100814e-03 9.99984806e-01 -4.48799679e-03 1.12551574e-01] [-2.03170856e-03 4.48150704e-03 9.99987894e-01 8.92948475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.002557844 meters 0.2858783005878446 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:0.89 [[ 9.99983784e-01 -5.14690795e-03 2.43742309e-03 3.73222505e+00] [ 5.15746068e-03 9.99977269e-01 -4.34315305e-03 1.17434820e-01] [-2.41501387e-03 4.35565354e-03 9.99987598e-01 8.93496432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.062557844 meters 0.2846036098776433 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:0.89 [[ 9.99998154e-01 -1.35047617e-03 1.36714979e-03 3.73484211e+00] [ 1.35180808e-03 9.99998612e-01 -9.73768224e-04 1.19441792e-01] [-1.36583284e-03 9.75614550e-04 9.99998591e-01 8.93164255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.122557844 meters 0.28447585790040625 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:0.89 [[ 9.99998185e-01 -1.26455560e-03 1.42480763e-03 3.73448237e+00] [ 1.26561612e-03 9.99998923e-01 -7.43669957e-04 1.18504718e-01] [-1.42386568e-03 7.45471867e-04 9.99998708e-01 8.93685614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18255784400003 meters 0.284926854142182 Centerline is valid? [False, False] Translation: X:3.73, Y:0.12, Z:0.89 [[ 9.99998199e-01 -1.33727510e-03 1.34659664e-03 3.73496327e+00] [ 1.33857280e-03 9.99998640e-01 -9.63245846e-04 1.19316939e-01] [-1.34530668e-03 9.65046629e-04 9.99998629e-01 8.92931423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24255784400003 meters 0.2857120384142636 Centerline is valid? [False, False] Translation: X:3.74, Y:0.12, Z:0.89 [[ 9.99998412e-01 -1.49997771e-03 9.62739947e-04 3.73628569e+00] [ 1.50138788e-03 9.99997799e-01 -1.46570584e-03 1.21098229e-01] [-9.60539302e-04 1.46714896e-03 9.99998462e-01 8.91826296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.302557844 meters 0.2861929562883357 Centerline is valid? [False, False] Translation: X:3.74, Y:0.12, Z:0.89 [[ 9.99998064e-01 -1.70158849e-03 9.88170728e-04 3.73618528e+00] [ 1.70374570e-03 9.99996159e-01 -2.18630399e-03 1.23832933e-01] [-9.84446743e-04 2.18798335e-03 9.99997122e-01 8.91867843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.362557844 meters 0.2872045905493629 Centerline is valid? [False, False] Translation: X:3.74, Y:0.13, Z:0.89 [[ 9.99997407e-01 -1.85200372e-03 1.32518515e-03 3.73529340e+00] [ 1.85546170e-03 9.99994865e-01 -2.61297767e-03 1.25671254e-01] [-1.32033910e-03 2.61542972e-03 9.99995708e-01 8.91950830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.422557844 meters 0.28785103768939224 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:0.89 [[ 9.99997134e-01 -1.90538959e-03 1.44998255e-03 3.73489978e+00] [ 1.90937604e-03 9.99994388e-01 -2.75290550e-03 1.26285789e-01] [-1.44472905e-03 2.75566617e-03 9.99995160e-01 8.92116646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.482557844 meters 0.28719986896585303 Centerline is valid? [False, False] Translation: X:3.73, Y:0.13, Z:0.89 [[ 9.99996943e-01 -1.94728620e-03 1.52413089e-03 3.73474669e+00] [ 1.95163773e-03 9.99994009e-01 -2.85882985e-03 1.26729132e-01] [-1.51855480e-03 2.86179567e-03 9.99994752e-01 8.92028415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.542557844 meters 0.2907327420266477 Centerline is valid? [False, False] Translation: X:3.76, Y:0.13, Z:0.89 [[ 9.99962227e-01 -7.04610403e-03 5.08895719e-03 3.75600175e+00] [ 7.04537342e-03 9.99975168e-01 1.61480500e-04 1.26855671e-01] [-5.08996863e-03 -1.25620797e-04 9.99987038e-01 8.90291656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.602557844 meters 0.28886689027230117 Centerline is valid? [False, False] Translation: X:3.76, Y:0.13, Z:0.89 [[ 9.99961010e-01 -7.16520883e-03 5.16119130e-03 3.75590220e+00] [ 7.16599827e-03 9.99974315e-01 -1.34481217e-04 1.28077574e-01] [-5.16009515e-03 1.71461061e-04 9.99986672e-01 8.90068978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.662557844 meters 0.2857399304184702 Centerline is valid? [False, False] Translation: X:3.74, Y:0.13, Z:0.89 [[ 9.99990593e-01 4.56379843e-04 4.31351275e-03 3.73533548e+00] [-4.49500008e-04 9.99998626e-01 -1.59578426e-03 1.26997695e-01] [-4.31423511e-03 1.59383032e-03 9.99989423e-01 8.88981619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.722557844 meters 0.28809075630309744 Centerline is valid? [False, False] Translation: X:3.76, Y:0.13, Z:0.89 [[ 9.99982979e-01 -4.38850293e-03 3.84494217e-03 3.75927474e+00] [ 4.38190467e-03 9.99988915e-01 1.72283425e-03 1.32971362e-01] [-3.85246022e-03 -1.70595675e-03 9.99991124e-01 8.87916527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.782557844 meters 0.28679113318338256 Centerline is valid? [False, False] Translation: X:3.76, Y:0.14, Z:0.89 [[ 9.99980684e-01 -4.71491710e-03 4.04982991e-03 3.75889759e+00] [ 4.71231533e-03 9.99988685e-01 6.51741250e-04 1.37156019e-01] [-4.05285699e-03 -6.32644585e-04 9.99991587e-01 8.87572303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.842557844 meters 0.2876730826550377 Centerline is valid? [False, False] Translation: X:3.78, Y:0.14, Z:0.89 [[ 9.99978864e-01 3.96199028e-03 5.15508271e-03 3.77839581e+00] [-3.95577944e-03 9.99991438e-01 -1.21443784e-03 1.38203956e-01] [-5.15985016e-03 1.19401980e-03 9.99985975e-01 8.88732478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.902557844 meters 0.28693318575670074 Centerline is valid? [False, False] Translation: X:3.76, Y:0.14, Z:0.89 [[ 9.99991547e-01 -2.31108984e-03 3.40071334e-03 3.75697618e+00] [ 2.30507667e-03 9.99995775e-01 1.77106592e-03 1.43283312e-01] [-3.40479207e-03 -1.76321205e-03 9.99992649e-01 8.89042591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.962557844 meters 0.28729819563079584 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.89 [[ 9.99997662e-01 9.17938078e-05 2.16038499e-03 3.76209980e+00] [-9.84673769e-05 9.99995224e-01 3.08916111e-03 1.50959909e-01] [-2.16009111e-03 -3.08936662e-03 9.99992895e-01 8.85705893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.022557844 meters 0.2869941292225141 Centerline is valid? [False, False] Translation: X:3.76, Y:0.15, Z:0.89 [[ 9.99997724e-01 -1.02287611e-04 2.13117507e-03 3.76212317e+00] [ 9.67975802e-05 9.99996677e-01 2.57600199e-03 1.53032366e-01] [-2.13143148e-03 -2.57578983e-03 9.99994411e-01 8.85769058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.082557844 meters 0.28534836098286304 Centerline is valid? [False, False] Translation: X:3.76, Y:0.16, Z:0.89 [[ 9.99997311e-01 -3.27941466e-04 2.29568948e-03 3.76137872e+00] [ 3.23308241e-04 9.99997911e-01 2.01830836e-03 1.55448587e-01] [-2.29634657e-03 -2.01756072e-03 9.99995328e-01 8.86435273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.142557844 meters 0.2861815383489274 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:0.89 [[ 9.99997906e-01 2.61648207e-04 2.02953831e-03 3.79772129e+00] [-2.62974851e-04 9.99999752e-01 6.53428617e-04 1.66236227e-01] [-2.02936684e-03 -6.53960967e-04 9.99997727e-01 8.90123588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.202557844 meters 0.2850157964525933 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:0.89 [[ 9.99998207e-01 -8.39765096e-05 1.89160197e-03 3.79840901e+00] [ 8.43574472e-05 9.99999976e-01 -2.01304735e-04 1.69708274e-01] [-1.89158502e-03 2.01463945e-04 9.99998191e-01 8.89243249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.262557844 meters 0.28387048195073367 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:0.89 [[ 9.99998516e-01 -1.85155041e-04 1.71261952e-03 3.79879720e+00] [ 1.85951263e-04 9.99999875e-01 -4.64766926e-04 1.70775949e-01] [-1.71253325e-03 4.65084701e-04 9.99998425e-01 8.89331753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.322557844 meters 0.2821495157604926 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:0.89 [[ 9.99998167e-01 -2.00251199e-04 1.90395533e-03 3.79815235e+00] [ 2.01244622e-04 9.99999844e-01 -5.21590709e-04 1.71022427e-01] [-1.90385058e-03 5.21972914e-04 9.99998051e-01 8.89799285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.382557844 meters 0.28396560963890566 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998238e-01 1.16328488e-04 1.87365733e-03 3.83556734e+00] [-1.15079966e-04 9.99999771e-01 -6.66449999e-04 1.72557947e-01] [-1.87373443e-03 6.66233204e-04 9.99998023e-01 8.92655739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.442557844 meters 0.28248403581798515 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998044e-01 1.61708180e-04 1.97113963e-03 3.83518516e+00] [-1.60644972e-04 9.99999842e-01 -5.39533703e-04 1.72069933e-01] [-1.97122656e-03 5.39215994e-04 9.99997912e-01 8.92998407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.502557844 meters 0.281927434134916 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998375e-01 2.63595784e-04 1.78360588e-03 3.83570376e+00] [-2.63169333e-04 9.99999937e-01 -2.39325244e-04 1.70841124e-01] [-1.78366885e-03 2.38855465e-04 9.99998381e-01 8.92835035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.562557844 meters 0.2823906970572297 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998374e-01 3.85720866e-04 1.76178298e-03 3.83578898e+00] [-3.85875673e-04 9.99999922e-01 8.75304725e-05 1.69500666e-01] [-1.76174908e-03 -8.82101593e-05 9.99998444e-01 8.92765823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.622557844 meters 0.2817598324195158 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998475e-01 4.40690155e-04 1.68976590e-03 3.83611162e+00] [-4.41081431e-04 9.99999876e-01 2.31191014e-04 1.68887423e-01] [-1.68966381e-03 -2.31935986e-04 9.99998546e-01 8.92442909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68255784400003 meters 0.28116243321598533 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998710e-01 3.83229532e-04 1.55968367e-03 3.83651737e+00] [-3.83370732e-04 9.99999922e-01 9.02327194e-05 1.69466880e-01] [-1.55964897e-03 -9.08305401e-05 9.99998780e-01 8.92262217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74255784400003 meters 0.28138134725703834 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998550e-01 3.86851379e-04 1.65831247e-03 3.83606585e+00] [-3.87012333e-04 9.99999920e-01 9.67390370e-05 1.69466167e-01] [-1.65827492e-03 -9.73806841e-05 9.99998620e-01 8.92750422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.802557844 meters 0.2810728643623778 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99998965e-01 3.99673477e-04 1.38209696e-03 3.83703304e+00] [-3.99882428e-04 9.99999909e-01 1.50910758e-04 1.69204999e-01] [-1.38203652e-03 -1.51463278e-04 9.99999034e-01 8.91957484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.862557844 meters 0.28183656375646 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999311e-01 4.33128227e-04 1.09118751e-03 3.83785919e+00] [-4.33414400e-04 9.99999872e-01 2.62035024e-04 1.68717369e-01] [-1.09107388e-03 -2.62507780e-04 9.99999370e-01 8.91635907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.922557844 meters 0.28182992655103917 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999362e-01 5.20434104e-04 1.00221371e-03 3.83809379e+00] [-5.20955503e-04 9.99999729e-01 5.20056802e-04 1.67682811e-01] [-1.00194278e-03 -5.20578579e-04 9.99999363e-01 8.91590854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.982557844 meters 0.2822854970024522 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999469e-01 5.32694949e-04 8.82122200e-04 3.83845742e+00] [-5.33185471e-04 9.99999703e-01 5.55929426e-04 1.67527380e-01] [-8.81825797e-04 -5.56399465e-04 9.99999456e-01 8.91444422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.042557844 meters 0.28071916947060627 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999301e-01 6.19256079e-04 1.00756745e-03 3.83775402e+00] [-6.20062391e-04 9.99999488e-01 8.00140945e-04 1.66543515e-01] [-1.00707144e-03 -8.00765140e-04 9.99999172e-01 8.92407278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.102557844 meters 0.28032216885105593 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999136e-01 6.53781973e-04 1.14085180e-03 3.83705140e+00] [-6.54802789e-04 9.99999385e-01 8.94640394e-04 1.66136238e-01] [-1.14026620e-03 -8.95386653e-04 9.99998949e-01 8.93337337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.162557844 meters 0.2805933690896342 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999302e-01 5.30217268e-04 1.05604139e-03 3.83733546e+00] [-5.30840107e-04 9.99999685e-01 5.89593611e-04 1.67410801e-01] [-1.05572844e-03 -5.90153789e-04 9.99999269e-01 8.93203160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.222557844 meters 0.2814478403618987 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999384e-01 2.95077733e-04 1.07014774e-03 3.83712175e+00] [-2.95070814e-04 9.99999956e-01 -6.62411138e-06 1.69924212e-01] [-1.07014965e-03 6.30833793e-06 9.99999427e-01 8.93585189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.282557844 meters 0.281000839567139 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:0.89 [[ 9.99999443e-01 -4.07203548e-05 1.05511466e-03 3.83702368e+00] [ 4.16693076e-05 9.99999595e-01 -8.99377201e-04 1.73573331e-01] [-1.05507761e-03 8.99420666e-04 9.99999039e-01 8.93909065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.342557844 meters 0.2818223184361053 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:0.89 [[ 9.99999412e-01 -2.30306431e-04 1.05987999e-03 3.83701731e+00] [ 2.31759033e-04 9.99999034e-01 -1.37061587e-03 1.75531814e-01] [-1.05956331e-03 1.37086070e-03 9.99998499e-01 8.93902477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.402557844 meters 0.28163293820786967 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:0.89 [[ 9.99981671e-01 -5.76517525e-03 1.84966008e-03 3.86034219e+00] [ 5.76203429e-03 9.99981956e-01 1.69898939e-03 1.80433558e-01] [-1.85942168e-03 -1.68830045e-03 9.99996846e-01 8.92747056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.462557844 meters 0.281039816104876 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:0.89 [[ 9.99999490e-01 3.64816810e-04 -9.41872457e-04 3.83844498e+00] [-3.66028147e-04 9.99999106e-01 -1.28624321e-03 1.83344316e-01] [ 9.41402372e-04 1.28658730e-03 9.99998729e-01 8.94472407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.522557844 meters 0.279396930948981 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:0.89 [[ 9.99999277e-01 -1.15793219e-05 -1.20210108e-03 3.83928207e+00] [ 8.16687284e-06 9.99995971e-01 -2.83870328e-03 1.89140864e-01] [ 1.20212911e-03 2.83869141e-03 9.99995248e-01 8.93908219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.582557844 meters 0.2812866795581691 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:0.89 [[ 9.99975211e-01 -5.83988597e-03 -3.93363591e-03 3.86210993e+00] [ 5.83727144e-03 9.99982735e-01 -6.75811772e-04 1.99472190e-01] [ 3.93751466e-03 6.52833319e-04 9.99992035e-01 8.94652980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.642557844 meters 0.28171919357790726 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:0.89 [[ 9.99990273e-01 -1.86047631e-03 -3.99908515e-03 3.86223428e+00] [ 1.87151061e-03 9.99994448e-01 2.75723675e-03 2.03240076e-01] [ 3.99393317e-03 -2.76469426e-03 9.99988202e-01 8.94532404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.702557844 meters 0.2807713416401702 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:0.89 [[ 9.99990039e-01 -2.02042211e-03 -3.97984655e-03 3.86208109e+00] [ 2.02982224e-03 9.99995157e-01 2.35931154e-03 2.04898121e-01] [ 3.97506047e-03 -2.36736642e-03 9.99989297e-01 8.94748465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.762557844 meters 0.2813234475114834 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.89 [[ 9.99989711e-01 -2.09046507e-03 -4.02581042e-03 3.86217212e+00] [ 2.09924480e-03 9.99995425e-01 2.17787008e-03 2.05641515e-01] [ 4.02123924e-03 -2.18629884e-03 9.99989525e-01 8.94798674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.822557844 meters 0.28183088985567756 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.89 [[ 9.99988910e-01 -2.18287825e-03 -4.17314623e-03 3.86255902e+00] [ 2.19102217e-03 9.99995702e-01 1.94793203e-03 2.06601694e-01] [ 4.16887620e-03 -1.95705388e-03 9.99989395e-01 8.94760670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.882557844 meters 0.2813706155265661 Centerline is valid? [False, False] Translation: X:3.86, Y:0.21, Z:0.89 [[ 9.99988115e-01 -2.31850633e-03 -4.28885092e-03 3.86280320e+00] [ 2.32525375e-03 9.99996066e-01 1.56893054e-03 2.08145432e-01] [ 4.28519647e-03 -1.57888456e-03 9.99989572e-01 8.94843144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.942557844 meters 0.2840565683736613 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:0.89 [[ 9.99967246e-01 6.95700873e-03 -4.13604332e-03 3.88539416e+00] [-6.95273218e-03 9.99975281e-01 1.04745090e-03 2.07440268e-01] [ 4.14322821e-03 -1.01865979e-03 9.99990898e-01 8.94959819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.002557844 meters 0.28193236649876696 Centerline is valid? [False, False] Translation: X:3.88, Y:0.21, Z:0.90 [[ 9.99969887e-01 6.83161170e-03 -3.68147166e-03 3.88422330e+00] [-6.82941374e-03 9.99976494e-01 6.09274414e-04 2.09209810e-01] [ 3.68554745e-03 -5.84113774e-04 9.99993038e-01 8.95245091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.062557844 meters 0.2827209774423597 Centerline is valid? [False, False] Translation: X:3.90, Y:0.22, Z:0.90 [[ 9.99993920e-01 -1.55433110e-03 -3.12142345e-03 3.90289422e+00] [ 1.55828526e-03 9.99997986e-01 1.26475082e-03 2.16080801e-01] [ 3.11945133e-03 -1.26960720e-03 9.99994329e-01 8.96700377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.122557844 meters 0.2813765518597607 Centerline is valid? [False, False] Translation: X:3.88, Y:0.22, Z:0.90 [[ 9.99969852e-01 5.36470096e-03 -5.61376629e-03 3.87904261e+00] [-5.37121957e-03 9.99984917e-01 -1.14675141e-03 2.22825702e-01] [ 5.60752964e-03 1.17686961e-03 9.99983585e-01 8.99590977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18255784400003 meters 0.28179501613995145 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99988304e-01 -2.67922122e-03 -4.02672601e-03 3.89806641e+00] [ 2.67797410e-03 9.99996365e-01 -3.15068202e-04 2.28613045e-01] [ 4.02755551e-03 3.04281049e-04 9.99991843e-01 9.00863181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24255784400003 meters 0.28131683806658075 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:0.90 [[ 9.99974736e-01 5.38196303e-03 -4.64344064e-03 3.87866688e+00] [-5.38951171e-03 9.99984173e-01 -1.61468781e-03 2.25284282e-01] [ 4.63467695e-03 1.63967289e-03 9.99987916e-01 8.99266830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.302557844 meters 0.28381259686905325 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99980270e-01 -3.83602610e-03 -4.97441234e-03 3.90183930e+00] [ 3.82770049e-03 9.99991260e-01 -1.68212887e-03 2.28183990e-01] [ 4.98082156e-03 1.66305512e-03 9.99986213e-01 8.98734052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.362557844 meters 0.2820673643795817 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99980685e-01 -3.91996038e-03 -4.82328656e-03 3.90130213e+00] [ 3.91076837e-03 9.99990522e-01 -1.91371553e-03 2.29168371e-01] [ 4.83074253e-03 1.89481580e-03 9.99986537e-01 8.99082208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.422557844 meters 0.2821150223220429 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99980495e-01 -4.01016041e-03 -4.78825186e-03 3.90116294e+00] [ 3.99991009e-03 9.99989693e-01 -2.14838342e-03 2.30139558e-01] [ 4.79681787e-03 2.12918894e-03 9.99986228e-01 8.99185031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.482557844 meters 0.2817024058141186 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99979920e-01 -4.07454660e-03 -4.85357539e-03 3.90163919e+00] [ 4.06335898e-03 9.99989070e-01 -2.31266248e-03 2.30859116e-01] [ 4.86294539e-03 2.29289422e-03 9.99985547e-01 8.98441652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.542557844 meters 0.2828910826729627 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99979953e-01 -3.96407023e-03 -4.93764670e-03 3.90188974e+00] [ 3.95410855e-03 9.99990131e-01 -2.02562569e-03 2.29660112e-01] [ 4.94562770e-03 2.00606109e-03 9.99985758e-01 8.98377774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.602557844 meters 0.28222544013728446 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99980206e-01 -3.82049938e-03 -4.99918408e-03 3.90201852e+00] [ 3.81230509e-03 9.99991376e-01 -1.64763076e-03 2.28113942e-01] [ 5.00543574e-03 1.62853973e-03 9.99986147e-01 8.98447791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.662557844 meters 0.281966896862374 Centerline is valid? [False, False] Translation: X:3.90, Y:0.23, Z:0.90 [[ 9.99980945e-01 -3.64128681e-03 -4.98513283e-03 3.90176183e+00] [ 3.63542069e-03 9.99992689e-01 -1.18527911e-03 2.26210146e-01] [ 4.98941232e-03 1.16713347e-03 9.99986872e-01 8.98986566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.722557844 meters 0.28295442877412424 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.90 [[ 9.99981545e-01 4.59845083e-03 -3.97042573e-03 3.92168368e+00] [-4.60810476e-03 9.99986440e-01 -2.42574429e-03 2.22863563e-01] [ 3.95921723e-03 2.44399566e-03 9.99989176e-01 9.00598035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.782557844 meters 0.2826512307851799 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.90 [[ 9.99980798e-01 4.67612792e-03 -4.06669106e-03 3.92200995e+00] [-4.68512369e-03 9.99986593e-01 -2.20535755e-03 2.21961751e-01] [ 4.05632401e-03 2.22436815e-03 9.99989299e-01 9.00367766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.842557844 meters 0.2830808744871425 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.90 [[ 9.99980259e-01 4.76009841e-03 -4.10147432e-03 3.92208455e+00] [-4.76832128e-03 9.99986637e-01 -1.99741475e-03 2.21107439e-01] [ 4.09191162e-03 2.01693247e-03 9.99989594e-01 9.00404691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.902557844 meters 0.28273968420591156 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.90 [[ 9.99979068e-01 5.02410700e-03 -4.07699739e-03 3.92202222e+00] [-5.02969765e-03 9.99986423e-01 -1.36217566e-03 2.18484824e-01] [ 4.07009832e-03 1.38265322e-03 9.99990761e-01 9.00402333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.962557844 meters 0.28277900568025177 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:0.90 [[ 9.99978032e-01 5.23517989e-03 -4.06547770e-03 3.92204825e+00] [-5.23859249e-03 9.99985935e-01 -8.29214212e-04 2.16303477e-01] [ 4.06107943e-03 8.50493377e-04 9.99991392e-01 9.00297055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.022557844 meters 0.2832349911137182 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995618e-01 -2.06749862e-03 -2.11875161e-03 3.93989748e+00] [ 2.07040351e-03 9.99996919e-01 1.36976315e-03 2.17896172e-01] [ 2.11591310e-03 -1.37414381e-03 9.99996817e-01 9.02314284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.082557844 meters 0.2833239306369316 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995582e-01 -2.02864999e-03 -2.17253772e-03 3.94021295e+00] [ 2.03185013e-03 9.99996853e-01 1.47180195e-03 2.17453843e-01] [ 2.16954511e-03 -1.47620972e-03 9.99996557e-01 9.01906651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.142557844 meters 0.2838558525955078 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995598e-01 -2.08858831e-03 -2.10748933e-03 3.94008977e+00] [ 2.09132918e-03 9.99996969e-01 1.29917275e-03 2.18145724e-01] [ 2.10476950e-03 -1.30357448e-03 9.99996935e-01 9.01805869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.202557844 meters 0.2839217608808103 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995924e-01 -2.14947105e-03 -1.87950608e-03 3.93935719e+00] [ 2.15158055e-03 9.99997057e-01 1.12107338e-03 2.18882553e-01] [ 1.87709083e-03 -1.12511272e-03 9.99997605e-01 9.02219390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.262557844 meters 0.28354720240926584 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995812e-01 -2.06820883e-03 -2.02427173e-03 3.93982314e+00] [ 2.07090170e-03 9.99996972e-01 1.32909771e-03 2.17984672e-01] [ 2.02151675e-03 -1.33328421e-03 9.99997068e-01 9.02008090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.322557844 meters 0.2850405178953668 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995548e-01 -2.02162985e-03 -2.19481049e-03 3.94020347e+00] [ 2.02482648e-03 9.99996891e-01 1.45520696e-03 2.17465342e-01] [ 2.19186177e-03 -1.45964460e-03 9.99996533e-01 9.02120264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.382557844 meters 0.2831691920305104 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99995910e-01 -1.90362363e-03 -2.13441594e-03 3.93961155e+00] [ 1.90742772e-03 9.99996594e-01 1.78164368e-03 2.16094003e-01] [ 2.13101709e-03 -1.78570764e-03 9.99996135e-01 9.03162708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.442557844 meters 0.2835271109070721 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99996196e-01 -1.80695048e-03 -2.08405087e-03 3.93940046e+00] [ 1.81117235e-03 9.99996308e-01 2.02569622e-03 2.15087469e-01] [ 2.08038284e-03 -2.02946309e-03 9.99995777e-01 9.03373029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.502557844 meters 0.28316208249375885 Centerline is valid? [False, False] Translation: X:3.94, Y:0.21, Z:0.90 [[ 9.99996359e-01 -1.69656293e-03 -2.09860274e-03 3.93935517e+00] [ 1.70138654e-03 9.99995910e-01 2.29883828e-03 2.13965230e-01] [ 2.09469403e-03 -2.30240044e-03 9.99995156e-01 9.03575716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.562557844 meters 0.28478871622435425 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99985192e-01 5.43798892e-03 2.07987922e-04 3.96052759e+00] [-5.43796278e-03 9.99985206e-01 -1.26069665e-04 2.14799317e-01] [-2.08670410e-04 1.24936768e-04 9.99999970e-01 9.02719804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.622557844 meters 0.28348310259582515 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99991662e-01 -4.00543358e-03 -7.94850639e-04 3.94042483e+00] [ 4.00560606e-03 9.99991954e-01 2.15525918e-04 2.18210647e-01] [ 7.93980969e-04 -2.18707980e-04 9.99999661e-01 9.02499746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68255784400003 meters 0.28344076126741685 Centerline is valid? [False, False] Translation: X:3.94, Y:0.22, Z:0.90 [[ 9.99991564e-01 -4.05619237e-03 -6.47102818e-04 3.93997390e+00] [ 4.05623631e-03 9.99991771e-01 6.66039395e-05 2.18827869e-01] [ 6.46827335e-04 -6.92281796e-05 9.99999788e-01 9.02696430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74255784400003 meters 0.28398769165561355 Centerline is valid? [False, False] Translation: X:3.96, Y:0.22, Z:0.90 [[ 9.99987855e-01 4.47281822e-03 2.06985286e-03 3.95890021e+00] [-4.47090935e-03 9.99989577e-01 -9.25934598e-04 2.18454317e-01] [-2.07397282e-03 9.16669228e-04 9.99997429e-01 9.03633821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.802557844 meters 0.28425247918775004 Centerline is valid? [False, False] Translation: X:3.96, Y:0.22, Z:0.90 [[ 9.99987771e-01 4.55136976e-03 1.93467597e-03 3.95930391e+00] [-4.55002288e-03 9.99989404e-01 -7.00013544e-04 2.17510081e-01] [-1.93784149e-03 6.91202164e-04 9.99997884e-01 9.03505238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.862557844 meters 0.28378623841604816 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99986918e-01 4.79534874e-03 1.78022660e-03 3.95971464e+00] [-4.79565114e-03 9.99988487e-01 1.65635843e-04 2.14150868e-01] [-1.77941183e-03 -1.74171021e-04 9.99998402e-01 9.03406407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.922557844 meters 0.28466858844360826 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99985469e-01 5.06772325e-03 1.83865321e-03 3.95948496e+00] [-5.06948773e-03 9.99986693e-01 9.56270498e-04 2.10972601e-01] [-1.83378262e-03 -9.65577632e-04 9.99997852e-01 9.03622875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.982557844 meters 0.28420760353434754 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99998213e-01 9.67868258e-04 1.62379091e-03 3.96052356e+00] [-9.63393795e-04 9.99995743e-01 -2.75408847e-03 2.08866551e-01] [-1.62644959e-03 2.75251920e-03 9.99994889e-01 9.02368112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.042557844 meters 0.2846957250370841 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99998166e-01 1.15864862e-03 1.52474542e-03 3.96104515e+00] [-1.15517672e-03 9.99996743e-01 -2.27595553e-03 2.06825637e-01] [-1.52737748e-03 2.27419001e-03 9.99996248e-01 9.01779225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.102557844 meters 0.2837620531897473 Centerline is valid? [False, False] Translation: X:3.96, Y:0.21, Z:0.90 [[ 9.99997903e-01 1.31445143e-03 1.57059490e-03 3.96067512e+00] [-1.31145601e-03 9.99997322e-01 -1.90670429e-03 2.05285467e-01] [-1.57309696e-03 1.90464052e-03 9.99996949e-01 9.02346380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.162557844 meters 0.2843338739083496 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99997571e-01 1.43435959e-03 1.67356785e-03 3.96035528e+00] [-1.43173687e-03 9.99997747e-01 -1.56728536e-03 2.03948802e-01] [-1.67581213e-03 1.56488544e-03 9.99997371e-01 9.02557259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.222557844 meters 0.2845557242975377 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99997311e-01 1.58927509e-03 1.68875538e-03 3.96034754e+00] [-1.58726439e-03 9.99998031e-01 -1.19131420e-03 2.02381005e-01] [-1.69064538e-03 1.18863049e-03 9.99997864e-01 9.02521355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.282557844 meters 0.2849701803856441 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99997031e-01 1.71418045e-03 1.73183541e-03 3.95988690e+00] [-1.71269688e-03 9.99998165e-01 -8.57764973e-04 2.01027620e-01] [-1.73330260e-03 8.54796317e-04 9.99998132e-01 9.03385493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.342557844 meters 0.28446662328054745 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99997019e-01 1.85182179e-03 1.59173385e-03 3.96002822e+00] [-1.85112283e-03 9.99998190e-01 -4.40480041e-04 1.99388757e-01] [-1.59254666e-03 4.37532233e-04 9.99998636e-01 9.03888029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.402557844 meters 0.2844759814926652 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99996046e-01 2.18702825e-03 1.76782087e-03 3.95923012e+00] [-2.18822943e-03 9.99997376e-01 6.77821836e-04 1.95055774e-01] [-1.76633381e-03 -6.81687553e-04 9.99998208e-01 9.04849028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.462557844 meters 0.28413481904212523 Centerline is valid? [False, False] Translation: X:3.96, Y:0.19, Z:0.91 [[ 9.99995557e-01 2.47426191e-03 1.66278380e-03 3.95936177e+00] [-2.47685796e-03 9.99995714e-01 1.56102846e-03 1.91564984e-01] [-1.65891428e-03 -1.56514001e-03 9.99997399e-01 9.05172536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.522557844 meters 0.2837024151731961 Centerline is valid? [False, False] Translation: X:3.96, Y:0.19, Z:0.91 [[ 9.99994675e-01 2.92203354e-03 1.45341610e-03 3.95984441e+00] [-2.92644308e-03 9.99991094e-01 3.04109968e-03 1.85795001e-01] [-1.44451696e-03 -3.04533683e-03 9.99994320e-01 9.05223238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.582557844 meters 0.2836113304930383 Centerline is valid? [False, False] Translation: X:3.96, Y:0.18, Z:0.91 [[ 9.99993841e-01 3.21993899e-03 1.39606990e-03 3.95992193e+00] [-3.22517175e-03 9.99987722e-01 3.76230213e-03 1.82819257e-01] [-1.38393838e-03 -3.76678152e-03 9.99991948e-01 9.05394869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.642557844 meters 0.2838779843767726 Centerline is valid? [False, False] Translation: X:3.96, Y:0.18, Z:0.91 [[ 9.99998292e-01 -7.70994212e-04 1.67955476e-03 3.95915575e+00] [ 7.70519369e-04 9.99999663e-01 2.83348739e-04 1.80293632e-01] [-1.67977266e-03 -2.82054126e-04 9.99998549e-01 9.05564774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.702557844 meters 0.28334779445955066 Centerline is valid? [False, False] Translation: X:3.96, Y:0.18, Z:0.90 [[ 9.99998380e-01 -7.03550704e-04 1.65662220e-03 3.95963777e+00] [ 7.03116936e-04 9.99999718e-01 2.62406697e-04 1.80691556e-01] [-1.65680635e-03 -2.61241473e-04 9.99998593e-01 9.04599560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.762557844 meters 0.2856972829216286 Centerline is valid? [False, False] Translation: X:3.98, Y:0.19, Z:0.90 [[ 9.99941417e-01 1.01641150e-02 3.72204967e-03 3.98104321e+00] [-1.01656964e-02 9.99948245e-01 4.06186764e-04 1.87352730e-01] [-3.71772851e-03 -4.44000195e-04 9.99992991e-01 9.03594000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.822557844 meters 0.28535398519624344 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99999198e-01 5.64790592e-04 1.13326564e-03 3.96243667e+00] [-5.63993736e-04 9.99999594e-01 -7.03346755e-04 1.97689620e-01] [-1.13366242e-03 7.02707036e-04 9.99999111e-01 9.02660528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.882557844 meters 0.28613005820248905 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99999186e-01 3.44557944e-04 1.22835142e-03 3.96209455e+00] [-3.43062518e-04 9.99999200e-01 -1.21742815e-03 1.99872931e-01] [-1.22876992e-03 1.21700575e-03 9.99998505e-01 9.02775189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.942557844 meters 0.2849750243414434 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99998859e-01 2.37528012e-04 1.49163421e-03 3.96118400e+00] [-2.35309382e-04 9.99998866e-01 -1.48738177e-03 2.01054157e-01] [-1.49198581e-03 1.48702908e-03 9.99997781e-01 9.03326097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.002557844 meters 0.28516181882518693 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99999711e-01 8.74471632e-05 7.55712285e-04 3.96296832e+00] [-8.60376269e-05 9.99998257e-01 -1.86500703e-03 2.02390763e-01] [-7.55874058e-04 1.86494147e-03 9.99997975e-01 9.03090545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.062557844 meters 0.283164872436245 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99999804e-01 1.10760383e-04 6.16694849e-04 3.96322291e+00] [-1.09654986e-04 9.99998388e-01 -1.79219892e-03 2.02098475e-01] [-6.16892360e-04 1.79213094e-03 9.99998204e-01 9.03292539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.122557844 meters 0.28537559234339904 Centerline is valid? [False, False] Translation: X:3.98, Y:0.20, Z:0.90 [[ 9.99980741e-01 -5.21234764e-03 3.36872117e-03 3.98449072e+00] [ 5.20651958e-03 9.99984938e-01 1.73651299e-03 2.00905577e-01] [-3.37772174e-03 -1.71894023e-03 9.99992818e-01 9.02817142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18255784400003 meters 0.28298842313877043 Centerline is valid? [False, False] Translation: X:3.96, Y:0.20, Z:0.90 [[ 9.99998000e-01 1.33599910e-05 2.00005869e-03 3.96142630e+00] [-1.06562648e-05 9.99999086e-01 -1.35182801e-03 1.97237425e-01] [-2.00007492e-03 1.35180399e-03 9.99997086e-01 9.04331595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24255784400003 meters 0.2835588022001252 Centerline is valid? [False, False] Translation: X:3.96, Y:0.19, Z:0.90 [[ 9.99997975e-01 2.24966303e-04 1.99992585e-03 3.96115948e+00] [-2.23374746e-04 9.99999658e-01 -7.95995479e-04 1.94942611e-01] [-2.00010423e-03 7.95547134e-04 9.99997683e-01 9.04940005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.302557844 meters 0.2836377527709013 Centerline is valid? [False, False] Translation: X:3.96, Y:0.19, Z:0.90 [[ 9.99998110e-01 5.12270523e-04 1.87551709e-03 3.96152080e+00] [-5.12167194e-04 9.99999867e-01 -5.55736413e-05 1.91857286e-01] [-1.87554531e-03 5.46129579e-05 9.99998240e-01 9.04884399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.362557844 meters 0.2822446887794487 Centerline is valid? [False, False] Translation: X:3.96, Y:0.19, Z:0.90 [[ 9.99998116e-01 6.48706005e-04 1.82963046e-03 3.96163122e+00] [-6.49226391e-04 9.99999749e-01 2.83841715e-04 1.90444438e-01] [-1.82944587e-03 -2.85029025e-04 9.99998286e-01 9.04921115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.422557844 meters 0.2846039644084043 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:0.91 [[ 9.99998659e-01 1.37357556e-03 8.91387690e-04 3.99993587e+00] [-1.37326720e-03 9.99998997e-01 -3.46454054e-04 1.93355212e-01] [-8.91862677e-04 3.45229476e-04 9.99999543e-01 9.08408178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.482557844 meters 0.28461544072113576 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99998854e-01 1.20857996e-03 9.12162811e-04 4.00012066e+00] [-1.20777273e-03 9.99998879e-01 -8.84997709e-04 1.95451391e-01] [-9.13231379e-04 8.83895009e-04 9.99999192e-01 9.07800614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.542557844 meters 0.2845812071949024 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99998954e-01 1.10708856e-03 9.31047846e-04 4.00016468e+00] [-1.10601654e-03 9.99998726e-01 -1.15114410e-03 1.96539474e-01] [-9.32321078e-04 1.15011314e-03 9.99998904e-01 9.07577111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.602557844 meters 0.28347975426999256 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99999077e-01 8.90351659e-04 1.02673036e-03 3.99982149e+00] [-8.88584594e-04 9.99998126e-01 -1.72023375e-03 1.98933111e-01] [-1.02826005e-03 1.71931982e-03 9.99997993e-01 9.07766370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.662557844 meters 0.2845990349616954 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99999186e-01 7.71677666e-04 1.01563462e-03 3.99974360e+00] [-7.69608174e-04 9.99997630e-01 -2.03645083e-03 2.00223952e-01] [-1.01720370e-03 2.03566754e-03 9.99997411e-01 9.07959694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.722557844 meters 0.284466280447132 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99999229e-01 7.82525063e-04 9.63781554e-04 3.99976134e+00] [-7.80586242e-04 9.99997674e-01 -2.01041644e-03 2.00105206e-01] [-9.65352514e-04 2.00966257e-03 9.99997515e-01 9.08220934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.782557844 meters 0.28237450597103164 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99999104e-01 8.05744326e-04 1.06920316e-03 3.99920539e+00] [-8.03658088e-04 9.99997775e-01 -1.95020549e-03 1.99887739e-01] [-1.07077215e-03 1.94934447e-03 9.99997527e-01 9.08933669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.842557844 meters 0.2819306183843215 Centerline is valid? [False, False] Translation: X:3.98, Y:0.20, Z:0.91 [[ 9.99985966e-01 -4.89067464e-03 -2.03697493e-03 3.97808395e+00] [ 4.89359552e-03 9.99987002e-01 1.43142244e-03 1.99931587e-01] [ 2.02994783e-03 -1.44137048e-03 9.99996901e-01 9.09920930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.902557844 meters 0.28235761884509414 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.91 [[ 9.99990355e-01 4.21289800e-03 1.24138448e-03 3.99566507e+00] [-4.21338386e-03 9.99991048e-01 3.89031742e-04 2.03457995e-01] [-1.23973442e-03 -3.94258420e-04 9.99999154e-01 9.11146905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.962557844 meters 0.2825821799522929 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:0.91 [[ 9.99990091e-01 -3.68539472e-03 2.49729758e-03 4.01445596e+00] [ 3.68211111e-03 9.99992352e-01 1.31818975e-03 2.09173192e-01] [-2.50213653e-03 -1.30898136e-03 9.99996013e-01 9.11881850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.022557844 meters 0.2838597080569401 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:0.91 [[ 9.99990000e-01 -3.73635744e-03 2.45756875e-03 4.01463726e+00] [ 3.73343178e-03 9.99992318e-01 1.19398312e-03 2.09676913e-01] [-2.46201102e-03 -1.18479602e-03 9.99996267e-01 9.11694404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.082557844 meters 0.2832887251183312 Centerline is valid? [False, False] Translation: X:4.01, Y:0.21, Z:0.91 [[ 9.99989958e-01 -3.71473003e-03 2.50682841e-03 4.01423082e+00] [ 3.71161748e-03 9.99992337e-01 1.24514085e-03 2.09510647e-01] [-2.51143456e-03 -1.23582396e-03 9.99996083e-01 9.12324259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.142557844 meters 0.2843742169589472 Centerline is valid? [False, False] Translation: X:4.03, Y:0.21, Z:0.91 [[ 9.99981066e-01 3.22465912e-03 5.24110612e-03 4.03446138e+00] [-3.21633145e-03 9.99993553e-01 -1.59656771e-03 2.11158000e-01] [-5.24622072e-03 1.57968035e-03 9.99984991e-01 9.11720865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.202557844 meters 0.28369487241114133 Centerline is valid? [False, False] Translation: X:4.03, Y:0.21, Z:0.91 [[ 9.99980527e-01 3.06994504e-03 5.43331495e-03 4.03396181e+00] [-3.05862831e-03 9.99993138e-01 -2.08992583e-03 2.13168128e-01] [-5.43969362e-03 2.07326664e-03 9.99983056e-01 9.11744645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.262557844 meters 0.2848115162808774 Centerline is valid? [False, False] Translation: X:4.03, Y:0.22, Z:0.91 [[ 9.99982549e-01 2.77033803e-03 5.21794797e-03 4.03490895e+00] [-2.75418389e-03 9.99991401e-01 -3.10052652e-03 2.17104295e-01] [-5.22649261e-03 3.08610122e-03 9.99981580e-01 9.10594005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.322557844 meters 0.28298696715395316 Centerline is valid? [False, False] Translation: X:4.01, Y:0.22, Z:0.91 [[ 9.99993726e-01 -2.49389700e-03 2.51567639e-03 4.01401394e+00] [ 2.49377691e-03 9.99996889e-01 5.08710753e-05 2.23242936e-01] [-2.51579543e-03 -4.45972204e-05 9.99996834e-01 9.10837863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.382557844 meters 0.28427018863494075 Centerline is valid? [False, False] Translation: X:4.01, Y:0.23, Z:0.91 [[ 9.99993558e-01 -2.70693684e-03 2.35718912e-03 4.01454626e+00] [ 2.70805018e-03 9.99996223e-01 -4.69250730e-04 2.25375495e-01] [-2.35590998e-03 4.75631093e-04 9.99997112e-01 9.10452432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.442557844 meters 0.2828660026088229 Centerline is valid? [False, False] Translation: X:4.01, Y:0.23, Z:0.91 [[ 9.99993251e-01 -2.76550914e-03 2.41848291e-03 4.01405120e+00] [ 2.76707310e-03 9.99995965e-01 -6.43565895e-04 2.26085603e-01] [-2.41669336e-03 6.50253671e-04 9.99996868e-01 9.11253825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.502557844 meters 0.28375525076746844 Centerline is valid? [False, False] Translation: X:4.04, Y:0.23, Z:0.92 [[ 9.99990757e-01 -1.32971589e-03 4.08881571e-03 4.04471192e+00] [ 1.32822994e-03 9.99999051e-01 3.66111300e-04 2.29215689e-01] [-4.08929866e-03 -3.60677028e-04 9.99991574e-01 9.17656539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.562557844 meters 0.2827444186509837 Centerline is valid? [False, False] Translation: X:4.02, Y:0.23, Z:0.92 [[ 9.99991562e-01 3.86291146e-03 1.39789362e-03 4.02215901e+00] [-3.85853891e-03 9.99987697e-01 -3.11724984e-03 2.30966287e-01] [-1.40991808e-03 3.11182970e-03 9.99994164e-01 9.19486828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.622557844 meters 0.2834609875763276 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99988997e-01 -4.67487837e-03 -3.87953554e-04 4.04434929e+00] [ 4.67363971e-03 9.99984166e-01 -3.13455094e-03 2.38549169e-01] [ 4.02601055e-04 3.13270329e-03 9.99995012e-01 9.19845073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68255784400003 meters 0.285481340740168 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99999702e-01 -5.33091050e-04 -5.58715769e-04 4.04479863e+00] [ 5.33490884e-04 9.99999602e-01 7.15726653e-04 2.40550874e-01] [ 5.58333999e-04 -7.16024510e-04 9.99999588e-01 9.19679616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74255784400003 meters 0.2846079981889558 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99999542e-01 -8.09276533e-04 -5.10381200e-04 4.04482875e+00] [ 8.09290323e-04 9.99999672e-01 2.68129430e-05 2.43419641e-01] [ 5.10359333e-04 -2.72259773e-05 9.99999869e-01 9.19300356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.802557844 meters 0.2835907489642181 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999429e-01 -1.02913054e-03 -2.89279900e-04 4.04393051e+00] [ 1.02897167e-03 9.99999320e-01 -5.48781689e-04 2.45938246e-01] [ 2.89844471e-04 5.48483715e-04 9.99999808e-01 9.19975616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.862557844 meters 0.2833728951901096 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999157e-01 -1.28280434e-03 -2.03219072e-04 4.04342103e+00] [ 1.28256674e-03 9.99998499e-01 -1.16500345e-03 2.48614917e-01] [ 2.04713238e-04 1.16474182e-03 9.99999301e-01 9.20546259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.922557844 meters 0.2839530971445332 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999104e-01 -1.33094426e-03 -1.39997045e-04 4.04323627e+00] [ 1.33076292e-03 9.99998286e-01 -1.28754700e-03 2.49129172e-01] [ 1.41710458e-04 1.28735955e-03 9.99999161e-01 9.20587995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.982557844 meters 0.2834183284201778 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999138e-01 -1.30538249e-03 -1.41817462e-04 4.04316549e+00] [ 1.30520752e-03 9.99998396e-01 -1.22688774e-03 2.48877754e-01] [ 1.43418792e-04 1.22670158e-03 9.99999237e-01 9.20754531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.042557844 meters 0.2838915401150276 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999439e-01 -9.97772631e-04 -3.55579171e-04 4.04382251e+00] [ 9.97619891e-04 9.99999410e-01 -4.29471185e-04 2.45420025e-01] [ 3.56007475e-04 4.29116211e-04 9.99999845e-01 9.20617333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.102557844 meters 0.2830835391808166 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99999694e-01 -6.54095104e-04 -4.28589583e-04 4.04412481e+00] [ 6.54295429e-04 9.99999677e-01 4.67432642e-04 2.41656194e-01] [ 4.28283699e-04 -4.67712923e-04 9.99999799e-01 9.20416463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.162557844 meters 0.28385681817091674 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99999728e-01 -2.70532919e-04 -6.86593313e-04 4.04491365e+00] [ 2.71526719e-04 9.99998915e-01 1.44775498e-03 2.37490748e-01] [ 6.86200902e-04 -1.44794102e-03 9.99998716e-01 9.20229249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.222557844 meters 0.28342480498452155 Centerline is valid? [False, False] Translation: X:4.05, Y:0.23, Z:0.92 [[ 9.99999593e-01 8.81166215e-05 -8.97648060e-04 4.04538562e+00] [-8.61198327e-05 9.99997523e-01 2.22426311e-03 2.34194728e-01] [ 8.97841831e-04 -2.22418490e-03 9.99997123e-01 9.20491891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.282557844 meters 0.2839400351265061 Centerline is valid? [False, False] Translation: X:4.05, Y:0.23, Z:0.92 [[ 9.99999404e-01 1.08407341e-04 -1.08609693e-03 4.04620270e+00] [-1.05912813e-04 9.99997357e-01 2.29657654e-03 2.33855497e-01] [ 1.08634303e-03 -2.29646014e-03 9.99996773e-01 9.19573898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.342557844 meters 0.2872213283597366 Centerline is valid? [False, False] Translation: X:4.05, Y:0.23, Z:0.92 [[ 9.99999022e-01 4.96687042e-05 -1.39762972e-03 4.04712633e+00] [-4.67091032e-05 9.99997757e-01 2.11753883e-03 2.34514633e-01] [ 1.39773176e-03 -2.11747147e-03 9.99996781e-01 9.19022588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.402557844 meters 0.284418279272128 Centerline is valid? [False, False] Translation: X:4.05, Y:0.24, Z:0.92 [[ 9.99999737e-01 1.13559033e-04 -7.15913205e-04 4.04522510e+00] [-1.12099504e-04 9.99997916e-01 2.03840542e-03 2.35249056e-01] [ 7.16143192e-04 -2.03832463e-03 9.99997666e-01 9.19637644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.462557844 meters 0.2844870337497217 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99999838e-01 -1.95041174e-05 -5.69076636e-04 4.04486166e+00] [ 2.04586260e-05 9.99998593e-01 1.67733601e-03 2.36764327e-01] [ 5.69043120e-04 -1.67734738e-03 9.99998431e-01 9.19594713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.522557844 meters 0.28556828020134434 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99976784e-01 6.29498741e-03 -2.60843438e-03 4.02156333e+00] [-6.29817255e-03 9.99979429e-01 -1.21468309e-03 2.40983018e-01] [ 2.60073430e-03 1.23108326e-03 9.99995860e-01 9.21741991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.582557844 meters 0.28696528719846676 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99998846e-01 -1.28056676e-03 -8.16941844e-04 4.03729021e+00] [ 1.27997974e-03 9.99998923e-01 -7.18667807e-04 2.55385405e-01] [ 8.17861265e-04 7.17621309e-04 9.99999408e-01 9.24405324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.642557844 meters 0.28648973448736714 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.93 [[ 9.99999588e-01 -5.78667531e-04 -6.98764598e-04 4.07279853e+00] [ 5.77520774e-04 9.99998488e-01 -1.64020924e-03 2.65983568e-01] [ 6.99712677e-04 1.63980502e-03 9.99998411e-01 9.29166177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.702557844 meters 0.28322607841453185 Centerline is valid? [False, False] Translation: X:4.05, Y:0.27, Z:0.93 [[ 9.99969217e-01 -7.36240412e-03 -2.71282233e-03 4.05116477e+00] [ 7.36330183e-03 9.99972839e-01 3.21071299e-04 2.73358564e-01] [ 2.71038479e-03 -3.41036746e-04 9.99996269e-01 9.30231702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.762557844 meters 0.28501059374021415 Centerline is valid? [False, False] Translation: X:4.05, Y:0.28, Z:0.93 [[ 9.99989517e-01 -3.42466973e-03 -3.03931779e-03 4.05193527e+00] [ 3.43523392e-03 9.99988053e-01 3.47745634e-03 2.77749079e-01] [ 3.02737234e-03 -3.48786066e-03 9.99989335e-01 9.29876817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.822557844 meters 0.283213883166889 Centerline is valid? [False, False] Translation: X:4.03, Y:0.28, Z:0.93 [[ 9.99981123e-01 4.78096860e-03 -3.85957665e-03 4.03192054e+00] [-4.77435399e-03 9.99987121e-01 1.72121683e-03 2.77522638e-01] [ 3.86775603e-03 -1.70275736e-03 9.99991071e-01 9.29586417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.882557844 meters 0.28328347863576075 Centerline is valid? [False, False] Translation: X:4.03, Y:0.28, Z:0.93 [[ 9.99983215e-01 4.22888286e-03 -3.96048459e-03 4.03212478e+00] [-4.22670292e-03 9.99990911e-01 5.58628646e-04 2.82439741e-01] [ 3.96281097e-03 -5.41879478e-04 9.99992001e-01 9.29558315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.942557844 meters 0.28333062898291816 Centerline is valid? [False, False] Translation: X:4.03, Y:0.28, Z:0.93 [[ 9.99984686e-01 3.97439875e-03 -3.85109965e-03 4.03177769e+00] [-3.97462166e-03 9.99992100e-01 -5.02282620e-05 2.84971403e-01] [ 3.85086960e-03 6.55341569e-05 9.99992583e-01 9.29632974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.002557844 meters 0.2826583691218186 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:0.93 [[ 9.99978549e-01 -4.26124619e-03 -4.97432682e-03 4.01221912e+00] [ 4.26612046e-03 9.99990430e-01 9.69685058e-04 2.88992911e-01] [ 4.97014715e-03 -9.90885335e-04 9.99987158e-01 9.27596307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.062557844 meters 0.2838847426424225 Centerline is valid? [False, False] Translation: X:4.03, Y:0.29, Z:0.93 [[ 9.99971149e-01 4.90617758e-03 -5.79925973e-03 4.03456997e+00] [-4.90633320e-03 9.99987964e-01 -1.26087776e-05 2.89014214e-01] [ 5.79912807e-03 4.10615144e-05 9.99983184e-01 9.27844704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.122557844 meters 0.28401718238842244 Centerline is valid? [False, False] Translation: X:4.03, Y:0.29, Z:0.93 [[ 9.99970916e-01 4.87917736e-03 -5.86188738e-03 4.03463078e+00] [-4.87976033e-03 9.99988090e-01 -8.51520924e-05 2.89313964e-01] [ 5.86140210e-03 1.13754221e-04 9.99982815e-01 9.28053421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18255784400003 meters 0.28229022114972147 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:0.93 [[ 9.99963719e-01 -3.70780950e-03 -7.66896308e-03 4.01360149e+00] [ 3.71335959e-03 9.99992854e-01 7.09595582e-04 2.89087544e-01] [ 7.66627723e-03 -7.38047454e-04 9.99970341e-01 9.27510789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24255784400003 meters 0.2831774085093526 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:0.93 [[ 9.99963886e-01 -3.56648256e-03 -7.71405439e-03 4.01384579e+00] [ 3.57488682e-03 9.99993031e-01 1.07596045e-03 2.87562276e-01] [ 7.71016324e-03 -1.10349846e-03 9.99969667e-01 9.27255143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.302557844 meters 0.2843817838374161 Centerline is valid? [False, False] Translation: X:4.04, Y:0.28, Z:0.93 [[ 9.99982203e-01 2.35217385e-03 -5.48273147e-03 4.03681659e+00] [-2.36057261e-03 9.99996050e-01 -1.52588953e-03 2.84788799e-01] [ 5.47912065e-03 1.53880476e-03 9.99983806e-01 9.25768019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.362557844 meters 0.2829977391684142 Centerline is valid? [False, False] Translation: X:4.00, Y:0.28, Z:0.92 [[ 9.99994321e-01 8.75988486e-04 -3.25428357e-03 3.99603746e+00] [-8.81162794e-04 9.99998349e-01 -1.58890553e-03 2.76843228e-01] [ 3.25288633e-03 1.59176406e-03 9.99993442e-01 9.23013786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.422557844 meters 0.2840667686434149 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:0.92 [[ 9.99993637e-01 1.29400099e-03 -3.32438730e-03 3.99619044e+00] [-1.29570910e-03 9.99999030e-01 -5.11708014e-04 2.72408131e-01] [ 3.32372192e-03 5.16012197e-04 9.99994343e-01 9.23097340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.482557844 meters 0.28514851205040154 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:0.92 [[ 9.99993582e-01 1.54005623e-03 -3.23480697e-03 3.99575852e+00] [-1.53983715e-03 9.99998812e-01 7.02165134e-05 2.69958908e-01] [ 3.23491127e-03 -6.52349868e-05 9.99994766e-01 9.23572724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.542557844 meters 0.28378911804783147 Centerline is valid? [False, False] Translation: X:4.00, Y:0.27, Z:0.92 [[ 9.99993362e-01 1.87051343e-03 -3.12694694e-03 3.99563960e+00] [-1.86789091e-03 9.99997902e-01 8.41394121e-04 2.66739413e-01] [ 3.12851421e-03 -8.35547740e-04 9.99994757e-01 9.23308271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.602557844 meters 0.28510754934255317 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99992581e-01 2.24288523e-03 -3.13155886e-03 3.99573429e+00] [-2.23727690e-03 9.99995889e-01 1.79326282e-03 2.62820907e-01] [ 3.13556807e-03 -1.78624335e-03 9.99993489e-01 9.23207416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.662557844 meters 0.2846007808164194 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99991523e-01 2.63265547e-03 -3.16604012e-03 3.99579575e+00] [-2.62404898e-03 9.99992859e-01 2.71946443e-03 2.58961931e-01] [ 3.17317693e-03 -2.71113353e-03 9.99991290e-01 9.23324008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.722557844 meters 0.2844287618433436 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990853e-01 2.88463385e-03 -3.15800459e-03 3.99609003e+00] [-2.87411884e-03 9.99990328e-01 3.32912542e-03 2.56451914e-01] [ 3.16757736e-03 -3.32001849e-03 9.99989472e-01 9.22759331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.782557844 meters 0.28553218938623803 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990479e-01 2.90265038e-03 -3.25830713e-03 3.99653948e+00] [-2.89162276e-03 9.99990093e-01 3.38408449e-03 2.56222301e-01] [ 3.26809767e-03 -3.37463048e-03 9.99988966e-01 9.22302120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.842557844 meters 0.28576767756459903 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990474e-01 2.85401938e-03 -3.30263342e-03 3.99680946e+00] [-2.84324837e-03 9.99990639e-01 3.26145238e-03 2.56732655e-01] [ 3.31191075e-03 -3.25203110e-03 9.99989228e-01 9.21919261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.902557844 meters 0.28805746825510825 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99991089e-01 2.77083977e-03 -3.18486855e-03 3.99647863e+00] [-2.76112760e-03 9.99991537e-01 3.04983655e-03 2.57630284e-01] [ 3.19329220e-03 -3.04101555e-03 9.99990278e-01 9.21972720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.962557844 meters 0.28537575486601857 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990900e-01 2.80170543e-03 -3.21715815e-03 3.99647816e+00] [-2.79162638e-03 9.99991195e-01 3.13313399e-03 2.57306256e-01] [ 3.22590794e-03 -3.12412438e-03 9.99989917e-01 9.22165560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.022557844 meters 0.2854024865420307 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99989885e-01 2.87042233e-03 -3.46275319e-03 3.99709472e+00] [-2.85888547e-03 9.99990362e-01 3.33206417e-03 2.56472341e-01] [ 3.47228424e-03 -3.32213085e-03 9.99988453e-01 9.22143490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.082557844 meters 0.2844371059128348 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99989667e-01 2.95598626e-03 -3.45370347e-03 3.99688436e+00] [-2.94373309e-03 9.99989375e-01 3.54754927e-03 2.55586160e-01] [ 3.46415328e-03 -3.53734583e-03 9.99987743e-01 9.22567092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.142557844 meters 0.2853179304442792 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990769e-01 2.88623932e-03 -3.18290249e-03 3.99606093e+00] [-2.87557203e-03 9.99990251e-01 3.35093294e-03 2.56501780e-01] [ 3.19254305e-03 -3.34174934e-03 9.99989320e-01 9.22945263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.202557844 meters 0.28668958148006163 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990940e-01 2.80145069e-03 -3.20495027e-03 3.99640961e+00] [-2.79139003e-03 9.99991176e-01 3.13927814e-03 2.57370780e-01] [ 3.21371652e-03 -3.13030344e-03 9.99989937e-01 9.22280522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.262557844 meters 0.28530402028515917 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99990450e-01 2.96917506e-03 -3.20697640e-03 3.99621866e+00] [-2.95774755e-03 9.99989281e-01 3.56221056e-03 2.55630554e-01] [ 3.21751885e-03 -3.55269111e-03 9.99988513e-01 9.22746888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.322557844 meters 0.28509424109268633 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:0.92 [[ 9.99994149e-01 -1.23818938e-03 -3.18899571e-03 3.99598863e+00] [ 1.23682888e-03 9.99999143e-01 -4.28561965e-04 2.54272563e-01] [ 3.18952362e-03 4.24615215e-04 9.99994823e-01 9.23104502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.382557844 meters 0.2848391520528739 Centerline is valid? [False, False] Translation: X:4.00, Y:0.25, Z:0.92 [[ 9.99994106e-01 -1.04502619e-03 -3.27047940e-03 3.99633106e+00] [ 1.04527264e-03 9.99999451e-01 7.36466718e-05 2.52154417e-01] [ 3.27040064e-03 -7.70647804e-05 9.99994649e-01 9.22850322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.442557844 meters 0.28409676741709344 Centerline is valid? [False, False] Translation: X:3.98, Y:0.24, Z:0.92 [[ 9.99969207e-01 6.55528599e-03 -4.31435711e-03 3.97951580e+00] [-6.55914234e-03 9.99978101e-01 -8.80299255e-04 2.41402175e-01] [ 4.30849201e-03 9.08570630e-04 9.99990306e-01 9.20360929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.502557844 meters 0.2850352967872629 Centerline is valid? [False, False] Translation: X:4.00, Y:0.24, Z:0.92 [[ 9.99999020e-01 -5.75876229e-04 -1.27594831e-03 3.99810949e+00] [ 5.77845345e-04 9.99998642e-01 1.54342563e-03 2.37205732e-01] [ 1.27505776e-03 -1.54416142e-03 9.99997995e-01 9.21955277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.562557844 meters 0.2836530707442493 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:0.92 [[ 9.99999031e-01 -2.73678556e-04 -1.36497522e-03 3.99850248e+00] [ 2.76759097e-04 9.99997414e-01 2.25716939e-03 2.34164714e-01] [ 1.36435395e-03 -2.25754497e-03 9.99996521e-01 9.21714537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.622557844 meters 0.2845589819475202 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:0.92 [[ 9.99998880e-01 -1.38599850e-05 -1.49677788e-03 3.99901338e+00] [ 1.82314587e-05 9.99995735e-01 2.92061534e-03 2.31357133e-01] [ 1.49673101e-03 -2.92063935e-03 9.99994615e-01 9.21380932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68255784400003 meters 0.2846324278759849 Centerline is valid? [False, False] Translation: X:4.00, Y:0.23, Z:0.92 [[ 9.99998813e-01 3.87376014e-04 -1.49099729e-03 3.99872926e+00] [-3.80995168e-04 9.99990779e-01 4.27749008e-03 2.26064555e-01] [ 1.49264054e-03 -4.27691694e-03 9.99989740e-01 9.22068371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74255784400003 meters 0.28279255278018517 Centerline is valid? [False, False] Translation: X:4.00, Y:0.22, Z:0.92 [[ 9.99998332e-01 6.35706762e-04 -1.71225948e-03 3.99919408e+00] [-6.26754820e-04 9.99986160e-01 5.22361833e-03 2.22367774e-01] [ 1.71555647e-03 -5.22253645e-03 9.99984891e-01 9.22217183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.802557844 meters 0.2822787116692489 Centerline is valid? [False, False] Translation: X:4.00, Y:0.22, Z:0.92 [[ 9.99997236e-01 8.64049669e-04 -2.18663315e-03 4.00044729e+00] [-8.50704346e-04 9.99981053e-01 6.09672570e-03 2.18862903e-01] [ 2.19185959e-03 -6.09484868e-03 9.99979024e-01 9.21891738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.862557844 meters 0.2827907341801013 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:0.92 [[ 9.99997107e-01 1.18262982e-03 -2.09443028e-03 3.99981336e+00] [-1.16738724e-03 9.99972935e-01 7.26400528e-03 2.14316024e-01] [ 2.10296423e-03 -7.26153925e-03 9.99971423e-01 9.22968909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.922557844 meters 0.28119566692588616 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:0.92 [[ 9.99994367e-01 -2.75059523e-03 -1.92340464e-03 3.99905635e+00] [ 2.75839832e-03 9.99987929e-01 4.06609956e-03 2.09745248e-01] [ 1.91219723e-03 -4.07138218e-03 9.99989884e-01 9.23794981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.982557844 meters 0.2811984618535583 Centerline is valid? [False, False] Translation: X:4.00, Y:0.21, Z:0.92 [[ 9.99994789e-01 -2.48991657e-03 -2.05462722e-03 3.99953792e+00] [ 2.50013817e-03 9.99984437e-01 4.98743638e-03 2.06100100e-01] [ 2.04217694e-03 -4.99254724e-03 9.99985452e-01 9.23418980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.042557844 meters 0.28144348298172206 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.92 [[ 9.99995142e-01 -2.22932420e-03 -2.17872074e-03 3.99987396e+00] [ 2.24220295e-03 9.99979923e-01 5.92669833e-03 2.02314385e-01] [ 2.16546447e-03 -5.93155467e-03 9.99980064e-01 9.23362029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.102557844 meters 0.2811911115259675 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.92 [[ 9.99996306e-01 -1.99077348e-03 -1.85050299e-03 3.99881875e+00] [ 2.00329326e-03 9.99974951e-01 6.78856001e-03 1.99078366e-01] [ 1.83694216e-03 -6.79224204e-03 9.99975245e-01 9.24090876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.162557844 meters 0.27984069476407103 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.92 [[ 9.99996639e-01 -1.83771038e-03 -1.82889641e-03 3.99877295e+00] [ 1.85099307e-03 9.99971731e-01 7.28768398e-03 1.97082871e-01] [ 1.81545206e-03 -7.29104476e-03 9.99971772e-01 9.24112367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.222557844 meters 0.28054849522623626 Centerline is valid? [False, False] Translation: X:4.00, Y:0.20, Z:0.92 [[ 9.99996925e-01 -1.68459479e-03 -1.82020017e-03 3.99879683e+00] [ 1.69873599e-03 9.99968171e-01 7.79561969e-03 1.95065427e-01] [ 1.80700978e-03 -7.79868776e-03 9.99967957e-01 9.24014797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.282557844 meters 0.28150720245018473 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:0.92 [[ 9.99996452e-01 -1.57373372e-03 -2.14935464e-03 3.99975667e+00] [ 1.59141001e-03 9.99964725e-01 8.24719975e-03 1.93195147e-01] [ 2.13629992e-03 -8.25059099e-03 9.99963681e-01 9.23530586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.342557844 meters 0.28334689208437086 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981378e-01 3.01343351e-03 -5.30684918e-03 4.01805778e+00] [-2.99393487e-03 9.99988753e-01 3.67836076e-03 1.90354114e-01] [ 5.31787399e-03 -3.66240390e-03 9.99979153e-01 9.27631737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.402557844 meters 0.28169074396935706 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981030e-01 3.16371126e-03 -5.28494803e-03 4.01794299e+00] [-3.14183340e-03 9.99986483e-01 4.14283942e-03 1.88510643e-01] [ 5.29798334e-03 -4.12615640e-03 9.99977453e-01 9.27755667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.462557844 meters 0.28223532742371865 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981302e-01 3.20314899e-03 -5.20913867e-03 4.01775996e+00] [-3.18105857e-03 9.99985937e-01 4.24347491e-03 1.88095199e-01] [ 5.22265790e-03 -4.22682499e-03 9.99977429e-01 9.27737154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.522557844 meters 0.2805255218692527 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981016e-01 3.18563198e-03 -5.27434204e-03 4.01801462e+00] [-3.16348127e-03 9.99986165e-01 4.20274140e-03 1.88264401e-01] [ 5.28765746e-03 -4.18597633e-03 9.99977259e-01 9.27540017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.582557844 meters 0.279957658133894 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99980464e-01 3.18364379e-03 -5.37914156e-03 4.01825110e+00] [-3.16107299e-03 9.99986187e-01 4.19929022e-03 1.88285744e-01] [ 5.39243630e-03 -4.18220433e-03 9.99976715e-01 9.27592897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.642557844 meters 0.2801523202254328 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99980854e-01 3.20567239e-03 -5.29294319e-03 4.01771574e+00] [-3.18315425e-03 9.99985871e-01 4.25732644e-03 1.88055096e-01] [ 5.30651600e-03 -4.24039668e-03 9.99976930e-01 9.28350806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.702557844 meters 0.279046532306412 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981122e-01 3.15996602e-03 -5.26967015e-03 4.01764192e+00] [-3.13815285e-03 9.99986496e-01 4.14252493e-03 1.88538794e-01] [ 5.28268922e-03 -4.12590970e-03 9.99977535e-01 9.28398321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.762557844 meters 0.2804356563217055 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981047e-01 3.12247141e-03 -5.30628794e-03 4.01788654e+00] [-3.10100261e-03 9.99986993e-01 4.04933804e-03 1.88922564e-01] [ 5.31886286e-03 -4.03280648e-03 9.99977723e-01 9.28061989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.822557844 meters 0.28043889265881355 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99981123e-01 3.16148839e-03 -5.26857042e-03 4.01754276e+00] [-3.13960569e-03 9.99986433e-01 4.15655013e-03 1.88506433e-01] [ 5.28163983e-03 -4.13993043e-03 9.99977482e-01 9.28656623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.882557844 meters 0.28254951797566485 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99980477e-01 3.23797573e-03 -5.34428758e-03 4.01786067e+00] [-3.21463591e-03 9.99985284e-01 4.37007278e-03 1.87611761e-01] [ 5.35835913e-03 -4.35280752e-03 9.99976170e-01 9.28329533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.942557844 meters 0.28301016756692066 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99979946e-01 3.42070461e-03 -5.32971787e-03 4.01816264e+00] [-3.39412015e-03 9.99981794e-01 4.98905434e-03 1.85159661e-01] [ 5.34668692e-03 -4.97086458e-03 9.99973351e-01 9.27473823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.002557844 meters 0.28361483844151725 Centerline is valid? [False, False] Translation: X:4.00, Y:0.19, Z:0.93 [[ 0.99996884 -0.00623053 -0.00484713 3.99518147] [ 0.00625723 0.99996523 0.00551234 0.18598769] [ 0.00481261 -0.0055425 0.99997306 0.9279331 ] [ 0. 0. 0. 1. ]] SLAMing on 492.062557844 meters 0.28174897813376804 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:0.93 [[ 9.99984840e-01 2.33279500e-03 -4.98777811e-03 4.01512998e+00] [-2.31099881e-03 9.99987776e-01 4.37122735e-03 1.80370599e-01] [ 4.99791432e-03 -4.35963433e-03 9.99978007e-01 9.28998807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.122557844 meters 0.28107035007978864 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:0.93 [[ 9.99983124e-01 2.19845530e-03 -5.37761436e-03 4.01636096e+00] [-2.17712585e-03 9.99989754e-01 3.96898237e-03 1.82121469e-01] [ 5.38628489e-03 -3.95720765e-03 9.99977664e-01 9.28339057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18255784400003 meters 0.2809921481502332 Centerline is valid? [False, False] Translation: X:4.02, Y:0.18, Z:0.93 [[ 9.99983790e-01 2.03356205e-03 -5.31832424e-03 4.01607892e+00] [-2.01498443e-03 9.99991858e-01 3.49616316e-03 1.84058564e-01] [ 5.32539060e-03 -3.48539015e-03 9.99979746e-01 9.28694689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24255784400003 meters 0.2838268501106577 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99983406e-01 1.79461526e-03 -5.47431071e-03 4.01674926e+00] [-1.77899334e-03 9.99994336e-01 2.85721418e-03 1.86723892e-01] [ 5.47940731e-03 -2.84742801e-03 9.99980934e-01 9.28097001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.302557844 meters 0.2819779938653671 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99983297e-01 1.70873027e-03 -5.52133552e-03 4.01691944e+00] [-1.69413881e-03 9.99995063e-01 2.64633921e-03 1.87599057e-01] [ 5.52583014e-03 -2.63694110e-03 9.99981256e-01 9.28001903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.362557844 meters 0.2804463102522187 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99983112e-01 1.57149492e-03 -5.59515428e-03 4.01713287e+00] [-1.55862921e-03 9.99996133e-01 2.30305697e-03 1.89026366e-01] [ 5.59875188e-03 -2.29429730e-03 9.99981695e-01 9.27961766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.422557844 meters 0.2808804070298346 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99983016e-01 1.44966029e-03 -5.64494294e-03 4.01729861e+00] [-1.43840394e-03 9.99996970e-01 1.99760809e-03 1.90293962e-01] [ 5.64782169e-03 -1.98945446e-03 9.99982072e-01 9.27892611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.482557844 meters 0.2823074262029461 Centerline is valid? [False, False] Translation: X:4.02, Y:0.19, Z:0.93 [[ 9.99983817e-01 1.15967828e-03 -5.56957512e-03 4.01706160e+00] [-1.15248729e-03 9.99998498e-01 1.29415657e-03 1.93239567e-01] [ 5.57106756e-03 -1.28771676e-03 9.99983652e-01 9.28069874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.542557844 meters 0.28099044136898804 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:0.93 [[ 9.99984491e-01 8.17218870e-04 -5.50904732e-03 4.01696144e+00] [-8.14806495e-04 9.99999571e-01 4.40123514e-04 1.96782411e-01] [ 5.50940464e-03 -4.35627880e-04 9.99984728e-01 9.27977096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.602557844 meters 0.2805656388603304 Centerline is valid? [False, False] Translation: X:4.02, Y:0.20, Z:0.93 [[ 9.99985058e-01 1.79008867e-04 -5.46362341e-03 4.01692546e+00] [-1.84964168e-04 9.99999389e-01 -1.08950536e-03 2.03304591e-01] [ 5.46342505e-03 1.09049966e-03 9.99984481e-01 9.27908010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.662557844 meters 0.2834112659542865 Centerline is valid? [False, False] Translation: X:4.04, Y:0.21, Z:0.93 [[ 9.99984637e-01 -5.23559470e-03 -1.82067588e-03 4.03678402e+00] [ 5.23862641e-03 9.99984893e-01 1.66439168e-03 2.06640726e-01] [ 1.81193430e-03 -1.67390395e-03 9.99996957e-01 9.27340255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.722557844 meters 0.28222280264588706 Centerline is valid? [False, False] Translation: X:4.04, Y:0.21, Z:0.93 [[ 9.99982689e-01 -5.60835054e-03 -1.77989616e-03 4.03682088e+00] [ 5.60982570e-03 9.99983925e-01 8.24886005e-04 2.10142263e-01] [ 1.77524129e-03 -8.34856633e-04 9.99998076e-01 9.27098693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.782557844 meters 0.2828619350419939 Centerline is valid? [False, False] Translation: X:4.04, Y:0.22, Z:0.93 [[ 9.99992179e-01 -2.99487463e-03 -2.58311452e-03 4.04029919e+00] [ 3.00107085e-03 9.99992621e-01 2.39820903e-03 2.17037261e-01] [ 2.57591313e-03 -2.40594238e-03 9.99993788e-01 9.25083410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.842557844 meters 0.28117756389939413 Centerline is valid? [False, False] Translation: X:4.04, Y:0.22, Z:0.92 [[ 9.99990725e-01 -3.31574378e-03 -2.74863321e-03 4.04093316e+00] [ 3.32031603e-03 9.99993109e-01 1.66057329e-03 2.20098535e-01] [ 2.74310823e-03 -1.66968422e-03 9.99994844e-01 9.24711429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.902557844 meters 0.2805033133626521 Centerline is valid? [False, False] Translation: X:4.02, Y:0.23, Z:0.92 [[ 9.99970848e-01 4.57282981e-03 -6.11500495e-03 4.02087411e+00] [-4.57133573e-03 9.99989518e-01 2.58284338e-04 2.28519548e-01] [ 6.11612195e-03 -2.30323067e-04 9.99981270e-01 9.24288424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.962557844 meters 0.28232874092892163 Centerline is valid? [False, False] Translation: X:4.02, Y:0.23, Z:0.92 [[ 9.99972587e-01 4.12168640e-03 -6.15124454e-03 4.02094448e+00] [-4.12672155e-03 9.99991160e-01 -8.06089606e-04 2.32939377e-01] [ 6.14786772e-03 8.31451982e-04 9.99980756e-01 9.24465543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.022557844 meters 0.28304912508854146 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99973690e-01 3.65660859e-03 -6.26491314e-03 4.02144318e+00] [-3.66828258e-03 9.99991555e-01 -1.85291571e-03 2.37304641e-01] [ 6.25808485e-03 1.87584843e-03 9.99978659e-01 9.24199394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.082557844 meters 0.28364549864111405 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99974464e-01 3.19114913e-03 -6.39444343e-03 4.02240024e+00] [-3.20952507e-03 9.99990744e-01 -2.86553820e-03 2.41586210e-01] [ 6.38523988e-03 2.88598815e-03 9.99975450e-01 9.23164403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.142557844 meters 0.28453066074365996 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99974761e-01 2.99762968e-03 -6.44146156e-03 4.02253688e+00] [-3.01939323e-03 9.99989758e-01 -3.37160222e-03 2.43632514e-01] [ 6.43128877e-03 3.39096642e-03 9.99973570e-01 9.23188987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.202557844 meters 0.2844530541268933 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99975776e-01 2.91733910e-03 -6.31955083e-03 4.02227977e+00] [-2.94001952e-03 9.99989261e-01 -3.58261729e-03 2.44477134e-01] [ 6.30903125e-03 3.60111011e-03 9.99973614e-01 9.23127468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.262557844 meters 0.28628339803772296 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99978823e-01 2.95589734e-03 -5.79787615e-03 4.02077884e+00] [-2.97574536e-03 9.99989732e-01 -3.41769203e-03 2.43694267e-01] [ 5.78771427e-03 3.43487266e-03 9.99977352e-01 9.23805768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.322557844 meters 0.281063120086452 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99978340e-01 3.08329560e-03 -5.81486116e-03 4.02091256e+00] [-3.10130314e-03 9.99990416e-01 -3.09034240e-03 2.42351442e-01] [ 5.80527699e-03 3.10830911e-03 9.99978318e-01 9.23546212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.382557844 meters 0.28364858224218686 Centerline is valid? [False, False] Translation: X:4.02, Y:0.24, Z:0.92 [[ 9.99978298e-01 3.19717142e-03 -5.76036023e-03 4.02083391e+00] [-3.21334992e-03 9.99990913e-01 -2.80152785e-03 2.41160625e-01] [ 5.75135092e-03 2.81997710e-03 9.99979485e-01 9.23368073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.442557844 meters 0.28463849058771507 Centerline is valid? [False, False] Translation: X:4.04, Y:0.24, Z:0.92 [[ 9.99994704e-01 -2.31003873e-03 -2.29268446e-03 4.04055726e+00] [ 2.31078976e-03 9.99997277e-01 3.24979134e-04 2.39700376e-01] [ 2.29192750e-03 -3.30275325e-04 9.99997319e-01 9.24012127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.502557844 meters 0.2821520531247132 Centerline is valid? [False, False] Translation: X:4.02, Y:0.25, Z:0.93 [[ 9.99978557e-01 4.16042540e-03 -5.05726571e-03 4.01810070e+00] [-4.17297710e-03 9.99988233e-01 -2.47390084e-03 2.45457380e-01] [ 5.04691372e-03 2.49495165e-03 9.99984152e-01 9.25460422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.562557844 meters 0.2840218138562796 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99968446e-01 -4.50327851e-03 -6.54425553e-03 4.04065495e+00] [ 4.49055495e-03 9.99988001e-01 -1.95762956e-03 2.50731685e-01] [ 6.55299276e-03 1.92818045e-03 9.99976670e-01 9.25705318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.622557844 meters 0.2849699989542162 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99979462e-01 -3.96167321e-04 -6.39673044e-03 4.04048877e+00] [ 4.06429620e-04 9.99998632e-01 1.60308355e-03 2.53343855e-01] [ 6.39608660e-03 -1.60565045e-03 9.99978256e-01 9.25411590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68255784400003 meters 0.2842393290661398 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99978682e-01 -4.66728597e-04 -6.51291986e-03 4.04107401e+00] [ 4.75851440e-04 9.99998908e-01 1.39925089e-03 2.54173463e-01] [ 6.51225967e-03 -1.40232025e-03 9.99977812e-01 9.24694975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74255784400003 meters 0.28256979962880435 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99977690e-01 -5.99103713e-04 -6.65292833e-03 4.04194235e+00] [ 6.06173098e-04 9.99999254e-01 1.06063188e-03 2.55647305e-01] [ 6.65228794e-03 -1.06464104e-03 9.99977307e-01 9.23573493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.802557844 meters 0.2847414572814323 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99977780e-01 -6.79259192e-04 -6.63160303e-03 4.04183672e+00] [ 6.84982039e-04 9.99999395e-01 8.60732681e-04 2.56466346e-01] [ 6.63101435e-03 -8.65256084e-04 9.99977640e-01 9.23717093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.862557844 meters 0.2823567005844706 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99977551e-01 -7.68272375e-04 -6.65631706e-03 4.04196895e+00] [ 7.72540969e-04 9.99999498e-01 6.38737215e-04 2.57387116e-01] [ 6.65582299e-03 -6.43865154e-04 9.99977642e-01 9.23598348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.922557844 meters 0.2847214974001619 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99977859e-01 -8.74460980e-04 -6.59676498e-03 4.04163476e+00] [ 8.76826610e-04 9.99999552e-01 3.55720854e-04 2.58534487e-01] [ 6.59645096e-03 -3.61497197e-04 9.99978178e-01 9.24077271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.982557844 meters 0.2845303551071826 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99977172e-01 -9.18091679e-04 -6.69417243e-03 4.04177085e+00] [ 9.19705457e-04 9.99999549e-01 2.37997766e-04 2.59011173e-01] [ 6.69395091e-03 -2.44149000e-04 9.99977565e-01 9.24336600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.042557844 meters 0.2842636654477221 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99978065e-01 -8.82081856e-04 -6.56433505e-03 4.04120441e+00] [ 8.84483859e-04 9.99999543e-01 3.63023062e-04 2.58546354e-01] [ 6.56401184e-03 -3.68821148e-04 9.99978389e-01 9.24976077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.102557844 meters 0.2812184866367012 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.93 [[ 9.99978752e-01 -8.04389480e-04 -6.46896931e-03 4.04062033e+00] [ 8.08107519e-04 9.99999510e-01 5.72156550e-04 2.57666753e-01] [ 6.46850590e-03 -5.77372016e-04 9.99978912e-01 9.25768384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.162557844 meters 0.28090089620075065 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.93 [[ 9.99978841e-01 -7.34081706e-04 -6.46358517e-03 4.04046927e+00] [ 7.38917355e-04 9.99999449e-01 7.45781126e-04 2.56948262e-01] [ 6.46303414e-03 -7.50541402e-04 9.99978833e-01 9.26048351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.222557844 meters 0.2804119687407227 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.93 [[ 9.99979572e-01 -6.14391019e-04 -6.36223666e-03 4.03999382e+00] [ 6.21156823e-04 9.99999244e-01 1.06151032e-03 2.55657657e-01] [ 6.36157966e-03 -1.06544058e-03 9.99979197e-01 9.26547805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.282557844 meters 0.28156887142254067 Centerline is valid? [False, False] Translation: X:4.06, Y:0.25, Z:0.93 [[ 9.99973610e-01 5.53267632e-03 -4.70832020e-03 4.06237281e+00] [-5.54164648e-03 9.99982851e-01 -1.89426347e-03 2.53111807e-01] [ 4.69775911e-03 1.92030533e-03 9.99987122e-01 9.25109629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.342557844 meters 0.2824197382774614 Centerline is valid? [False, False] Translation: X:4.06, Y:0.25, Z:0.93 [[ 9.99973618e-01 5.55780457e-03 -4.67694082e-03 4.06207194e+00] [-5.56643175e-03 9.99982826e-01 -1.83362860e-03 2.52836305e-01] [ 4.66666955e-03 1.85961410e-03 9.99987382e-01 9.25555057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.402557844 meters 0.2828377247233476 Centerline is valid? [False, False] Translation: X:4.06, Y:0.25, Z:0.92 [[ 9.99974201e-01 5.45023760e-03 -4.67885664e-03 4.06253727e+00] [-5.45995950e-03 9.99982957e-01 -2.06758379e-03 2.53955524e-01] [ 4.66750807e-03 2.09307682e-03 9.99986917e-01 9.24717743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.462557844 meters 0.2809452724108119 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 9.99975076e-01 5.25336876e-03 -4.71703234e-03 4.06261050e+00] [-5.26548573e-03 9.99982860e-01 -2.56003563e-03 2.55991726e-01] [ 4.70350268e-03 2.58480929e-03 9.99985598e-01 9.24835476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.522557844 meters 0.2830383840045273 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 9.99975987e-01 4.94027044e-03 -4.86002079e-03 4.06336361e+00] [-4.95655269e-03 9.99982125e-01 -3.34392109e-03 2.59285417e-01] [ 4.84341404e-03 3.36792974e-03 9.99982599e-01 9.24136131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.582557844 meters 0.28472647271217105 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 9.99976373e-01 4.67544167e-03 -5.03914689e-03 4.06429304e+00] [-4.69581763e-03 9.99980816e-01 -4.03931606e-03 2.62127258e-01] [ 5.02016464e-03 4.06288354e-03 9.99979145e-01 9.23040653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.642557844 meters 0.28206547317984926 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 0.99997655 0.00460227 -0.00507139 4.06441336] [-0.00462378 0.99998033 -0.00423876 0.262934 ] [ 0.00505178 0.00426211 0.99997816 0.92298667] [ 0. 0. 0. 1. ]] SLAMing on 494.702557844 meters 0.28581618786175184 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 0.99997719 0.00456301 -0.00497932 4.06426337] [-0.00458463 0.99998007 -0.00433945 0.26333762] [ 0.00495942 0.00436218 0.99997819 0.92283088] [ 0. 0. 0. 1. ]] SLAMing on 494.762557844 meters 0.28226780057790135 Centerline is valid? [False, False] Translation: X:4.06, Y:0.26, Z:0.92 [[ 0.99997759 0.00457827 -0.00488558 4.0638945 ] [-0.00459927 0.99998019 -0.00429769 0.26312594] [ 0.00486581 0.00432006 0.99997883 0.92314175] [ 0. 0. 0. 1. ]] SLAMing on 494.822557844 meters 0.28451865465983067 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99996927e-01 -1.16093473e-03 -2.19033125e-03 4.08583287e+00] [ 1.15896889e-03 9.99998925e-01 -8.98566101e-04 2.60363185e-01] [ 2.19137207e-03 8.96024814e-04 9.99997198e-01 9.21850031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.882557844 meters 0.28052641921567883 Centerline is valid? [False, False] Translation: X:4.05, Y:0.26, Z:0.92 [[ 9.99999954e-01 -3.12297213e-05 3.01941360e-04 4.04587002e+00] [ 3.13012536e-05 9.99999971e-01 -2.36906017e-04 2.63183983e-01] [-3.01933953e-04 2.36915457e-04 9.99999926e-01 9.18417551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.942557844 meters 0.28228116780192214 Centerline is valid? [False, False] Translation: X:4.05, Y:0.26, Z:0.92 [[ 9.99999969e-01 6.20133128e-05 2.39441835e-04 4.04573935e+00] [-6.20114844e-05 9.99999998e-01 -7.64352883e-06 2.62213348e-01] [-2.39442308e-04 7.62868046e-06 9.99999971e-01 9.19005348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.002557844 meters 0.2858783885076239 Centerline is valid? [False, False] Translation: X:4.05, Y:0.26, Z:0.92 [[ 9.99999935e-01 2.26237048e-04 2.81973641e-04 4.04521704e+00] [-2.26354622e-04 9.99999887e-01 4.17006984e-04 2.60419610e-01] [-2.81879266e-04 -4.17070783e-04 9.99999873e-01 9.19902179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.062557844 meters 0.28097497000186467 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.92 [[ 9.99999837e-01 4.28720253e-04 3.77228363e-04 4.04496162e+00] [-4.29083549e-04 9.99999444e-01 9.63513924e-04 2.58185762e-01] [-3.76815075e-04 -9.63675629e-04 9.99999465e-01 9.19890046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.122557844 meters 0.2844586107395801 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.92 [[ 9.99999611e-01 7.13155653e-04 5.19196188e-04 4.04457284e+00] [-7.14079704e-04 9.99998158e-01 1.78176745e-03 2.54892260e-01] [-5.17924554e-04 -1.78213751e-03 9.99998278e-01 9.19897041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18255784400003 meters 0.286765081663437 Centerline is valid? [False, False] Translation: X:4.07, Y:0.24, Z:0.92 [[ 9.99978426e-01 6.52035492e-03 -7.95025226e-04 4.06786571e+00] [-6.52076631e-03 9.99978606e-01 -5.15957606e-04 2.42959394e-01] [ 7.91643991e-04 5.21130649e-04 9.99999551e-01 9.19148420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24255784400003 meters 0.2853649676333471 Centerline is valid? [False, False] Translation: X:4.07, Y:0.24, Z:0.92 [[ 9.99976161e-01 6.88125940e-03 -5.70157939e-04 4.06713954e+00] [-6.88100233e-03 9.99976224e-01 4.51626676e-04 2.39013791e-01] [ 5.73252143e-04 -4.47692652e-04 9.99999735e-01 9.19332956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.302557844 meters 0.28418724149525515 Centerline is valid? [False, False] Translation: X:4.04, Y:0.23, Z:0.92 [[ 9.99996577e-01 -2.55791916e-03 -5.49617159e-04 4.04308903e+00] [ 2.55868380e-03 9.99995753e-01 1.39506005e-03 2.34461420e-01] [ 5.46046374e-04 -1.39646157e-03 9.99998876e-01 9.20945451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.362557844 meters 0.283167379721019 Centerline is valid? [False, False] Translation: X:4.04, Y:0.23, Z:0.92 [[ 9.99997462e-01 -2.15842965e-03 -6.45737261e-04 4.04328733e+00] [ 2.15991197e-03 9.99995014e-01 2.30372213e-03 2.30719492e-01] [ 6.40761620e-04 -2.30511102e-03 9.99997138e-01 9.20908622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.422557844 meters 0.2837873302864377 Centerline is valid? [False, False] Translation: X:4.04, Y:0.23, Z:0.92 [[ 9.99998140e-01 -1.78386115e-03 -7.32847189e-04 4.04321960e+00] [ 1.78616154e-03 9.99993442e-01 3.15039395e-03 2.27237750e-01] [ 7.27222518e-04 -3.15169708e-03 9.99994769e-01 9.21382580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.482557844 meters 0.28373136007815586 Centerline is valid? [False, False] Translation: X:4.06, Y:0.22, Z:0.92 [[ 9.99973443e-01 7.25847297e-03 -6.54314521e-04 4.06326143e+00] [-7.25629685e-03 9.99968329e-01 3.26898536e-03 2.15353999e-01] [ 6.78021640e-04 -3.26415064e-03 9.99994443e-01 9.22226592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.542557844 meters 0.2807182533403282 Centerline is valid? [False, False] Translation: X:4.04, Y:0.22, Z:0.92 [[ 9.99996115e-01 -2.48943002e-03 -1.25403111e-03 4.04254548e+00] [ 2.49374967e-03 9.99990922e-01 3.45490812e-03 2.19275395e-01] [ 1.24541897e-03 -3.45802193e-03 9.99993245e-01 9.22766819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.602557844 meters 0.2822504607617113 Centerline is valid? [False, False] Translation: X:4.06, Y:0.21, Z:0.92 [[ 9.99973318e-01 7.22691910e-03 -1.06507154e-03 4.06440061e+00] [-7.22289331e-03 9.99966934e-01 3.73641225e-03 2.14019244e-01] [ 1.09203907e-03 -3.72861966e-03 9.99992452e-01 9.23013733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.662557844 meters 0.28231903201449743 Centerline is valid? [False, False] Translation: X:4.06, Y:0.21, Z:0.92 [[ 9.99972878e-01 7.28786279e-03 -1.06332739e-03 4.06430771e+00] [-7.28367429e-03 9.99965903e-01 3.89114162e-03 2.13389832e-01] [ 1.09164924e-03 -3.88329115e-03 9.99991864e-01 9.23189770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.722557844 meters 0.28046840668744083 Centerline is valid? [False, False] Translation: X:4.04, Y:0.22, Z:0.92 [[ 9.99996788e-01 -2.45285415e-03 -6.37619974e-04 4.04172731e+00] [ 2.45526840e-03 9.99989714e-01 3.81354702e-03 2.17310199e-01] [ 6.28259341e-04 -3.81510030e-03 9.99992525e-01 9.23975153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.782557844 meters 0.2829922760021352 Centerline is valid? [False, False] Translation: X:4.06, Y:0.22, Z:0.92 [[ 9.99974638e-01 7.09447896e-03 -6.26331027e-04 4.06474775e+00] [-7.09218282e-03 9.99968387e-01 3.59512781e-03 2.15834277e-01] [ 6.51816786e-04 -3.59059457e-03 9.99993341e-01 9.22895205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.842557844 meters 0.2827417191694498 Centerline is valid? [False, False] Translation: X:4.07, Y:0.22, Z:0.92 [[ 9.99976358e-01 6.79864296e-03 -1.03031129e-03 4.06606745e+00] [-6.79589680e-03 9.99973407e-01 2.64583093e-03 2.19695840e-01] [ 1.04827195e-03 -2.63876649e-03 9.99995969e-01 9.22183701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.902557844 meters 0.2838500275007199 Centerline is valid? [False, False] Translation: X:4.07, Y:0.22, Z:0.92 [[ 9.99978139e-01 6.53750668e-03 -9.91398699e-04 4.06580989e+00] [-6.53556903e-03 9.99976751e-01 1.94526764e-03 2.22595149e-01] [ 1.00409285e-03 -1.93874576e-03 9.99997617e-01 9.22589547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.962557844 meters 0.28241002562505807 Centerline is valid? [False, False] Translation: X:4.07, Y:0.23, Z:0.92 [[ 9.99980199e-01 6.19823790e-03 -1.08793094e-03 4.06592805e+00] [-6.19709711e-03 9.99980248e-01 1.04884542e-03 2.26272225e-01] [ 1.09441045e-03 -1.04208264e-03 9.99998858e-01 9.22942639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.022557844 meters 0.28128782732336405 Centerline is valid? [False, False] Translation: X:4.07, Y:0.23, Z:0.92 [[ 9.99983197e-01 5.72795905e-03 -8.91765445e-04 4.06532528e+00] [-5.72827649e-03 9.99983531e-01 -3.53823949e-04 2.31960164e-01] [ 8.89724069e-04 3.58926283e-04 9.99999540e-01 9.23282398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.082557844 meters 0.2826740886843274 Centerline is valid? [False, False] Translation: X:4.06, Y:0.23, Z:0.92 [[ 9.99984534e-01 5.50781154e-03 -7.72209188e-04 4.06488815e+00] [-5.50852094e-03 9.99984405e-01 -9.19571175e-04 2.34325373e-01] [ 7.67132320e-04 9.23810683e-04 9.99999279e-01 9.23604516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.142557844 meters 0.2816600096482295 Centerline is valid? [False, False] Translation: X:4.06, Y:0.24, Z:0.92 [[ 9.99987000e-01 5.05139413e-03 -6.95372330e-04 4.06466802e+00] [-5.05310613e-03 9.99984151e-01 -2.48265543e-03 2.40490257e-01] [ 6.82820438e-04 2.48613694e-03 9.99996676e-01 9.23774628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.202557844 meters 0.2820891227885248 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99997883e-01 -1.18845333e-03 -1.67947858e-03 4.04105171e+00] [ 1.18836704e-03 9.99999293e-01 -5.23788576e-05 2.45879015e-01] [ 1.67953964e-03 5.03829098e-05 9.99998588e-01 9.25709766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.262557844 meters 0.28042641512685096 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99998244e-01 -1.43215442e-03 -1.20866095e-03 4.03979442e+00] [ 1.43100320e-03 9.99998522e-01 -9.52807131e-04 2.49437394e-01] [ 1.21002373e-03 9.51075860e-04 9.99998816e-01 9.26255688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.322557844 meters 0.2804771959052096 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99997953e-01 -1.60783408e-03 -1.22808817e-03 4.03975105e+00] [ 1.60597572e-03 9.99997566e-01 -1.51270069e-03 2.51633989e-01] [ 1.23051736e-03 1.51072532e-03 9.99998102e-01 9.26478487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.382557844 meters 0.28006278593546285 Centerline is valid? [False, False] Translation: X:4.04, Y:0.25, Z:0.93 [[ 9.99997715e-01 -1.73309108e-03 -1.25174525e-03 4.03979561e+00] [ 1.73066765e-03 9.99996631e-01 -1.93453862e-03 2.53302089e-01] [ 1.25509376e-03 1.93236785e-03 9.99997345e-01 9.26516830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.442557844 meters 0.28064975949475446 Centerline is valid? [False, False] Translation: X:4.04, Y:0.26, Z:0.93 [[ 9.99997413e-01 -1.86927395e-03 -1.29634449e-03 4.04005929e+00] [ 1.86615817e-03 9.99995377e-01 -2.40057781e-03 2.55097643e-01] [ 1.30082583e-03 2.39815241e-03 9.99996278e-01 9.26133887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.502557844 meters 0.27954019866605023 Centerline is valid? [False, False] Translation: X:4.00, Y:0.26, Z:0.92 [[ 9.99999454e-01 -6.36615520e-04 -8.28300260e-04 4.00344441e+00] [ 6.35268063e-04 9.99998476e-01 -1.62602019e-03 2.58210695e-01] [ 8.29334148e-04 1.62549311e-03 9.99998335e-01 9.22009855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.562557844 meters 0.28327158498062477 Centerline is valid? [False, False] Translation: X:4.05, Y:0.27, Z:0.92 [[ 9.99998417e-01 1.50569582e-03 -9.47723822e-04 4.04677480e+00] [-1.50655814e-03 9.99998451e-01 -9.09823328e-04 2.66864535e-01] [ 9.46352437e-04 9.11249689e-04 9.99999137e-01 9.22085043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.622557844 meters 0.28256449522407606 Centerline is valid? [False, False] Translation: X:4.05, Y:0.27, Z:0.92 [[ 9.99998769e-01 1.24850830e-03 -9.50372979e-04 4.04674251e+00] [-1.25022409e-03 9.99997586e-01 -1.80693405e-03 2.70354131e-01] [ 9.48114713e-04 1.80812000e-03 9.99997916e-01 9.22147737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68255784400003 meters 0.28132920107585974 Centerline is valid? [False, False] Translation: X:4.05, Y:0.28, Z:0.92 [[ 9.99999472e-01 8.47761244e-04 -5.81049191e-04 4.04584141e+00] [-8.49621956e-04 9.99994488e-01 -3.20960017e-03 2.75808760e-01] [ 5.78325014e-04 3.21009214e-03 9.99994680e-01 9.22197945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74255784400003 meters 0.2812444419726035 Centerline is valid? [False, False] Translation: X:4.05, Y:0.28, Z:0.92 [[ 9.99999724e-01 5.13189338e-04 -5.37111506e-04 4.04588417e+00] [-5.15385937e-04 9.99991472e-01 -4.09753436e-03 2.79407404e-01] [ 5.35004115e-04 4.09781005e-03 9.99991461e-01 9.21883985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.802557844 meters 0.28090115772010227 Centerline is valid? [False, False] Translation: X:4.02, Y:0.28, Z:0.92 [[ 9.99986438e-01 -4.54264567e-03 -2.54699659e-03 4.02450081e+00] [ 4.54138654e-03 9.99989563e-01 -4.99926880e-04 2.84041530e-01] [ 2.54924100e-03 4.88353204e-04 9.99996631e-01 9.22182101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.862557844 meters 0.28128454058017033 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:0.92 [[ 9.99996567e-01 -6.16321101e-04 -2.54669463e-03 4.02433799e+00] [ 6.23494062e-04 9.99995839e-01 2.81674322e-03 2.88322391e-01] [ 2.54494801e-03 -2.81832140e-03 9.99992790e-01 9.22429187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.922557844 meters 0.28178425430746923 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:0.92 [[ 9.99996503e-01 -9.02052288e-04 -2.48585256e-03 4.02412680e+00] [ 9.07317578e-04 9.99997346e-01 2.11778948e-03 2.91250265e-01] [ 2.48393560e-03 -2.12003754e-03 9.99994668e-01 9.22518118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.982557844 meters 0.2815700030295559 Centerline is valid? [False, False] Translation: X:4.02, Y:0.29, Z:0.92 [[ 9.99996366e-01 -1.16905327e-03 -2.42938650e-03 4.02371145e+00] [ 1.17256684e-03 9.99998268e-01 1.44535861e-03 2.94106975e-01] [ 2.42769259e-03 -1.44820198e-03 9.99996005e-01 9.23071637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.042557844 meters 0.28168585476902125 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99997070e-01 -1.37309259e-03 -1.99379909e-03 4.02250662e+00] [ 1.37462008e-03 9.99998763e-01 7.64952049e-04 2.96859167e-01] [ 1.99274627e-03 -7.67690524e-04 9.99997720e-01 9.23462376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.102557844 meters 0.28132277039349723 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99996429e-01 -1.55951766e-03 -2.17005162e-03 4.02300938e+00] [ 1.55990641e-03 9.99998768e-01 1.77465772e-04 2.99195071e-01] [ 2.16977219e-03 -1.80850215e-04 9.99997630e-01 9.23200066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.162557844 meters 0.2825342094589161 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99995401e-01 -1.74884861e-03 -2.47794708e-03 4.02392358e+00] [ 1.74778288e-03 9.99998379e-01 -4.32185072e-04 3.01643248e-01] [ 2.47869889e-03 4.27852171e-04 9.99996836e-01 9.22682153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.222557844 meters 0.28342679972278595 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99995843e-01 -1.96866838e-03 -2.10687360e-03 4.02277015e+00] [ 1.96646418e-03 9.99997518e-01 -1.04775649e-03 3.04296995e-01] [ 2.10893105e-03 1.04360904e-03 9.99997232e-01 9.23238370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.282557844 meters 0.28356337049097774 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99995796e-01 -1.99331201e-03 -2.10583643e-03 4.02295860e+00] [ 1.99097973e-03 9.99997403e-01 -1.10904896e-03 3.04543328e-01] [ 2.10804164e-03 1.10485162e-03 9.99997168e-01 9.22836994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.342557844 meters 0.2813992206251165 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99996703e-01 -1.60645203e-03 -2.00328268e-03 3.98834316e+00] [ 1.60450122e-03 9.99998237e-01 -9.75035686e-04 3.05261256e-01] [ 2.00484549e-03 9.71818202e-04 9.99997518e-01 9.16697269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.402557844 meters 0.28218266187935015 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99996607e-01 -1.70891337e-03 -1.96625554e-03 3.98808309e+00] [ 1.70649197e-03 9.99997784e-01 -1.23249516e-03 3.06344932e-01] [ 1.96835741e-03 1.22913558e-03 9.99997307e-01 9.17050669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.462557844 meters 0.2821711560281062 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99996088e-01 -1.92799000e-03 -2.02657564e-03 3.98848583e+00] [ 1.92440931e-03 9.99996587e-01 -1.76733642e-03 3.08577585e-01] [ 2.02997613e-03 1.76342954e-03 9.99996385e-01 9.16513867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.522557844 meters 0.28171267548076634 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99995731e-01 -1.96644786e-03 -2.16140074e-03 3.98901506e+00] [ 1.96241622e-03 9.99996334e-01 -1.86583361e-03 3.08966340e-01] [ 2.16506188e-03 1.86158408e-03 9.99995923e-01 9.16059534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.582557844 meters 0.28190050794525046 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99995803e-01 -1.89201685e-03 -2.19416777e-03 3.98907415e+00] [ 1.88833588e-03 9.99996808e-01 -1.67847553e-03 3.08178781e-01] [ 2.19733647e-03 1.67432516e-03 9.99996184e-01 9.16125115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.642557844 meters 0.2812695691231084 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.92 [[ 9.99996460e-01 -1.74563673e-03 -2.00802317e-03 3.98840178e+00] [ 1.74309144e-03 9.99997676e-01 -1.26861593e-03 3.06424914e-01] [ 2.01023304e-03 1.26511127e-03 9.99997179e-01 9.16720611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.702557844 meters 0.2825479138155065 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:0.92 [[ 9.99977762e-01 6.37675668e-03 -1.95280682e-03 4.00907053e+00] [-6.38120955e-03 9.99977035e-01 -2.28256320e-03 3.01498438e-01] [ 1.93820662e-03 2.29497370e-03 9.99995488e-01 9.17981039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.762557844 meters 0.28183141808997186 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.92 [[ 9.99992617e-01 -2.59031001e-03 -2.83848133e-03 3.98831386e+00] [ 2.58613593e-03 9.99995571e-01 -1.47321983e-03 3.02837794e-01] [ 2.84228485e-03 1.46586825e-03 9.99994886e-01 9.17733504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.822557844 meters 0.2826387517626463 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.92 [[ 9.99993212e-01 -2.56208267e-03 -2.64811120e-03 3.98783168e+00] [ 2.55836315e-03 9.99995738e-01 -1.40702831e-03 3.02533665e-01] [ 2.65170484e-03 1.40024393e-03 9.99995504e-01 9.17788531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.882557844 meters 0.28267453832297235 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.92 [[ 9.99993991e-01 -2.33839995e-03 -2.55945042e-03 3.98756533e+00] [ 2.33617459e-03 9.99996891e-01 -8.72111741e-04 3.00319919e-01] [ 2.56148181e-03 8.66127177e-04 9.99996344e-01 9.17949097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.942557844 meters 0.28289856632628924 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.92 [[ 9.99994419e-01 -2.13057930e-03 -2.57333647e-03 3.98769796e+00] [ 2.12966466e-03 9.99997668e-01 -3.58120015e-04 2.98147112e-01] [ 2.57409348e-03 3.52637672e-04 9.99996625e-01 9.17779751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.002557844 meters 0.28382454080757374 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99994768e-01 -1.83064103e-03 -2.66710912e-03 3.98821996e+00] [ 1.83168343e-03 9.99998247e-01 3.88442687e-04 2.94963943e-01] [ 2.66639334e-03 -3.93325954e-04 9.99996368e-01 9.17254492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.062557844 meters 0.28363186596136614 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99994984e-01 -1.49427477e-03 -2.79262450e-03 3.98860123e+00] [ 1.49781573e-03 9.99998077e-01 1.26630604e-03 2.91290813e-01] [ 2.79072692e-03 -1.27048253e-03 9.99995299e-01 9.17158836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.122557844 meters 0.28305234518599176 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99986192e-01 3.91607830e-03 -3.50430861e-03 3.96636090e+00] [-3.92249777e-03 9.99990638e-01 -1.82688503e-03 2.84033649e-01] [ 3.49712158e-03 1.84060545e-03 9.99992191e-01 9.17785748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18255784400003 meters 0.2832298585855351 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99985682e-01 4.04044274e-03 -3.50878630e-03 3.96652521e+00] [-4.04586113e-03 9.99990632e-01 -1.53851030e-03 2.82805294e-01] [ 3.50253716e-03 1.55268433e-03 9.99992661e-01 9.17495131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24255784400003 meters 0.2840247270087901 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99985444e-01 4.13499060e-03 -3.46607529e-03 3.96654368e+00] [-4.13944026e-03 9.99990616e-01 -1.27758598e-03 2.81726801e-01] [ 3.46075996e-03 1.29191500e-03 9.99993177e-01 9.17219757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.302557844 meters 0.2836621247857853 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99985272e-01 4.13040695e-03 -3.52071922e-03 3.96694149e+00] [-4.13495884e-03 9.99990623e-01 -1.28658993e-03 2.81757183e-01] [ 3.51537206e-03 1.30112901e-03 9.99992975e-01 9.16642974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.362557844 meters 0.2844454179460214 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99985517e-01 4.07694945e-03 -3.51337795e-03 3.96704692e+00] [-4.08198693e-03 9.99990649e-01 -1.42782532e-03 2.82337537e-01] [ 3.50752393e-03 1.44214620e-03 9.99992809e-01 9.16347620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.422557844 meters 0.2852895349283334 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99987106e-01 3.90158695e-03 -3.25060311e-03 3.96644055e+00] [-3.90814413e-03 9.99990336e-01 -2.01331583e-03 2.84692467e-01] [ 3.24271657e-03 2.02599369e-03 9.99992690e-01 9.16263014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.482557844 meters 0.28576092590738766 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:0.92 [[ 9.99987934e-01 3.69852985e-03 -3.23302151e-03 3.96650799e+00] [-3.70683252e-03 9.99989838e-01 -2.56587566e-03 2.86961724e-01] [ 3.22349869e-03 2.57782897e-03 9.99991482e-01 9.15994048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.542557844 meters 0.28496141698224936 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:0.92 [[ 9.99988709e-01 3.53849309e-03 -3.17183166e-03 3.96630794e+00] [-3.54785591e-03 9.99989352e-01 -2.95111442e-03 2.88590890e-01] [ 3.16135538e-03 2.96233430e-03 9.99990615e-01 9.16050293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.602557844 meters 0.2858475587869672 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:0.92 [[ 9.99988776e-01 3.61874253e-03 -3.05825180e-03 3.96590841e+00] [-3.62711216e-03 9.99989680e-01 -2.73563786e-03 2.87708222e-01] [ 3.04832067e-03 2.74669978e-03 9.99991582e-01 9.16340797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.662557844 meters 0.286358638044847 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985227e-01 -4.64645308e-03 -2.82056953e-03 3.98662836e+00] [ 4.64208917e-03 9.99988021e-01 -1.55175581e-03 2.90334004e-01] [ 2.82774590e-03 1.53863955e-03 9.99994818e-01 9.17181066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.722557844 meters 0.28526473243114875 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985071e-01 -4.64979741e-03 -2.86997170e-03 3.98697434e+00] [ 4.64533921e-03 9.99987996e-01 -1.55811031e-03 2.90349132e-01] [ 2.87718215e-03 1.54475506e-03 9.99994668e-01 9.16684024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.782557844 meters 0.28521919962363435 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985424e-01 -4.64352326e-03 -2.75485120e-03 3.98651771e+00] [ 4.63927402e-03 9.99988042e-01 -1.54684821e-03 2.90299700e-01] [ 2.76200108e-03 1.53404515e-03 9.99995009e-01 9.17045998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.842557844 meters 0.2857360199856681 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985072e-01 -4.64691805e-03 -2.87439090e-03 3.98700835e+00] [ 4.64245674e-03 9.99988012e-01 -1.55681628e-03 2.90315360e-01] [ 2.88159084e-03 1.54344880e-03 9.99994657e-01 9.16618555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.902557844 meters 0.28633252810506493 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985055e-01 -4.59753330e-03 -2.95855834e-03 3.98751237e+00] [ 4.59330267e-03 9.99988421e-01 -1.43517219e-03 2.89770548e-01] [ 2.96512234e-03 1.42156119e-03 9.99994594e-01 9.15994461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.962557844 meters 0.28554562334624944 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985432e-01 -4.47016016e-03 -3.02551172e-03 3.98770827e+00] [ 4.46679044e-03 9.99989397e-01 -1.11961118e-03 2.88419566e-01] [ 3.03048448e-03 1.10608054e-03 9.99994796e-01 9.15980405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.022557844 meters 0.28540296206954074 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99985493e-01 -4.35760898e-03 -3.16618391e-03 3.98802540e+00] [ 4.35498536e-03 9.99990168e-01 -8.35060823e-04 2.87217184e-01] [ 3.16979165e-03 8.21260025e-04 9.99994639e-01 9.16101889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.082557844 meters 0.2857036390441461 Centerline is valid? [False, False] Translation: X:3.99, Y:0.28, Z:0.92 [[ 9.99986797e-01 -4.05748296e-03 -3.15332763e-03 3.98764808e+00] [ 4.05743442e-03 9.99991768e-01 -2.17915963e-05 2.83780668e-01] [ 3.15339009e-03 8.99688856e-06 9.99995028e-01 9.16905837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.142557844 meters 0.2834647324450032 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.92 [[ 9.99987768e-01 4.02643745e-03 -2.87266842e-03 3.96802709e+00] [-4.02858015e-03 9.99991611e-01 -7.40498034e-04 2.75722076e-01] [ 2.86966275e-03 7.52061751e-04 9.99995600e-01 9.15430473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.202557844 meters 0.2854332445852443 Centerline is valid? [False, False] Translation: X:3.99, Y:0.28, Z:0.92 [[ 9.99987236e-01 -4.69243772e-03 -1.87329081e-03 3.98941542e+00] [ 4.69277203e-03 9.99988974e-01 1.74105632e-04 2.75449044e-01] [ 1.87245318e-03 -1.82894336e-04 9.99998230e-01 9.15114347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.262557844 meters 0.2840732435074242 Centerline is valid? [False, False] Translation: X:3.97, Y:0.27, Z:0.91 [[ 9.99988502e-01 3.51800573e-03 -3.25863922e-03 3.96959683e+00] [-3.52018992e-03 9.99993583e-01 -6.64785429e-04 2.71492991e-01] [ 3.25627959e-03 6.76248815e-04 9.99994470e-01 9.14058411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.322557844 meters 0.2864204331610803 Centerline is valid? [False, False] Translation: X:3.99, Y:0.27, Z:0.91 [[ 9.99995463e-01 -2.59181322e-03 -1.53505088e-03 3.99128299e+00] [ 2.59524325e-03 9.99994131e-01 2.23671405e-03 2.73411648e-01] [ 1.52924473e-03 -2.24068773e-03 9.99996320e-01 9.12873743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.382557844 meters 0.28433801482216603 Centerline is valid? [False, False] Translation: X:3.97, Y:0.27, Z:0.91 [[ 9.99981543e-01 5.88988729e-03 -1.49071138e-03 3.96975439e+00] [-5.88772496e-03 9.99981615e-01 1.45079346e-03 2.70489258e-01] [ 1.49922899e-03 -1.44198979e-03 9.99997836e-01 9.12122510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.442557844 meters 0.2864431253384737 Centerline is valid? [False, False] Translation: X:3.97, Y:0.27, Z:0.91 [[ 9.99983030e-01 5.70604325e-03 -1.17537582e-03 3.96884722e+00] [-5.70499357e-03 9.99983326e-01 8.94486225e-04 2.72847005e-01] [ 1.18046020e-03 -8.87765533e-04 9.99998909e-01 9.12397108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.502557844 meters 0.28523169919665015 Centerline is valid? [False, False] Translation: X:3.97, Y:0.28, Z:0.91 [[ 9.99984216e-01 5.51896548e-03 -1.05259499e-03 3.96851384e+00] [-5.51858515e-03 9.99984706e-01 3.63888803e-04 2.75030561e-01] [ 1.05458719e-03 -3.58074224e-04 9.99999380e-01 9.12410893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.562557844 meters 0.287394812676006 Centerline is valid? [False, False] Translation: X:3.99, Y:0.28, Z:0.91 [[ 9.99998163e-01 -1.40983425e-04 -1.91183282e-03 3.99207718e+00] [ 1.47160169e-04 9.99994769e-01 3.23104163e-03 2.82483382e-01] [ 1.91136730e-03 -3.23131704e-03 9.99992953e-01 9.11182316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.622557844 meters 0.28689338934831143 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997867e-01 -5.23704909e-04 -1.99811337e-03 3.99255854e+00] [ 5.28131601e-04 9.99997406e-01 2.21555168e-03 2.86803282e-01] [ 1.99694789e-03 -2.21660222e-03 9.99995549e-01 9.10486100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68255784400003 meters 0.28628970475473153 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997456e-01 -6.50576896e-04 -2.15975699e-03 3.99273248e+00] [ 6.54704156e-04 9.99997960e-01 1.91082695e-03 2.88101107e-01] [ 2.15850944e-03 -1.91223609e-03 9.99995842e-01 9.10943811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74255784400003 meters 0.28774676962978796 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997185e-01 -7.57899478e-04 -2.24850598e-03 3.99298277e+00] [ 7.61621719e-04 9.99998340e-01 1.65503436e-03 2.89172433e-01] [ 2.24724789e-03 -1.65674221e-03 9.99996103e-01 9.10845802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.802557844 meters 0.2846500661289422 Centerline is valid? [False, False] Translation: X:3.97, Y:0.29, Z:0.91 [[ 9.99982168e-01 4.60987772e-03 -3.79643527e-03 3.97112163e+00] [-4.61796603e-03 9.99987080e-01 -2.12449857e-03 2.88311931e-01] [ 3.78659254e-03 2.14199250e-03 9.99990537e-01 9.11553543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.862557844 meters 0.2860669486669563 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997053e-01 -1.60229414e-03 -1.82371026e-03 3.99150969e+00] [ 1.60416801e-03 9.99998186e-01 1.02650680e-03 2.89883297e-01] [ 1.82206219e-03 -1.02942932e-03 9.99997810e-01 9.11437593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.922557844 meters 0.2867682336395604 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99996908e-01 -1.56505007e-03 -1.93277072e-03 3.99174692e+00] [ 1.56721330e-03 9.99998147e-01 1.11823295e-03 2.89487092e-01] [ 1.93101705e-03 -1.12125856e-03 9.99997507e-01 9.11535707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.982557844 meters 0.2885380178377532 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997209e-01 -1.57864057e-03 -1.75776478e-03 3.99131205e+00] [ 1.58053828e-03 9.99998169e-01 1.07875291e-03 2.89673914e-01] [ 1.75605860e-03 -1.08152811e-03 9.99997873e-01 9.11519364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.042557844 meters 0.28745230781618747 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997379e-01 -1.62186164e-03 -1.61627207e-03 3.99057635e+00] [ 1.62341889e-03 9.99998219e-01 9.62637677e-04 2.90255671e-01] [ 1.61470792e-03 -9.65259040e-04 9.99998230e-01 9.12420334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.102557844 meters 0.28609696318758054 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997299e-01 -1.57690849e-03 -1.70717406e-03 3.99079518e+00] [ 1.57874317e-03 9.99998177e-01 1.07387138e-03 2.89776983e-01] [ 1.70547755e-03 -1.07656367e-03 9.99997966e-01 9.12454697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.162557844 meters 0.2843280715476827 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997276e-01 -1.49381196e-03 -1.79331355e-03 3.99124272e+00] [ 1.49612406e-03 9.99998051e-01 1.28863987e-03 2.88836431e-01] [ 1.79138507e-03 -1.29131938e-03 9.99997562e-01 9.11959419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.222557844 meters 0.28563448965390875 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997067e-01 -1.50277992e-03 -1.89952005e-03 3.99159049e+00] [ 1.50518963e-03 9.99998064e-01 1.26779755e-03 2.88897926e-01] [ 1.89761115e-03 -1.27065296e-03 9.99997392e-01 9.11761914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.282557844 meters 0.28626350907173703 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997096e-01 -1.59447072e-03 -1.80711416e-03 3.99126121e+00] [ 1.59626739e-03 9.99998233e-01 9.93211722e-04 2.90056786e-01] [ 1.80552732e-03 -9.96093475e-04 9.99997874e-01 9.11980817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.342557844 meters 0.28720329030301445 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997388e-01 -1.76807959e-03 -1.44873592e-03 3.99013237e+00] [ 1.76868781e-03 9.99998348e-01 4.18653130e-04 2.92466181e-01] [ 1.44799332e-03 -4.21214398e-04 9.99998863e-01 9.12616660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.402557844 meters 0.2876083156763656 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99997019e-01 -1.98353476e-03 -1.42416071e-03 3.99006034e+00] [ 1.98334066e-03 9.99998024e-01 -1.37690926e-04 2.94798513e-01] [ 1.42443101e-03 1.34865920e-04 9.99998976e-01 9.12584333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.462557844 meters 0.2874103589267341 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.91 [[ 9.99996377e-01 -2.21950943e-03 -1.52335866e-03 3.99034800e+00] [ 2.21842389e-03 9.99997284e-01 -7.13917668e-04 2.97246886e-01] [ 1.52493907e-03 7.10535626e-04 9.99998585e-01 9.12440184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.522557844 meters 0.2859533477888728 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.91 [[ 9.99995897e-01 -2.33453876e-03 -1.65999928e-03 3.99045179e+00] [ 2.33284519e-03 9.99996757e-01 -1.02143249e-03 2.98500371e-01] [ 1.66237847e-03 1.01755577e-03 9.99998101e-01 9.12862494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.582557844 meters 0.28391184579632595 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.91 [[ 9.99995750e-01 -2.27188102e-03 -1.82710272e-03 3.99061102e+00] [ 2.27034255e-03 9.99997067e-01 -8.43661494e-04 2.97776953e-01] [ 1.82901406e-03 8.39509759e-04 9.99997975e-01 9.13424623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.642557844 meters 0.2838252522551947 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:0.91 [[ 9.99982365e-01 5.88903875e-03 7.67923986e-04 4.00929669e+00] [-5.88798250e-03 9.99981726e-01 -1.37055039e-03 2.92058326e-01] [-7.75981178e-04 1.36600469e-03 9.99998766e-01 9.14439653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.702557844 meters 0.2824997925841968 Centerline is valid? [False, False] Translation: X:4.01, Y:0.29, Z:0.91 [[ 9.99981399e-01 6.04378461e-03 8.21136272e-04 4.00908777e+00] [-6.04300019e-03 9.99981285e-01 -9.54426028e-04 2.90335532e-01] [-8.26889250e-04 9.49446148e-04 9.99999207e-01 9.14629574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.762557844 meters 0.2836835787647269 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99995850e-01 -2.66181002e-03 -1.10171714e-03 3.98889060e+00] [ 2.66180648e-03 9.99996457e-01 -4.67612622e-06 2.89304977e-01] [ 1.10172569e-03 1.74354898e-06 9.99999393e-01 9.14466156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.822557844 meters 0.28385895709310854 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99995841e-01 -2.57415204e-03 -1.30096915e-03 3.98941132e+00] [ 2.57444036e-03 9.99996662e-01 2.19995293e-04 2.88329292e-01] [ 1.30039851e-03 -2.23343645e-04 9.99999130e-01 9.14412008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.882557844 meters 0.28454913297843953 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.91 [[ 9.99995922e-01 -2.63206245e-03 -1.10831744e-03 3.98895744e+00] [ 2.63211125e-03 9.99996535e-01 4.25696587e-05 2.89070675e-01] [ 1.10820155e-03 -4.54866999e-05 9.99999385e-01 9.14354561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.942557844 meters 0.2849126010686595 Centerline is valid? [False, False] Translation: X:4.01, Y:0.30, Z:0.91 [[ 9.99986850e-01 4.01981953e-03 3.18456950e-03 4.00853402e+00] [-4.01149579e-03 9.99988533e-01 -2.61586217e-03 2.95396321e-01] [-3.19504827e-03 2.60305288e-03 9.99991508e-01 9.13481098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.002557844 meters 0.2849960502824982 Centerline is valid? [False, False] Translation: X:3.99, Y:0.29, Z:0.92 [[ 9.99998425e-01 -1.60488593e-03 7.57483864e-04 3.98505361e+00] [ 1.60454665e-03 9.99998612e-01 4.48292571e-04 2.94334227e-01] [-7.58202272e-04 -4.47076447e-04 9.99999613e-01 9.15649348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.062557844 meters 0.28335445458314473 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.91 [[ 9.99998123e-01 -1.86956823e-03 5.07682454e-04 3.98591282e+00] [ 1.86974818e-03 9.99998189e-01 -3.54211062e-04 2.97699225e-01] [-5.07019313e-04 3.55159636e-04 9.99999808e-01 9.14910083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.122557844 meters 0.28400589395164527 Centerline is valid? [False, False] Translation: X:3.99, Y:0.30, Z:0.91 [[ 9.99997566e-01 -2.16917597e-03 4.02274785e-04 3.98632819e+00] [ 2.16963595e-03 9.99996989e-01 -1.14655595e-03 3.01009509e-01] [-3.99786492e-04 1.14742595e-03 9.99999262e-01 9.14537339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18255784400003 meters 0.28408053647836273 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.91 [[ 9.99996349e-01 -2.65471142e-03 5.05095874e-04 3.98591466e+00] [ 2.65597323e-03 9.99993313e-01 -2.51410101e-03 3.06621546e-01] [-4.98418284e-04 2.51543335e-03 9.99996712e-01 9.14761228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24255784400003 meters 0.2843898637454954 Centerline is valid? [False, False] Translation: X:3.99, Y:0.31, Z:0.91 [[ 9.99995353e-01 -2.99755480e-03 5.54790301e-04 3.98571308e+00] [ 2.99941810e-03 9.99989760e-01 -3.38877606e-03 3.10242135e-01] [-5.44626578e-04 3.39042436e-03 9.99994104e-01 9.14837985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.302557844 meters 0.2828863487827745 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:0.92 [[ 9.99997195e-01 -1.70314196e-03 1.64588454e-03 3.98050797e+00] [ 1.70691626e-03 9.99995911e-01 -2.29449563e-03 3.12092172e-01] [-1.64196996e-03 2.29729858e-03 9.99996013e-01 9.18221774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.362557844 meters 0.2830692301681086 Centerline is valid? [False, False] Translation: X:3.98, Y:0.31, Z:0.92 [[ 9.99996810e-01 -1.95366511e-03 1.60088021e-03 3.98044552e+00] [ 1.95829443e-03 9.99993891e-01 -2.89528618e-03 3.14610408e-01] [-1.59521401e-03 2.89841194e-03 9.99994527e-01 9.18523497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.422557844 meters 0.28441168228567776 Centerline is valid? [False, False] Translation: X:4.02, Y:0.32, Z:0.92 [[ 9.99999817e-01 -5.95686691e-04 1.00979309e-04 4.02002421e+00] [ 5.95890370e-04 9.99997764e-01 -2.02914698e-03 3.20916620e-01] [-9.97703469e-05 2.02920678e-03 9.99997936e-01 9.21847850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.482557844 meters 0.28313370342898053 Centerline is valid? [False, False] Translation: X:4.02, Y:0.32, Z:0.92 [[ 9.99999751e-01 -6.89997038e-04 1.47247941e-04 4.01965995e+00] [ 6.90329148e-04 9.99997191e-01 -2.26744153e-03 3.21939069e-01] [-1.45682999e-04 2.26754261e-03 9.99997419e-01 9.22367213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.542557844 meters 0.2829960864952407 Centerline is valid? [False, False] Translation: X:4.02, Y:0.32, Z:0.92 [[ 9.99999688e-01 -7.77494413e-04 1.41928439e-04 4.01968239e+00] [ 7.77844352e-04 9.99996616e-01 -2.48242649e-03 3.22845737e-01] [-1.39997886e-04 2.48253612e-03 9.99996909e-01 9.22317904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.602557844 meters 0.28365558498285315 Centerline is valid? [False, False] Translation: X:4.02, Y:0.32, Z:0.92 [[ 9.99999610e-01 -8.73268517e-04 1.30011385e-04 4.01979911e+00] [ 8.73619519e-04 9.99995907e-01 -2.72465260e-03 3.23850331e-01] [-1.27631500e-04 2.72476512e-03 9.99996280e-01 9.22102265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.662557844 meters 0.283551449123557 Centerline is valid? [False, False] Translation: X:4.02, Y:0.33, Z:0.92 [[ 9.99999324e-01 -1.16134116e-03 5.59811754e-05 4.02008600e+00] [ 1.16152840e-03 9.99993307e-01 -3.46948821e-03 3.26962333e-01] [-5.19515412e-05 3.46955089e-03 9.99993980e-01 9.21843638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.722557844 meters 0.2836059684759238 Centerline is valid? [False, False] Translation: X:4.02, Y:0.33, Z:0.92 [[ 9.99999075e-01 -1.35979798e-03 2.31377035e-05 4.02021257e+00] [ 1.35987945e-03 9.99991122e-01 -3.98839984e-03 3.29126542e-01] [-1.77140800e-05 3.98842761e-03 9.99992046e-01 9.21690493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.782557844 meters 0.284894669825713 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99985308e-01 -4.45347050e-03 3.09049317e-03 4.04379580e+00] [ 4.44838053e-03 9.99988742e-01 1.65190144e-03 3.27716828e-01] [-3.09781507e-03 -1.63812948e-03 9.99993860e-01 9.18136566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.842557844 meters 0.2839443943734242 Centerline is valid? [False, False] Translation: X:4.02, Y:0.33, Z:0.92 [[ 9.99984542e-01 4.64227555e-03 3.06032318e-03 4.02232587e+00] [-4.64517328e-03 9.99988769e-01 9.40442841e-04 3.25901958e-01] [-3.05592301e-03 -9.54644035e-04 9.99994875e-01 9.18545353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.902557844 meters 0.2872517775184517 Centerline is valid? [False, False] Translation: X:4.02, Y:0.33, Z:0.92 [[ 9.99985404e-01 4.55926157e-03 2.89927792e-03 4.02276155e+00] [-4.56139916e-03 9.99989330e-01 7.31100789e-04 3.26768570e-01] [-2.89591371e-03 -7.44314881e-04 9.99995530e-01 9.18423056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.962557844 meters 0.28511382293553744 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99987354e-01 -2.42418906e-03 4.40625882e-03 4.04238539e+00] [ 2.41062613e-03 9.99992349e-01 3.08081416e-03 3.31753119e-01] [-4.41369358e-03 -3.07015336e-03 9.99985547e-01 9.19068846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.022557844 meters 0.28383623591602664 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99987926e-01 -2.36922422e-03 4.30528485e-03 4.04262207e+00] [ 2.35531301e-03 9.99991999e-01 3.23339604e-03 3.31106210e-01] [-4.31291104e-03 -3.22321670e-03 9.99985505e-01 9.19112733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.082557844 meters 0.2833878980616112 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99988325e-01 -2.25330526e-03 4.27469795e-03 4.04258195e+00] [ 2.23802698e-03 9.99991103e-01 3.57554160e-03 3.29728585e-01] [-4.28271671e-03 -3.56593296e-03 9.99984471e-01 9.19431848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.142557844 meters 0.28352714827230835 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99988650e-01 -2.06887575e-03 4.29184196e-03 4.04233658e+00] [ 2.05094463e-03 9.99989168e-01 4.17815666e-03 3.27312333e-01] [-4.30043956e-03 -4.16930690e-03 9.99982061e-01 9.20031535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.202557844 meters 0.283242024923319 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99989051e-01 -1.94670697e-03 4.25533097e-03 4.04262370e+00] [ 1.92766455e-03 9.99988131e-01 4.47448561e-03 3.26011555e-01] [-4.26399098e-03 -4.46623377e-03 9.99980935e-01 9.19639545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.262557844 meters 0.28341712816705705 Centerline is valid? [False, False] Translation: X:4.04, Y:0.33, Z:0.92 [[ 9.99988818e-01 -1.95957065e-03 4.30392239e-03 4.04253177e+00] [ 1.94042765e-03 9.99988227e-01 4.44748660e-03 3.26143238e-01] [-4.31258689e-03 -4.43908542e-03 9.99980848e-01 9.19562367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.322557844 meters 0.28265713465533227 Centerline is valid? [False, False] Translation: X:4.02, Y:0.32, Z:0.92 [[ 9.99988337e-01 3.60592779e-03 3.21287879e-03 4.02067287e+00] [-3.60822135e-03 9.99993239e-01 7.08355025e-04 3.23688128e-01] [-3.21030279e-03 -7.19939541e-04 9.99994588e-01 9.20586212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.382557844 meters 0.2830466280808128 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:0.92 [[ 9.99976481e-01 -4.95755677e-03 4.73912890e-03 4.04063447e+00] [ 4.94761218e-03 9.99985539e-01 2.10782611e-03 3.22668582e-01] [-4.74951004e-03 -2.08432916e-03 9.99986549e-01 9.21225771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.442557844 meters 0.28292786002454523 Centerline is valid? [False, False] Translation: X:4.04, Y:0.32, Z:0.92 [[ 9.99978074e-01 -4.68873506e-03 4.67622828e-03 4.04091404e+00] [ 4.67563265e-03 9.99985124e-01 2.80892762e-03 3.19707917e-01] [-4.68932903e-03 -2.78700171e-03 9.99985121e-01 9.21039304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.502557844 meters 0.2841246062850423 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.92 [[ 9.99982072e-01 3.34691545e-03 4.96535390e-03 4.05996728e+00] [-3.35825071e-03 9.99991770e-01 2.27629212e-03 3.09800238e-01] [-4.95769448e-03 -2.29292622e-03 9.99985082e-01 9.22946056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.562557844 meters 0.28240332492332715 Centerline is valid? [False, False] Translation: X:4.04, Y:0.31, Z:0.92 [[ 9.99976164e-01 -5.78031433e-03 3.77608732e-03 4.03834431e+00] [ 5.76942907e-03 9.99979189e-01 2.88724254e-03 3.07765998e-01] [-3.79269790e-03 -2.86538786e-03 9.99988702e-01 9.23421313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.622557844 meters 0.28473053829049166 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:0.92 [[ 9.99992699e-01 3.27126721e-03 1.97516445e-03 4.06276908e+00] [-3.27690966e-03 9.99990540e-01 2.86025199e-03 3.03621661e-01] [-1.96578912e-03 -2.86670354e-03 9.99993959e-01 9.23153469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68255784400003 meters 0.2846788160836728 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:0.92 [[ 9.99992561e-01 3.27667529e-03 2.03519473e-03 4.06264779e+00] [-3.28252786e-03 9.99990468e-01 2.87902392e-03 3.03554104e-01] [-2.02574170e-03 -2.88568308e-03 9.99993785e-01 9.23100327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74255784400003 meters 0.2845047144192944 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:0.92 [[ 9.99992432e-01 3.22695789e-03 2.17312053e-03 4.06222435e+00] [-3.23293531e-03 9.99990985e-01 2.75274499e-03 3.04107083e-01] [-2.16421795e-03 -2.75974972e-03 9.99993850e-01 9.23257880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.802557844 meters 0.28402919540633886 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.92 [[ 9.99993177e-01 3.02456218e-03 2.12106771e-03 4.06244698e+00] [-3.02912108e-03 9.99993102e-01 2.14943791e-03 3.06607411e-01] [-2.11455197e-03 -2.15584821e-03 9.99995440e-01 9.22954390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.862557844 meters 0.28459404645544334 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.92 [[ 9.99994345e-01 2.73858545e-03 1.95215444e-03 4.06316628e+00] [-2.74097296e-03 9.99995498e-01 1.22138867e-03 3.10437164e-01] [-1.94880078e-03 -1.22673257e-03 9.99997349e-01 9.22061397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.922557844 meters 0.28489754214718516 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99995733e-01 2.21042056e-03 1.90974123e-03 4.06347154e+00] [-2.20965980e-03 9.99997479e-01 -4.00373258e-04 3.17183050e-01] [-1.91062140e-03 3.96151671e-04 9.99998096e-01 9.21677324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.982557844 meters 0.2833488416231697 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99995839e-01 2.03085867e-03 2.04893278e-03 4.06261698e+00] [-2.02909613e-03 9.99997570e-01 -8.61935854e-04 3.19231468e-01] [-2.05067827e-03 8.57774786e-04 9.99997529e-01 9.22753289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.042557844 meters 0.2834276476224324 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99995396e-01 2.01172184e-03 2.27170878e-03 4.06168688e+00] [-2.00963447e-03 9.99997557e-01 -9.20766532e-04 3.19540361e-01] [-2.27355555e-03 9.16196988e-04 9.99996996e-01 9.23775363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.102557844 meters 0.28267179586516555 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99994692e-01 2.01675245e-03 2.55890337e-03 4.06100002e+00] [-2.01446603e-03 9.99997570e-01 -8.95778448e-04 3.19523692e-01] [-2.56070371e-03 8.90618870e-04 9.99996325e-01 9.23870267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.162557844 meters 0.2835675795959146 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99994263e-01 2.07774592e-03 2.67506288e-03 4.06042910e+00] [-2.07581752e-03 9.99997584e-01 -7.23455399e-04 3.18785303e-01] [-2.67655957e-03 7.17898307e-04 9.99996160e-01 9.24622683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.222557844 meters 0.28347852513363214 Centerline is valid? [False, False] Translation: X:4.06, Y:0.32, Z:0.92 [[ 9.99993999e-01 2.17360405e-03 2.69783259e-03 4.06028890e+00] [-2.17231761e-03 9.99997525e-01 -4.79683136e-04 3.17754049e-01] [-2.69886855e-03 4.73819708e-04 9.99996246e-01 9.24832319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.282557844 meters 0.28466074041850264 Centerline is valid? [False, False] Translation: X:4.06, Y:0.31, Z:0.92 [[ 9.99993247e-01 2.47818384e-03 2.71359396e-03 4.06047501e+00] [-2.47891024e-03 9.99996893e-01 2.64355354e-04 3.14609564e-01] [-2.71293041e-03 -2.71080324e-04 9.99996283e-01 9.24425400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.342557844 meters 0.2830873028185836 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:0.93 [[ 9.99991602e-01 -3.61216057e-03 -1.93618802e-03 4.04068282e+00] [ 3.61802612e-03 9.99988851e-01 3.03453727e-03 3.03845876e-01] [ 1.92520519e-03 -3.04151696e-03 9.99993521e-01 9.25621915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.402557844 meters 0.28329777482636215 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:0.93 [[ 9.99992385e-01 -3.32377945e-03 -2.04528889e-03 4.04127914e+00] [ 3.33137150e-03 9.99987532e-01 3.71982283e-03 3.00916554e-01] [ 2.03289952e-03 -3.72660812e-03 9.99990990e-01 9.25039027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.462557844 meters 0.28358366508465815 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:0.92 [[ 9.99992667e-01 -3.15214831e-03 -2.17488818e-03 4.04203026e+00] [ 3.16112793e-03 9.99986443e-01 4.13776571e-03 2.99067635e-01] [ 2.16181585e-03 -4.14461046e-03 9.99989074e-01 9.24168915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.522557844 meters 0.28427150947561 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:0.92 [[ 9.99991282e-01 -3.01088384e-03 -2.89325811e-03 4.04418046e+00] [ 3.02368178e-03 9.99985620e-01 4.42922193e-03 2.98030417e-01] [ 2.87988063e-03 -4.43793160e-03 9.99986005e-01 9.22714839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.582557844 meters 0.2853005292659442 Centerline is valid? [False, False] Translation: X:4.04, Y:0.30, Z:0.92 [[ 9.99990956e-01 -3.11212042e-03 -2.89871528e-03 4.04413709e+00] [ 3.12417986e-03 9.99986446e-01 4.16507574e-03 2.99153553e-01] [ 2.88571377e-03 -4.17409418e-03 9.99987125e-01 9.22795435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.642557844 meters 0.2848507197007037 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:0.92 [[ 9.99989608e-01 4.17686738e-03 1.82677067e-03 4.06130657e+00] [-4.18182404e-03 9.99987562e-01 2.71799601e-03 3.02515141e-01] [-1.81539524e-03 -2.72560700e-03 9.99994638e-01 9.24208527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.702557844 meters 0.28452755645758043 Centerline is valid? [False, False] Translation: X:4.06, Y:0.30, Z:0.92 [[ 9.99989694e-01 4.14536034e-03 1.85123429e-03 4.06119550e+00] [-4.15025182e-03 9.99987886e-01 2.64630088e-03 3.02844874e-01] [-1.84024199e-03 -2.65395669e-03 9.99994785e-01 9.24301915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.762557844 meters 0.28257311653121303 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991770e-01 2.55317794e-03 3.15285585e-03 4.02078549e+00] [-2.55752174e-03 9.99995785e-01 1.37447115e-03 3.00917250e-01] [-3.14933329e-03 -1.38252334e-03 9.99994085e-01 9.22353191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.822557844 meters 0.28258819562360993 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991767e-01 2.54435087e-03 3.16092227e-03 4.02035701e+00] [-2.54862822e-03 9.99995841e-01 1.34990669e-03 3.01063240e-01] [-3.15747449e-03 -1.35795160e-03 9.99994093e-01 9.23325780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.882557844 meters 0.28289164542929063 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991093e-01 2.52730859e-03 3.38044070e-03 4.01965958e+00] [-2.53172685e-03 9.99995946e-01 1.30336627e-03 3.01308567e-01] [-3.37713299e-03 -1.31191301e-03 9.99993437e-01 9.23773880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.942557844 meters 0.2823732574013021 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991721e-01 2.46880555e-03 3.23463617e-03 4.02005319e+00] [-2.47258468e-03 9.99996265e-01 1.16485456e-03 3.01899570e-01] [-3.23174829e-03 -1.17284283e-03 9.99994090e-01 9.23691244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.002557844 meters 0.2828414361375747 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991716e-01 2.49462337e-03 3.21648029e-03 4.02011369e+00] [-2.49857552e-03 9.99996128e-01 1.22528507e-03 3.01634069e-01] [-3.21341121e-03 -1.23331154e-03 9.99994076e-01 9.23668786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.062557844 meters 0.2819242512356744 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99991415e-01 2.56285424e-03 3.25607492e-03 4.01993872e+00] [-2.56741297e-03 9.99995729e-01 1.39666353e-03 3.00914335e-01] [-3.25248157e-03 -1.40501123e-03 9.99993724e-01 9.23857883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.122557844 meters 0.2831555700808788 Centerline is valid? [False, False] Translation: X:4.03, Y:0.30, Z:0.92 [[ 9.99996872e-01 9.32837913e-04 2.32064236e-03 4.02523911e+00] [-9.32022936e-04 9.99999504e-01 -3.52242515e-04 3.01658349e-01] [-2.32096980e-03 3.50078522e-04 9.99997245e-01 9.19655000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18255784400003 meters 0.28199896676016034 Centerline is valid? [False, False] Translation: X:4.02, Y:0.30, Z:0.92 [[ 9.99996535e-01 1.07418069e-03 2.40317770e-03 4.02495531e+00] [-1.07417292e-03 9.99999423e-01 -4.52267073e-06 3.00176701e-01] [-2.40318118e-03 1.94122664e-06 9.99997112e-01 9.19863447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24255784400003 meters 0.2835542606004331 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:0.92 [[ 9.99999485e-01 5.50761426e-04 -8.51889628e-04 4.06696073e+00] [-5.50791931e-04 9.99999848e-01 -3.55746171e-05 2.99324996e-01] [ 8.51869906e-04 3.60438127e-05 9.99999637e-01 9.22424225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.302557844 meters 0.28317762142230746 Centerline is valid? [False, False] Translation: X:4.07, Y:0.30, Z:0.92 [[ 9.99999159e-01 7.65314074e-04 -1.04686629e-03 4.06751875e+00] [-7.64755031e-04 9.99999565e-01 5.34312221e-04 2.96889904e-01] [ 1.04727475e-03 -5.33511176e-04 9.99999309e-01 9.22326248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.362557844 meters 0.2825491186713979 Centerline is valid? [False, False] Translation: X:4.07, Y:0.29, Z:0.92 [[ 9.99998779e-01 1.05142631e-03 -1.15612304e-03 4.06774055e+00] [-1.04981371e-03 9.99998477e-01 1.39456012e-03 2.93364673e-01] [ 1.15758756e-03 -1.39334470e-03 9.99998359e-01 9.22493235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.422557844 meters 0.28246758980012254 Centerline is valid? [False, False] Translation: X:4.07, Y:0.29, Z:0.92 [[ 9.99997522e-01 1.43613482e-03 -1.70116442e-03 4.06910031e+00] [-1.43082142e-03 9.99994108e-01 3.12049631e-03 2.86512816e-01] [ 1.70563585e-03 -3.11805451e-03 9.99993684e-01 9.22346589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.482557844 meters 0.2830106520357878 Centerline is valid? [False, False] Translation: X:4.07, Y:0.28, Z:0.92 [[ 9.99995589e-01 -2.39164963e-03 -1.76136227e-03 4.06923628e+00] [ 2.39175449e-03 9.99997138e-01 5.74327334e-05 2.80983650e-01] [ 1.76121987e-03 -6.16452262e-05 9.99998447e-01 9.22490107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.542557844 meters 0.282712657017754 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.92 [[ 9.99997156e-01 -1.53714844e-03 -1.82362596e-03 4.06936478e+00] [ 1.54094154e-03 9.99996649e-01 2.08040307e-03 2.72092156e-01] [ 1.82042196e-03 -2.08320725e-03 9.99996173e-01 9.22535688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.602557844 meters 0.2827634878058257 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.92 [[ 9.99997533e-01 -1.19474840e-03 -1.87261185e-03 4.06953976e+00] [ 1.20003962e-03 9.99995284e-01 2.82700876e-03 2.68885290e-01] [ 1.86922546e-03 -2.82924899e-03 9.99994251e-01 9.22560679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.662557844 meters 0.282796765870971 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.92 [[ 9.99997761e-01 -1.01983277e-03 -1.85393026e-03 4.06962046e+00] [ 1.02592711e-03 9.99994064e-01 3.28927600e-03 2.66969653e-01] [ 1.85056474e-03 -3.29117063e-03 9.99992872e-01 9.22370249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.722557844 meters 0.2853088659329753 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99961027e-01 8.72104335e-03 -1.37370875e-03 4.09220932e+00] [-8.71631794e-03 9.99956201e-01 3.40911870e-03 2.64612162e-01] [ 1.40337965e-03 -3.39701215e-03 9.99993245e-01 9.21670133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.782557844 meters 0.2826903749283309 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.92 [[ 9.99998167e-01 -1.14539641e-03 -1.53451744e-03 4.06907531e+00] [ 1.15054738e-03 9.99993693e-01 3.36006719e-03 2.65498607e-01] [ 1.53065916e-03 -3.36182656e-03 9.99993178e-01 9.22751938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.842557844 meters 0.2824471706699056 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99998366e-01 -9.97539895e-04 -1.50745991e-03 4.06890552e+00] [ 1.00321026e-03 9.99992407e-01 3.76547122e-03 2.63819633e-01] [ 1.50369226e-03 -3.76697736e-03 9.99991774e-01 9.23028735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.902557844 meters 0.2824020774829765 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99998349e-01 -1.00082971e-03 -1.51637099e-03 4.06894446e+00] [ 1.00653139e-03 9.99992410e-01 3.76399620e-03 2.63851619e-01] [ 1.51259236e-03 -3.76551627e-03 9.99991766e-01 9.22991220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.962557844 meters 0.2831636564051464 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99998249e-01 -1.05450543e-03 -1.54578425e-03 4.06874364e+00] [ 1.06011853e-03 9.99992832e-01 3.63491519e-03 2.64437591e-01] [ 1.54194013e-03 -3.63654754e-03 9.99992199e-01 9.23566274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.022557844 meters 0.2827741153785726 Centerline is valid? [False, False] Translation: X:4.07, Y:0.27, Z:0.92 [[ 9.99998161e-01 -1.11610555e-03 -1.55974815e-03 4.06870852e+00] [ 1.12154798e-03 9.99993271e-01 3.49278924e-03 2.65076049e-01] [ 1.55583934e-03 -3.49453215e-03 9.99992684e-01 9.23697317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.082557844 meters 0.2845662649728655 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99998203e-01 -1.05601891e-03 -1.57434646e-03 4.06878104e+00] [ 1.06174441e-03 9.99992810e-01 3.64035434e-03 2.64440455e-01] [ 1.57049086e-03 -3.64201935e-03 9.99992135e-01 9.23636782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.142557844 meters 0.28371855030015425 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99961264e-01 8.37221343e-03 -2.71616077e-03 4.09132383e+00] [-8.36227203e-03 9.99958370e-01 3.65103381e-03 2.58803720e-01] [ 2.74661493e-03 -3.62817910e-03 9.99989646e-01 9.23807993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.202557844 meters 0.2840340590250553 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99993882e-01 -9.60081159e-04 -3.36368501e-03 4.06927165e+00] [ 9.74452709e-04 9.99990394e-01 4.27353059e-03 2.57990294e-01] [ 3.35954976e-03 -4.27678219e-03 9.99985211e-01 9.23667815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.262557844 meters 0.2833870498718406 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99986613e-01 4.82959697e-03 -1.85688283e-03 4.09189435e+00] [-4.82816327e-03 9.99988043e-01 7.75812286e-04 2.56848839e-01] [ 1.86060749e-03 -7.66836567e-04 9.99997975e-01 9.22689853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.322557844 meters 0.2836597008729229 Centerline is valid? [False, False] Translation: X:4.07, Y:0.26, Z:0.92 [[ 9.99987265e-01 -3.83524156e-03 -3.28049614e-03 4.07174449e+00] [ 3.84219248e-03 9.99990382e-01 2.11519226e-03 2.56586944e-01] [ 3.27235232e-03 -2.12776962e-03 9.99992382e-01 9.22312818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.382557844 meters 0.286811574248596 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99997132e-01 2.28663172e-03 -7.12007269e-04 4.09265253e+00] [-2.28743648e-03 9.99996744e-01 -1.13151386e-03 2.56332730e-01] [ 7.09417595e-04 1.13313929e-03 9.99999106e-01 9.21514941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.442557844 meters 0.28398060329623426 Centerline is valid? [False, False] Translation: X:4.09, Y:0.26, Z:0.92 [[ 9.99996963e-01 2.36750380e-03 -6.85423647e-04 4.09258870e+00] [-2.36814889e-03 9.99996752e-01 -9.41874423e-04 2.55513848e-01] [ 6.83191530e-04 9.43494747e-04 9.99999322e-01 9.21524255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.502557844 meters 0.28320437874609333 Centerline is valid? [False, False] Translation: X:4.11, Y:0.26, Z:0.92 [[ 9.99992484e-01 -3.47338990e-03 1.72279273e-03 4.11279051e+00] [ 3.46924819e-03 9.99991099e-01 2.40125868e-03 2.55137300e-01] [-1.73111790e-03 -2.39526384e-03 9.99995633e-01 9.21327000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.562557844 meters 0.28493275262612516 Centerline is valid? [False, False] Translation: X:4.11, Y:0.25, Z:0.92 [[ 9.99992803e-01 -3.37542466e-03 1.73210687e-03 4.11259963e+00] [ 3.37083627e-03 9.99990820e-01 2.64514232e-03 2.54112901e-01] [-1.74101945e-03 -2.63928463e-03 9.99995002e-01 9.21712815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.622557844 meters 0.28444485029359284 Centerline is valid? [False, False] Translation: X:4.10, Y:0.25, Z:0.92 [[ 9.99987837e-01 2.47781709e-03 4.26458535e-03 4.09716401e+00] [-2.47980484e-03 9.99996819e-01 4.60881092e-04 2.50635751e-01] [-4.26342980e-03 -4.71450825e-04 9.99990800e-01 9.17054860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68255784400003 meters 0.28336662530889906 Centerline is valid? [False, False] Translation: X:4.10, Y:0.25, Z:0.92 [[ 9.99986472e-01 2.74260977e-03 4.41981749e-03 4.09652507e+00] [-2.74830395e-03 9.99995401e-01 1.28277181e-03 2.47256110e-01] [-4.41627902e-03 -1.29490146e-03 9.99989410e-01 9.17750760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74255784400003 meters 0.2835406455800024 Centerline is valid? [False, False] Translation: X:4.10, Y:0.24, Z:0.92 [[ 9.99986220e-01 2.95633062e-03 4.33811457e-03 4.09670476e+00] [-2.96462249e-03 9.99993789e-01 1.90621591e-03 2.44647530e-01] [-4.33245222e-03 -1.91905052e-03 9.99988773e-01 9.17807566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.802557844 meters 0.28330601851499565 Centerline is valid? [False, False] Translation: X:4.10, Y:0.24, Z:0.92 [[ 9.99986076e-01 3.18417052e-03 4.20822222e-03 4.09713177e+00] [-3.19493366e-03 9.99991636e-01 2.55340460e-03 2.41905693e-01] [-4.20005655e-03 -2.56681404e-03 9.99987885e-01 9.17590612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.862557844 meters 0.28285642692423163 Centerline is valid? [False, False] Translation: X:4.10, Y:0.24, Z:0.92 [[ 9.99990710e-01 -7.92657515e-04 4.23704104e-03 4.09706167e+00] [ 7.96711608e-04 9.99999226e-01 -9.55219586e-04 2.38342517e-01] [-4.23628060e-03 9.58586411e-04 9.99990567e-01 9.17679470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.922557844 meters 0.2815503662247423 Centerline is valid? [False, False] Translation: X:4.10, Y:0.23, Z:0.92 [[ 9.99991400e-01 -4.71610261e-04 4.12031958e-03 4.09733125e+00] [ 4.72032295e-04 9.99999883e-01 -1.01455730e-04 2.34718773e-01] [-4.12027125e-03 1.03399782e-04 9.99991506e-01 9.17772275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.982557844 meters 0.2832512024002987 Centerline is valid? [False, False] Translation: X:4.12, Y:0.23, Z:0.92 [[ 9.99974799e-01 6.05398107e-03 3.70817778e-03 4.12152174e+00] [-6.04345476e-03 9.99977696e-01 -2.84332976e-03 2.30615990e-01] [-3.72530853e-03 2.82084790e-03 9.99989082e-01 9.16174456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.042557844 meters 0.28399332366864216 Centerline is valid? [False, False] Translation: X:4.14, Y:0.23, Z:0.92 [[ 9.99982776e-01 -2.64981462e-03 5.23702351e-03 4.14311720e+00] [ 2.65959634e-03 9.99994730e-01 -1.86171940e-03 2.26220275e-01] [-5.23206270e-03 1.87561570e-03 9.99984554e-01 9.15615010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.102557844 meters 0.28212345398741806 Centerline is valid? [False, False] Translation: X:4.12, Y:0.22, Z:0.92 [[ 9.99983601e-01 2.75397315e-03 5.02136322e-03 4.11907667e+00] [-2.73068232e-03 9.99985510e-01 -4.63932090e-03 2.19985826e-01] [-5.03406702e-03 4.62553307e-03 9.99976631e-01 9.17389546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.162557844 meters 0.2837828740158298 Centerline is valid? [False, False] Translation: X:4.14, Y:0.22, Z:0.92 [[ 9.99968619e-01 -5.89881013e-03 5.28816435e-03 4.14170376e+00] [ 5.91960442e-03 9.99974775e-01 -3.92524226e-03 2.19347836e-01] [-5.26487669e-03 3.95642292e-03 9.99978314e-01 9.16748622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.222557844 meters 0.28381776247474166 Centerline is valid? [False, False] Translation: X:4.14, Y:0.22, Z:0.92 [[ 9.99970707e-01 -5.60115013e-03 5.21658897e-03 4.14202667e+00] [ 5.61822526e-03 9.99978890e-01 -3.26435496e-03 2.16455140e-01] [-5.19819470e-03 3.29356731e-03 9.99981065e-01 9.16559215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.282557844 meters 0.2829044489205979 Centerline is valid? [False, False] Translation: X:4.14, Y:0.22, Z:0.92 [[ 9.99970657e-01 -5.50197175e-03 5.33042411e-03 4.14158221e+00] [ 5.51811708e-03 9.99980218e-01 -3.01894399e-03 2.15424907e-01] [-5.31370852e-03 3.04826931e-03 9.99981236e-01 9.16947466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.342557844 meters 0.28412412683489496 Centerline is valid? [False, False] Translation: X:4.16, Y:0.21, Z:0.92 [[ 9.99979481e-01 4.01991553e-03 4.98780072e-03 4.16362024e+00] [-4.00417629e-03 9.99986986e-01 -3.16152939e-03 2.11307655e-01] [-5.00044488e-03 3.14149249e-03 9.99982563e-01 9.17161802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.402557844 meters 0.2836816408148057 Centerline is valid? [False, False] Translation: X:4.15, Y:0.21, Z:0.92 [[ 9.99995348e-01 -2.95210565e-03 7.66912735e-04 4.14521894e+00] [ 2.95265031e-03 9.99995389e-01 -7.10042673e-04 2.07299472e-01] [-7.64813077e-04 7.12303795e-04 9.99999454e-01 9.16986650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.462557844 meters 0.28229029208847106 Centerline is valid? [False, False] Translation: X:4.14, Y:0.21, Z:0.92 [[ 9.99995685e-01 -2.81000114e-03 8.57125010e-04 4.14483897e+00] [ 2.81027176e-03 9.99996002e-01 -3.14693905e-04 2.05672982e-01] [-8.56237293e-04 3.17101302e-04 9.99999583e-01 9.17394341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.522557844 meters 0.28176990671384017 Centerline is valid? [False, False] Translation: X:4.14, Y:0.20, Z:0.92 [[ 9.99996185e-01 -2.54020977e-03 1.08533061e-03 4.14395241e+00] [ 2.53965208e-03 9.99996643e-01 5.14916662e-04 2.02118916e-01] [-1.08663496e-03 -5.12158335e-04 9.99999278e-01 9.18238869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.582557844 meters 0.28317092836342483 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99996074e-01 -5.95989349e-04 2.73815583e-03 4.18724466e+00] [ 5.91732209e-04 9.99998615e-01 1.55529456e-03 2.02891942e-01] [-2.73907898e-03 -1.55366820e-03 9.99995042e-01 9.17459873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.642557844 meters 0.28426847223689017 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99996189e-01 -5.43595102e-04 2.70670401e-03 4.18749870e+00] [ 5.39027788e-04 9.99998430e-01 1.68785172e-03 2.02297376e-01] [-2.70761727e-03 -1.68638630e-03 9.99994912e-01 9.17082490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.702557844 meters 0.283550326004535 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99996184e-01 -5.22747003e-04 2.71272391e-03 4.18750626e+00] [ 5.18031366e-04 9.99998354e-01 1.73875176e-03 2.02073626e-01] [-2.71362837e-03 -1.73733985e-03 9.99994809e-01 9.17037011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.762557844 meters 0.2834591644374466 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99996024e-01 -5.72221711e-04 2.76138279e-03 4.18733761e+00] [ 5.67760021e-04 9.99998533e-01 1.61625860e-03 2.02614329e-01] [-2.76230360e-03 -1.61468437e-03 9.99994881e-01 9.17122700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.822557844 meters 0.28345755686956947 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99995894e-01 -7.04640081e-04 2.77755039e-03 4.18735989e+00] [ 7.01100367e-04 9.99998941e-01 1.27516891e-03 2.04051067e-01] [-2.77844598e-03 -1.27321633e-03 9.99995330e-01 9.16938728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.882557844 meters 0.28341718413662015 Centerline is valid? [False, False] Translation: X:4.19, Y:0.21, Z:0.92 [[ 9.99995470e-01 -8.12998820e-04 2.89799607e-03 4.18710866e+00] [ 8.10094123e-04 9.99999169e-01 1.00334504e-03 2.05226374e-01] [-2.89880938e-03 -1.00099285e-03 9.99995297e-01 9.16794758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.942557844 meters 0.2832126929652737 Centerline is valid? [False, False] Translation: X:4.19, Y:0.21, Z:0.92 [[ 9.99995644e-01 -8.37509299e-04 2.83046121e-03 4.18726355e+00] [ 8.34839843e-04 9.99999206e-01 9.44166772e-04 2.05471566e-01] [-2.83124971e-03 -9.41799677e-04 9.99995549e-01 9.16821230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.002557844 meters 0.2839713794934142 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99996395e-01 -6.85600586e-04 2.59597327e-03 4.18814936e+00] [ 6.82033772e-04 9.99998823e-01 1.37461557e-03 2.03494306e-01] [-2.59691265e-03 -1.37284007e-03 9.99995686e-01 9.16125835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.062557844 meters 0.28317176286967227 Centerline is valid? [False, False] Translation: X:4.17, Y:0.20, Z:0.92 [[ 9.99989211e-01 4.23123547e-03 1.91692929e-03 4.16569405e+00] [-4.22654476e-03 9.99988080e-01 -2.44447064e-03 2.00816833e-01] [-1.92724957e-03 2.43634228e-03 9.99995175e-01 9.16411429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.122557844 meters 0.2834334912679521 Centerline is valid? [False, False] Translation: X:4.17, Y:0.20, Z:0.92 [[ 9.99988939e-01 4.18323696e-03 2.14983986e-03 4.16502691e+00] [-4.17767652e-03 9.99987934e-01 -2.58446068e-03 2.01480600e-01] [-2.16062533e-03 2.57545075e-03 9.99994349e-01 9.16634349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18255784400003 meters 0.28393281901703715 Centerline is valid? [False, False] Translation: X:4.18, Y:0.21, Z:0.92 [[ 9.99984218e-01 -3.53571898e-03 4.36610142e-03 4.18317533e+00] [ 3.54331160e-03 9.99992222e-01 -1.73248281e-03 2.07759877e-01] [-4.35994189e-03 1.74792592e-03 9.99988968e-01 9.17462739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24255784400003 meters 0.2842637168903795 Centerline is valid? [False, False] Translation: X:4.18, Y:0.21, Z:0.92 [[ 9.99984277e-01 -3.57173510e-03 4.32290484e-03 4.18355882e+00] [ 3.57964906e-03 9.99991929e-01 -1.82435424e-03 2.08099884e-01] [-4.31635384e-03 1.83980004e-03 9.99988992e-01 9.16856710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.302557844 meters 0.2829212205673949 Centerline is valid? [False, False] Translation: X:4.17, Y:0.20, Z:0.92 [[ 9.99988967e-01 4.35803455e-03 1.75303129e-03 4.16549102e+00] [-4.35338442e-03 9.99987019e-01 -2.64775335e-03 2.03730676e-01] [-1.76454753e-03 2.64009252e-03 9.99994958e-01 9.16337532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.362557844 meters 0.28179436711338 Centerline is valid? [False, False] Translation: X:4.16, Y:0.20, Z:0.92 [[ 9.99988169e-01 4.46492527e-03 1.93039950e-03 4.16469637e+00] [-4.46049632e-03 9.99987424e-01 -2.29256859e-03 2.02379970e-01] [-1.94061137e-03 2.28393092e-03 9.99995509e-01 9.17259943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.422557844 meters 0.2818328054640323 Centerline is valid? [False, False] Translation: X:4.16, Y:0.20, Z:0.92 [[ 9.99987587e-01 4.55774186e-03 2.01311248e-03 4.16456966e+00] [-4.55362887e-03 9.99987545e-01 -2.04298121e-03 2.01335887e-01] [-2.02239878e-03 2.03378889e-03 9.99995887e-01 9.17106607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.482557844 meters 0.28146857333878855 Centerline is valid? [False, False] Translation: X:4.16, Y:0.20, Z:0.92 [[ 9.99987359e-01 4.61458368e-03 1.99685602e-03 4.16463694e+00] [-4.61079474e-03 9.99987569e-01 -1.89791145e-03 2.00718801e-01] [-2.00558927e-03 1.88868036e-03 9.99996205e-01 9.17046286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.542557844 meters 0.2831047740065982 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99992916e-01 -1.46973871e-03 3.46533052e-03 4.18741506e+00] [ 1.46690973e-03 9.99998589e-01 8.18766181e-04 2.01261919e-01] [-3.46652900e-03 -8.13677054e-04 9.99993661e-01 9.15336602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.602557844 meters 0.28393605092475815 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99993243e-01 -1.39904111e-03 3.39941082e-03 4.18742876e+00] [ 1.39567018e-03 9.99998532e-01 9.93792739e-04 2.00529380e-01] [-3.40079619e-03 -9.89041568e-04 9.99993728e-01 9.15678845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.662557844 meters 0.2827740124348457 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99993316e-01 -1.23887694e-03 3.43980069e-03 4.18727000e+00] [ 1.23410726e-03 9.99998275e-01 1.38839131e-03 1.98833770e-01] [-3.44151480e-03 -1.38413694e-03 9.99993120e-01 9.15821430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.722557844 meters 0.2821188494535389 Centerline is valid? [False, False] Translation: X:4.19, Y:0.20, Z:0.92 [[ 9.99993488e-01 -1.07088852e-03 3.44628603e-03 4.18728424e+00] [ 1.06455206e-03 9.99997741e-01 1.83994287e-03 1.96948282e-01] [-3.44824861e-03 -1.83626214e-03 9.99992369e-01 9.15784256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.782557844 meters 0.28264986008604365 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:0.92 [[ 9.99995261e-01 -7.27691411e-04 2.99146963e-03 4.18844288e+00] [ 7.18824086e-04 9.99995348e-01 2.96421074e-03 1.92326064e-01] [-2.99361274e-03 -2.96204635e-03 9.99991132e-01 9.15752084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.842557844 meters 0.28234909427442106 Centerline is valid? [False, False] Translation: X:4.19, Y:0.19, Z:0.92 [[ 9.99995913e-01 -3.02467563e-04 2.84308201e-03 4.18857988e+00] [ 2.90813796e-04 9.99991559e-01 4.09851059e-03 1.87645006e-01] [-2.84429768e-03 -4.09766703e-03 9.99987559e-01 9.16261181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.902557844 meters 0.2827406467347394 Centerline is valid? [False, False] Translation: X:4.19, Y:0.18, Z:0.92 [[ 9.99996421e-01 3.27541338e-04 2.65541038e-03 4.18956692e+00] [-3.41920365e-04 9.99985273e-01 5.41634810e-03 1.81718113e-01] [-2.65359720e-03 -5.41723665e-03 9.99981806e-01 9.15523813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.962557844 meters 0.2834478009369907 Centerline is valid? [False, False] Translation: X:4.21, Y:0.17, Z:0.92 [[ 0.99994096 0.00889819 0.00623705 4.20615784] [-0.00892853 0.99994836 0.00485426 0.1726588 ] [-0.00619354 -0.00490967 0.99996877 0.91738824] [ 0. 0. 0. 1. ]] SLAMing on 508.022557844 meters 0.28335284466720795 Centerline is valid? [False, False] Translation: X:4.21, Y:0.17, Z:0.92 [[ 9.99967836e-01 4.90229714e-03 6.34778684e-03 4.20568076e+00] [-4.91122373e-03 9.99986972e-01 1.39142866e-03 1.69345798e-01] [-6.34088294e-03 -1.42255930e-03 9.99978885e-01 9.17716050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.082557844 meters 0.2840357429825212 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:0.92 [[ 9.99983812e-01 2.48938466e-03 5.11652242e-03 4.20992071e+00] [-2.48976779e-03 9.99996898e-01 6.85132345e-05 1.60906367e-01] [-5.11633599e-03 -8.12510782e-05 9.99986908e-01 9.15877893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.142557844 meters 0.2835321835569132 Centerline is valid? [False, False] Translation: X:4.21, Y:0.16, Z:0.92 [[ 9.99982221e-01 2.95606630e-03 5.17877324e-03 4.20941016e+00] [-2.96191759e-03 9.99994983e-01 1.12255606e-03 1.56469379e-01] [-5.17542891e-03 -1.13787520e-03 9.99985960e-01 9.16653221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.202557844 meters 0.28441004071419507 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:0.92 [[ 9.99980403e-01 3.37783637e-03 5.27105012e-03 4.20915022e+00] [-3.38885032e-03 9.99992090e-01 2.08198807e-03 1.52404533e-01] [-5.26397581e-03 -2.09981007e-03 9.99983941e-01 9.16753491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.262557844 meters 0.28406422490307504 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:0.92 [[ 9.99980437e-01 3.66932724e-03 5.06565299e-03 4.20986105e+00] [-3.68372303e-03 9.99989195e-01 2.83544309e-03 1.49102886e-01] [-5.05519408e-03 -2.85404809e-03 9.99983150e-01 9.16401824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.322557844 meters 0.28462097741346515 Centerline is valid? [False, False] Translation: X:4.19, Y:0.15, Z:0.92 [[ 9.99989888e-01 -4.37056215e-03 1.05904053e-03 4.19290261e+00] [ 4.36531189e-03 9.99978417e-01 4.91016568e-03 1.45368319e-01] [-1.08047786e-03 -4.90549299e-03 9.99987384e-01 9.15497160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.382557844 meters 0.2851209604858485 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99986832e-01 4.60198119e-03 2.27107708e-03 4.21275986e+00] [-4.61065484e-03 9.99982041e-01 3.82883438e-03 1.42435039e-01] [-2.25341607e-03 -3.83925511e-03 9.99990091e-01 9.16097929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.442557844 meters 0.28455773607612234 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99986197e-01 4.72433010e-03 2.29934583e-03 4.21259426e+00] [-4.73378798e-03 9.99980286e-01 4.12537998e-03 1.41191641e-01] [-2.27981084e-03 -4.13620765e-03 9.99988847e-01 9.16328711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.502557844 meters 0.2851989999419355 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99997355e-01 3.86501680e-04 2.26748382e-03 4.21274201e+00] [-3.86005709e-04 9.99999901e-01 -2.19165325e-04 1.41268846e-01] [-2.26756831e-03 2.18289483e-04 9.99997405e-01 9.16108224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.562557844 meters 0.2834492072526056 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99997231e-01 4.56916392e-04 2.30851673e-03 4.21239940e+00] [-4.56816243e-04 9.99999895e-01 -4.39098144e-05 1.40576351e-01] [-2.30853655e-03 4.28551249e-05 9.99997334e-01 9.16648798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.622557844 meters 0.28511903420572354 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99996617e-01 3.50081218e-04 2.57754881e-03 4.21159524e+00] [-3.49169848e-04 9.99999876e-01 -3.54021537e-04 1.41982675e-01] [-2.57767243e-03 3.53120337e-04 9.99996615e-01 9.16930588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68255784400003 meters 0.2844657119223049 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:0.92 [[ 9.99997090e-01 1.41876642e-04 2.40833051e-03 4.21209397e+00] [-1.39631740e-04 9.99999556e-01 -9.32282651e-04 1.44356248e-01] [-2.40846171e-03 9.31943658e-04 9.99996665e-01 9.16713330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74255784400003 meters 0.2837195804130079 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:0.92 [[ 9.99997190e-01 5.98210007e-05 2.37006219e-03 4.21210933e+00] [-5.71546564e-05 9.99999365e-01 -1.12506201e-03 1.45191995e-01] [-2.37012798e-03 1.12492339e-03 9.99996559e-01 9.16862255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.802557844 meters 0.28521242755940046 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:0.92 [[ 9.99997352e-01 -7.46222932e-05 2.29992338e-03 4.21235171e+00] [ 7.79586953e-05 9.99998945e-01 -1.45060244e-03 1.46555166e-01] [-2.29981270e-03 1.45077790e-03 9.99996303e-01 9.16698125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.862557844 meters 0.2859843598672773 Centerline is valid? [False, False] Translation: X:4.21, Y:0.15, Z:0.92 [[ 9.99988903e-01 4.14863838e-03 2.23219720e-03 4.21250384e+00] [-4.15446241e-03 9.99987962e-01 2.61082143e-03 1.47671048e-01] [-2.22133897e-03 -2.62006604e-03 9.99994100e-01 9.16769553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.922557844 meters 0.2882170218300484 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:0.92 [[ 9.99995498e-01 -3.00019918e-03 -4.63173309e-05 4.23060315e+00] [ 3.00030826e-03 9.99992200e-01 2.56868722e-03 1.61321387e-01] [ 3.86103963e-05 -2.56881462e-03 9.99996700e-01 9.18724160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.982557844 meters 0.2897071227926918 Centerline is valid? [False, False] Translation: X:4.21, Y:0.17, Z:0.92 [[ 9.99977099e-01 5.36601954e-03 -4.12395464e-03 4.21184873e+00] [-5.35905144e-03 9.99984197e-01 1.69886263e-03 1.72058705e-01] [ 4.13300560e-03 -1.67672324e-03 9.99990053e-01 9.18074741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.042557844 meters 0.2894146712674691 Centerline is valid? [False, False] Translation: X:4.21, Y:0.18, Z:0.92 [[ 9.99980511e-01 4.71110034e-03 -4.09660853e-03 4.21125395e+00] [-4.70969432e-03 9.99988847e-01 3.52794923e-04 1.77960598e-01] [ 4.09822489e-03 -3.33494274e-04 9.99991547e-01 9.18789716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.102557844 meters 0.28964390141120694 Centerline is valid? [False, False] Translation: X:4.21, Y:0.18, Z:0.92 [[ 9.99981397e-01 4.46238988e-03 -4.15844482e-03 4.21144967e+00] [-4.46315779e-03 9.99990025e-01 -1.75402336e-04 1.80221107e-01] [ 4.15762063e-03 1.93958868e-04 9.99991338e-01 9.18629938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.162557844 meters 0.2932673227474763 Centerline is valid? [False, False] Translation: X:4.23, Y:0.19, Z:0.92 [[ 9.99982888e-01 -3.39182133e-03 -4.76656521e-03 4.23237476e+00] [ 3.39255928e-03 9.99994234e-01 1.46741204e-04 1.89635494e-01] [ 4.76604001e-03 -1.62909548e-04 9.99988629e-01 9.19716907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.222557844 meters 0.29542151394516936 Centerline is valid? [False, False] Translation: X:4.23, Y:0.19, Z:0.92 [[ 9.99982338e-01 -3.50736523e-03 -4.79811216e-03 4.23222878e+00] [ 3.50684541e-03 9.99993844e-01 -1.16747437e-04 1.90782884e-01] [ 4.79849210e-03 9.99191377e-05 9.99988482e-01 9.20129146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.282557844 meters 0.29791655321663024 Centerline is valid? [False, False] Translation: X:4.23, Y:0.19, Z:0.92 [[ 9.99981703e-01 -3.66052703e-03 -4.81596785e-03 4.23190386e+00] [ 3.65831952e-03 9.99993199e-01 -4.67102910e-04 1.92299687e-01] [ 4.81764494e-03 4.49476014e-04 9.99988294e-01 9.20815966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.342557844 meters 0.3032565562657578 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:0.92 [[ 9.99994760e-01 3.19151630e-03 -5.42837419e-04 4.25139443e+00] [-3.19320527e-03 9.99989973e-01 -3.13949136e-03 1.97726643e-01] [ 5.32812239e-04 3.14120830e-03 9.99994924e-01 9.19314681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.402557844 meters 0.3018664057425757 Centerline is valid? [False, False] Translation: X:4.23, Y:0.20, Z:0.92 [[ 9.99991626e-01 -3.48620669e-03 -2.14363026e-03 4.22940202e+00] [ 3.48629603e-03 9.99993922e-01 3.79422506e-05 1.97747040e-01] [ 2.14348496e-03 -4.54152626e-05 9.99997702e-01 9.20304793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.462557844 meters 0.3073121010155998 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:0.92 [[ 9.99992157e-01 3.63089299e-03 1.58181677e-03 4.24876279e+00] [-3.62701393e-03 9.99990425e-01 -2.44828571e-03 1.99627117e-01] [-1.59069109e-03 2.44252924e-03 9.99995752e-01 9.19183314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.522557844 meters 0.30948825455463835 Centerline is valid? [False, False] Translation: X:4.25, Y:0.20, Z:0.92 [[ 9.99991753e-01 3.76630207e-03 1.51918382e-03 4.24886564e+00] [-3.76307407e-03 9.99990668e-01 -2.12211672e-03 1.98236878e-01] [-1.52716218e-03 2.11638242e-03 9.99996594e-01 9.19342198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.582557844 meters 0.31312337879892926 Centerline is valid? [False, False] Translation: X:4.25, Y:0.19, Z:0.92 [[ 9.99990499e-01 4.10221162e-03 1.47455505e-03 4.24882999e+00] [-4.10030753e-03 9.99990759e-01 -1.29200965e-03 1.94646424e-01] [-1.47984152e-03 1.28595125e-03 9.99998078e-01 9.19644406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.642557844 meters 0.3188384843028159 Centerline is valid? [False, False] Translation: X:4.25, Y:0.19, Z:0.92 [[ 9.99989332e-01 4.37265175e-03 1.48860457e-03 4.24946888e+00] [-4.37152470e-03 9.99990156e-01 -7.59530394e-04 1.92067895e-01] [-1.49191108e-03 7.53014819e-04 9.99998604e-01 9.18564683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.702557844 meters 0.3196551429573066 Centerline is valid? [False, False] Translation: X:4.25, Y:0.19, Z:0.92 [[ 9.99989451e-01 4.32001349e-03 1.56051255e-03 4.24992829e+00] [-4.31869593e-03 9.99990316e-01 -8.46699504e-04 1.92284376e-01] [-1.56415519e-03 8.39951193e-04 9.99998424e-01 9.17535193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.762557844 meters 0.3296310374215575 Centerline is valid? [False, False] Translation: X:4.27, Y:0.20, Z:0.92 [[ 9.99993713e-01 -3.54590241e-03 3.68762256e-05 4.27184432e+00] [ 3.54591492e-03 9.99993654e-01 -3.44956110e-04 2.00720275e-01] [-3.56528108e-05 3.45084701e-04 9.99999940e-01 9.16708102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.822557844 meters 0.33292615544666515 Centerline is valid? [False, False] Translation: X:4.27, Y:0.20, Z:0.92 [[ 9.99999670e-01 7.01076010e-04 4.09817768e-04 4.27187897e+00] [-7.02646751e-04 9.99992360e-01 3.84528464e-03 2.00944672e-01] [-4.07118801e-04 -3.84557133e-03 9.99992523e-01 9.15283063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.882557844 meters 0.35523916966294117 Centerline is valid? [False, False] Translation: X:4.28, Y:0.20, Z:0.91 [[ 9.99994847e-01 3.21012684e-03 3.33590073e-05 4.27673212e+00] [-3.21026857e-03 9.99977115e-01 5.95517941e-03 2.04572896e-01] [-1.42413626e-05 -5.95525582e-03 9.99982267e-01 9.10662948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.942557844 meters 0.42090512196805424 Centerline is valid? [False, False] Translation: X:4.28, Y:0.21, Z:0.90 [[ 9.99874908e-01 1.98870197e-03 1.56911828e-02 4.28054674e+00] [-2.07661014e-03 9.99982230e-01 5.58809034e-03 2.12617013e-01] [-1.56797909e-02 -5.61997579e-03 9.99861270e-01 9.00283518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.002557844 meters 0.45004775324464075 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99874994e-01 1.57991513e-03 1.57321290e-02 4.28061189e+00] [-1.65683901e-03 9.99986731e-01 4.87777115e-03 2.16217745e-01] [-1.57242138e-02 -4.90322700e-03 9.99864345e-01 9.00008072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.062557844 meters 0.857060291023236 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99875782e-01 1.18277494e-03 1.57169292e-02 4.28102182e+00] [-1.24848539e-03 9.99990519e-01 4.17171715e-03 2.19796644e-01] [-1.57118460e-02 -4.19082131e-03 9.99867779e-01 8.99501936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.122557844 meters 0.8733823810524753 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99872231e-01 1.27048177e-03 1.59345042e-02 4.27929010e+00] [-1.34033199e-03 9.99989537e-01 4.37366978e-03 2.18760443e-01] [-1.59287808e-02 -4.39446848e-03 9.99863472e-01 9.01216538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18255784400003 meters 0.5695622861217933 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99881050e-01 1.20048238e-03 1.53767540e-02 4.28141662e+00] [-1.26962812e-03 9.99989124e-01 4.48779866e-03 2.17180093e-01] [-1.53711993e-02 -4.50678760e-03 9.99871699e-01 9.00432263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24255784400003 meters 0.5165604092882442 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99880535e-01 1.28582667e-03 1.54033257e-02 4.28150102e+00] [-1.35741622e-03 9.99988323e-01 4.63811501e-03 2.16328776e-01] [-1.53971820e-02 -4.65846964e-03 9.99870604e-01 9.00176283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.302557844 meters 0.5379221093136939 Centerline is valid? [False, False] Translation: X:4.28, Y:0.22, Z:0.90 [[ 9.99879292e-01 9.12605693e-04 1.55102975e-02 4.28145101e+00] [-9.73552600e-04 9.99991834e-01 3.92235183e-03 2.20286673e-01] [-1.55065912e-02 -3.93697846e-03 9.99872015e-01 8.99712410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.362557844 meters 0.5855192878058627 Centerline is valid? [False, False] Translation: X:4.32, Y:0.23, Z:0.90 [[ 9.99833685e-01 2.18643041e-03 1.81058546e-02 4.32486156e+00] [-2.25004297e-03 9.99991365e-01 3.49374379e-03 2.26088002e-01] [-1.80980594e-02 -3.53390168e-03 9.99829971e-01 8.97691049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.422557844 meters 0.5673943229414758 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.90 [[ 9.99835269e-01 2.18767545e-03 1.80180162e-02 4.32506323e+00] [-2.25148242e-03 9.99991264e-01 3.52176341e-03 2.25828447e-01] [-1.80101544e-02 -3.56175051e-03 9.99831460e-01 8.97744045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.482557844 meters 0.6087744493605757 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.89 [[ 9.99851202e-01 6.98864018e-04 1.72361410e-02 4.33119521e+00] [-7.36670768e-04 9.99997337e-01 2.18720632e-03 2.26295299e-01] [-1.72345665e-02 -2.19957823e-03 9.99849054e-01 8.93345903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.542557844 meters 0.6162680575798346 Centerline is valid? [False, False] Translation: X:4.33, Y:0.22, Z:0.89 [[ 9.99851382e-01 8.52687062e-04 1.72187831e-02 4.33096455e+00] [-8.95827108e-04 9.99996479e-01 2.49784856e-03 2.24578432e-01] [-1.72165926e-02 -2.51290238e-03 9.99848626e-01 8.93715984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.602557844 meters 0.6058303226769428 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.89 [[ 9.99850344e-01 7.11872811e-04 1.72853269e-02 4.33068238e+00] [-7.50667704e-04 9.99997214e-01 2.23799846e-03 2.26102595e-01] [-1.72836856e-02 -2.25063907e-03 9.99848093e-01 8.93787693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.662557844 meters 0.6368658803515043 Centerline is valid? [False, False] Translation: X:4.34, Y:0.23, Z:0.89 [[ 9.99859749e-01 1.96471526e-03 1.66319901e-02 4.33635979e+00] [-2.01595697e-03 9.99993272e-01 3.06470768e-03 2.26862114e-01] [-1.66258569e-02 -3.09780722e-03 9.99856982e-01 8.89207441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.722557844 meters 0.6094516848916393 Centerline is valid? [False, False] Translation: X:4.33, Y:0.23, Z:0.89 [[ 9.99852511e-01 1.73001340e-03 1.70869194e-02 4.33446754e+00] [-1.77147721e-03 9.99995523e-01 2.41180299e-03 2.31380088e-01] [-1.70826704e-02 -2.44171637e-03 9.99851099e-01 8.89725344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.782557844 meters 0.7105627093696455 Centerline is valid? [False, False] Translation: X:4.33, Y:0.24, Z:0.89 [[ 9.99840633e-01 1.63645203e-03 1.77772475e-02 4.33165216e+00] [-1.66739150e-03 9.99997121e-01 1.72571449e-03 2.36456842e-01] [-1.77743723e-02 -1.75508110e-03 9.99840483e-01 8.90526771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.842557844 meters 0.7982608420090161 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.88 [[ 9.99729057e-01 4.61722743e-03 2.28143524e-02 4.37923829e+00] [-4.68346432e-03 9.99984969e-01 2.85072015e-03 2.46702218e-01] [-2.28008471e-02 -2.95679797e-03 9.99735654e-01 8.82742897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.902557844 meters 0.741947249528593 Centerline is valid? [False, False] Translation: X:4.38, Y:0.25, Z:0.88 [[ 9.99733090e-01 4.03470294e-03 2.27479636e-02 4.37970915e+00] [-4.07460453e-03 9.99990240e-01 1.70799520e-03 2.53506487e-01] [-2.27408503e-02 -1.80022827e-03 9.99739773e-01 8.82233629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.962557844 meters 0.7497566815509527 Centerline is valid? [False, False] Translation: X:4.38, Y:0.26, Z:0.88 [[ 9.99734568e-01 3.51927001e-03 2.27685789e-02 4.37987161e+00] [-3.53642568e-03 9.99993492e-01 7.13259224e-04 2.59489578e-01] [-2.27659206e-02 -7.93589290e-04 9.99740508e-01 8.81766440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.022557844 meters 0.7888557129850589 Centerline is valid? [False, False] Translation: X:4.44, Y:0.27, Z:0.89 [[ 9.99901862e-01 5.74315968e-03 1.27781938e-02 4.44426818e+00] [-5.77233880e-03 9.99980814e-01 2.24779978e-03 2.68719390e-01] [-1.27650391e-02 -2.32133925e-03 9.99915829e-01 8.87844067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.082557844 meters 0.5259040412093947 Centerline is valid? [False, False] Translation: X:4.45, Y:0.28, Z:0.89 [[ 9.99907092e-01 5.14840411e-03 1.26214743e-02 4.44526447e+00] [-5.16379468e-03 9.99985963e-01 1.18711025e-03 2.75119600e-01] [-1.26151854e-02 -1.25217466e-03 9.99919641e-01 8.87226321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.142557844 meters 0.5167547554597277 Centerline is valid? [False, False] Translation: X:4.45, Y:0.28, Z:0.89 [[ 9.99914982e-01 4.60020038e-03 1.22010891e-02 4.44770388e+00] [-4.60325746e-03 9.99989380e-01 2.22486622e-04 2.80741544e-01] [-1.21999360e-02 -2.78632461e-04 9.99925539e-01 8.85850617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.202557844 meters 0.5209876689711233 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:0.88 [[ 9.99926754e-01 -1.53614854e-03 1.20052659e-02 4.47616799e+00] [ 1.50714938e-03 9.99995926e-01 2.42421114e-03 2.90943603e-01] [-1.20089410e-02 -2.40593985e-03 9.99924996e-01 8.81505413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.262557844 meters 0.7934323291136979 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:0.88 [[ 9.99926069e-01 -2.11991461e-03 1.19734385e-02 4.47636169e+00] [ 2.10573947e-03 9.99997067e-01 1.19636471e-03 2.98603925e-01] [-1.19759395e-02 -1.17106332e-03 9.99927600e-01 8.81211438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.322557844 meters 0.7913965268353483 Centerline is valid? [False, False] Translation: X:4.48, Y:0.30, Z:0.88 [[ 9.99925373e-01 -2.47742790e-03 1.19628856e-02 4.47672715e+00] [ 2.47089445e-03 9.99996790e-01 5.60892813e-04 3.02181324e-01] [-1.19642367e-02 -5.31291928e-04 9.99928285e-01 8.80614568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.382557844 meters 0.8032172256589226 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:0.88 [[ 9.99923180e-01 -2.90241780e-03 1.20503058e-02 4.47628878e+00] [ 2.90623910e-03 9.99995732e-01 -2.99612951e-04 3.07591265e-01] [-1.20493848e-02 3.34611005e-04 9.99927348e-01 8.80743188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.442557844 meters 0.7624412248275445 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:0.88 [[ 9.99921376e-01 -3.31166385e-03 1.20943683e-02 4.47583940e+00] [ 3.31805855e-03 9.99994366e-01 -5.08706251e-04 3.07931251e-01] [-1.20926155e-02 5.48796077e-04 9.99926731e-01 8.81425670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.502557844 meters 0.7310297311937843 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:0.88 [[ 9.99915332e-01 -3.82370389e-03 1.24381910e-02 4.47425255e+00] [ 3.83034593e-03 9.99992534e-01 -5.10225804e-04 3.06778276e-01] [-1.24361472e-02 5.57825179e-04 9.99922513e-01 8.82515944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.562557844 meters 0.6733588337987133 Centerline is valid? [False, False] Translation: X:4.47, Y:0.30, Z:0.88 [[ 9.99917055e-01 -3.66053584e-03 1.23484266e-02 4.47449712e+00] [ 3.66274259e-03 9.99993280e-01 -1.56096721e-04 3.04711852e-01] [-1.23477723e-02 2.01312882e-04 9.99923743e-01 8.82749812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.622557844 meters 0.6469918992997535 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:0.88 [[ 9.99914744e-01 -3.64962576e-03 1.25373574e-02 4.47370398e+00] [ 3.65322825e-03 9.99993292e-01 -2.64450655e-04 3.05508778e-01] [-1.25363082e-02 3.10229937e-04 9.99921369e-01 8.82954306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68255784400003 meters 0.6364226026648901 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:0.88 [[ 9.99919468e-01 -3.73963494e-03 1.21273288e-02 4.47550694e+00] [ 3.74867808e-03 9.99992712e-01 -7.23036119e-04 3.08385371e-01] [-1.21245365e-02 7.68439343e-04 9.99926200e-01 8.82095555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74255784400003 meters 0.6712991780567872 Centerline is valid? [False, False] Translation: X:4.48, Y:0.31, Z:0.88 [[ 9.99919985e-01 -4.05126499e-03 1.19837457e-02 4.47629506e+00] [ 4.06880691e-03 9.99990686e-01 -1.43979135e-03 3.12434085e-01] [-1.19778011e-02 1.48843569e-03 9.99927156e-01 8.81471872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.802557844 meters 0.5986858195498257 Centerline is valid? [False, False] Translation: X:4.48, Y:0.32, Z:0.88 [[ 9.99916448e-01 -4.32952932e-03 1.21799647e-02 4.47520018e+00] [ 4.35602775e-03 9.99988201e-01 -2.14988842e-03 3.17266886e-01] [-1.21705130e-02 2.20276506e-03 9.99923510e-01 8.82180351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.862557844 meters 0.5948760280427167 Centerline is valid? [False, False] Translation: X:4.48, Y:0.32, Z:0.88 [[ 9.99919020e-01 -4.38317212e-03 1.19474176e-02 4.47601897e+00] [ 4.40874850e-03 9.99988044e-01 -2.11524877e-03 3.16850179e-01] [-1.19380033e-02 2.16775063e-03 9.99926390e-01 8.82233016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.922557844 meters 0.6183246242845958 Centerline is valid? [False, False] Translation: X:4.48, Y:0.32, Z:0.88 [[ 9.99927591e-01 -4.94841995e-03 1.09693458e-02 4.47955013e+00] [ 4.97629482e-03 9.99984455e-01 -2.51532468e-03 3.18008848e-01] [-1.09567284e-02 2.56972925e-03 9.99936671e-01 8.81596366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.982557844 meters 0.5266419067883813 Centerline is valid? [False, False] Translation: X:4.47, Y:0.32, Z:0.89 [[ 9.99902828e-01 -6.92289655e-03 1.20999154e-02 4.47229239e+00] [ 6.97374881e-03 9.99967007e-01 -4.16556749e-03 3.18428537e-01] [-1.20706784e-02 4.24954448e-03 9.99918117e-01 8.86941571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0425578439999 meters 0.47095949754374233 Centerline is valid? [False, False] Translation: X:4.47, Y:0.32, Z:0.89 [[ 9.99907157e-01 -6.67068085e-03 1.18818935e-02 4.47290805e+00] [ 6.71332191e-03 9.99971155e-01 -3.55247998e-03 3.15173825e-01] [-1.18578533e-02 3.63191713e-03 9.99923097e-01 8.87122278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters 0.47330114720404065 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:0.89 [[ 9.99911270e-01 -6.35908525e-03 1.17053249e-02 4.47362948e+00] [ 6.39106471e-03 9.99975941e-01 -2.69666789e-03 3.10420190e-01] [-1.16878950e-02 2.77123810e-03 9.99927854e-01 8.86949843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1625578439999 meters 0.671671007811641 Centerline is valid? [False, False] Translation: X:4.47, Y:0.31, Z:0.89 [[ 9.99913751e-01 -6.02247937e-03 1.16713546e-02 4.47370745e+00] [ 6.04530974e-03 9.99979880e-01 -1.92181079e-03 3.06300282e-01] [-1.16595457e-02 1.99220199e-03 9.99930041e-01 8.87024771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters 0.4835134037525224 Centerline is valid? [False, False] Translation: X:4.50, Y:0.30, Z:0.88 [[ 9.99911817e-01 2.39478933e-03 1.30622778e-02 4.50125522e+00] [-2.34938602e-03 9.99991150e-01 -3.49014838e-03 3.01924126e-01] [-1.30705204e-02 3.45915227e-03 9.99908594e-01 8.82443591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2825578439999 meters 0.6374761513040607 Centerline is valid? [False, False] Translation: X:4.48, Y:0.29, Z:0.88 [[ 9.99869032e-01 1.10966839e-02 1.17806020e-02 4.48027815e+00] [-1.10498895e-02 9.99930828e-01 -4.02984566e-03 2.94618006e-01] [-1.18245050e-02 3.89914353e-03 9.99922486e-01 8.81035726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters 0.7317161104556589 Centerline is valid? [False, False] Translation: X:4.53, Y:0.29, Z:0.87 [[ 9.99798804e-01 1.24677622e-02 1.57132420e-02 4.53323574e+00] [-1.24167605e-02 9.99917334e-01 -3.33917468e-03 2.91421164e-01] [-1.57535751e-02 3.14339529e-03 9.99870964e-01 8.70511004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.402557844 meters 0.4180083091935048 Centerline is valid? [False, False] Translation: X:4.54, Y:0.29, Z:0.87 [[ 9.99910229e-01 1.31409181e-02 -2.61745731e-03 4.54322185e+00] [-1.31501374e-02 9.99907278e-01 -3.53673593e-03 2.88975712e-01] [ 2.57073866e-03 3.57083836e-03 9.99990320e-01 8.71966862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters 0.5768543708033761 Centerline is valid? [False, False] Translation: X:4.55, Y:0.28, Z:0.87 [[ 9.99998034e-01 1.85212902e-03 -7.07844975e-04 4.54725631e+00] [-1.84913171e-03 9.99989420e-01 4.21186050e-03 2.82691458e-01] [ 7.15638395e-04 -4.21054332e-03 9.99990880e-01 8.66886091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.522557844 meters 0.755878585592702 Centerline is valid? [False, False] Translation: X:4.55, Y:0.28, Z:0.87 [[ 9.99996984e-01 -2.38106045e-03 -6.01368712e-04 4.54709927e+00] [ 2.38106154e-03 9.99997165e-01 1.09732123e-06 2.82547599e-01] [ 6.01364395e-04 -2.52921384e-06 9.99999819e-01 8.66497167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5825578439999 meters 0.7481621395723491 Centerline is valid? [False, False] Translation: X:4.55, Y:0.28, Z:0.87 [[ 9.99997126e-01 -2.33336781e-03 -5.50127482e-04 4.54691293e+00] [ 2.33342530e-03 9.99997272e-01 1.03882692e-04 2.82062165e-01] [ 5.49883585e-04 -1.05166075e-04 9.99999843e-01 8.66561789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.642557844 meters 0.4218064704786521 Centerline is valid? [False, False] Translation: X:4.57, Y:0.28, Z:0.86 [[ 9.99985952e-01 4.25686090e-03 3.15817961e-03 4.56916511e+00] [-4.24553159e-03 9.99984560e-01 -3.58536582e-03 2.83111265e-01] [-3.17339325e-03 3.57190731e-03 9.99988585e-01 8.64070171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7025578439999 meters 0.42876180832929023 Centerline is valid? [False, False] Translation: X:4.57, Y:0.28, Z:0.86 [[ 9.99986336e-01 4.11765786e-03 3.22080948e-03 4.56935805e+00] [-4.10499065e-03 9.99983853e-01 -3.92970021e-03 2.84884492e-01] [-3.23693863e-03 3.91642512e-03 9.99987092e-01 8.63199700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters 0.5559234113054482 Centerline is valid? [False, False] Translation: X:4.57, Y:0.28, Z:0.86 [[ 9.99988597e-01 3.98952128e-03 2.62472665e-03 4.57141729e+00] [-3.98108105e-03 9.99986914e-01 -3.21306566e-03 2.78991566e-01] [-2.63751090e-03 3.20257978e-03 9.99991393e-01 8.62509321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8225578439999 meters 0.5579450350398993 Centerline is valid? [False, False] Translation: X:4.57, Y:0.27, Z:0.86 [[ 9.99990324e-01 3.56528775e-03 2.57695274e-03 4.57157635e+00] [-3.55903265e-03 9.99990719e-01 -2.42784657e-03 2.72256575e-01] [-2.58558479e-03 2.41865162e-03 9.99993732e-01 8.63233478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters 0.5315102272312757 Centerline is valid? [False, False] Translation: X:4.58, Y:0.27, Z:0.86 [[ 9.99997075e-01 1.86183622e-03 1.54396793e-03 4.57860255e+00] [-1.85618121e-03 9.99991594e-01 -3.65603209e-03 2.67623378e-01] [-1.55076188e-03 3.65315551e-03 9.99992125e-01 8.58106008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9425578439999 meters 0.5889683745833914 Centerline is valid? [False, False] Translation: X:4.58, Y:0.26, Z:0.86 [[ 9.99995518e-01 2.56028587e-03 1.55209655e-03 4.57890830e+00] [-2.55700682e-03 9.99994503e-01 -2.11097780e-03 2.58892579e-01] [-1.55749272e-03 2.10699961e-03 9.99996567e-01 8.57469848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters SLAMing on 513.0625578439999 meters SLAMing on 513.122557844 meters SLAMing on 513.1825578439999 meters 0.8671566042071025 Centerline is valid? [False, False] Translation: X:4.60, Y:0.24, Z:0.85 [[ 9.99899970e-01 1.26858938e-02 6.25441127e-03 4.59788737e+00] [-1.26735855e-02 9.99917679e-01 -2.00366303e-03 2.43666936e-01] [-6.27931466e-03 1.92419679e-03 9.99978434e-01 8.54706509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.242557844 meters SLAMing on 513.3025578439999 meters 1.1465254744428595 Centerline is valid? [False, False] Translation: X:4.60, Y:0.25, Z:0.85 [[ 9.99893770e-01 1.32935507e-02 5.97744329e-03 4.59915106e+00] [-1.32809416e-02 9.99909505e-01 -2.14421245e-03 2.46061521e-01] [-6.00540656e-03 2.06459859e-03 9.99979836e-01 8.53231661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.362557844 meters 1.135925720074459 Centerline is valid? [False, False] Translation: X:4.62, Y:0.25, Z:0.84 [[ 9.99861136e-01 1.11068749e-02 1.24236165e-02 4.62284941e+00] [-1.11622568e-02 9.99928031e-01 4.39737196e-03 2.46953384e-01] [-1.23738814e-02 -4.53543692e-03 9.99913155e-01 8.43993265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4225578439999 meters 1.1268425911848545 Centerline is valid? [False, False] Translation: X:4.63, Y:0.26, Z:0.84 [[ 9.99871212e-01 1.11602393e-02 1.15329387e-02 4.62642718e+00] [-1.11954364e-02 9.99932853e-01 2.99183556e-03 2.56207684e-01] [-1.14987747e-02 -3.12056653e-03 9.99929018e-01 8.41113371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters SLAMing on 513.5425578439999 meters 1.112665563443526 Centerline is valid? [False, False] Translation: X:4.65, Y:0.27, Z:0.84 [[ 0.99990413 0.00687614 0.01201907 4.64835206] [-0.0069495 0.99995741 0.00607234 0.27224752] [-0.0119768 -0.00615529 0.99990933 0.84180194] [ 0. 0. 0. 1. ]] SLAMing on 513.602557844 meters 1.1138025998983314 Centerline is valid? [False, False] Translation: X:4.65, Y:0.28, Z:0.84 [[ 0.99990764 0.0063109 0.01203674 4.64856216] [-0.00637103 0.99996739 0.00496374 0.27856133] [-0.01200502 -0.00503997 0.99991524 0.84117943] [ 0. 0. 0. 1. ]] SLAMing on 513.6625578439999 meters 1.1048707846818975 Centerline is valid? [False, False] Translation: X:4.67, Y:0.29, Z:0.84 [[ 9.99894428e-01 -4.86477574e-04 1.45222533e-02 4.67459874e+00] [ 3.81139580e-04 9.99973606e-01 7.25544374e-03 2.88475538e-01] [-1.45253996e-02 -7.24914276e-03 9.99868223e-01 8.36388898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters 0.9216982614548432 Centerline is valid? [False, False] Translation: X:4.67, Y:0.29, Z:0.84 [[ 9.99895194e-01 -9.67278520e-04 1.44452559e-02 4.67436191e+00] [ 8.76565888e-04 9.99979866e-01 6.28476417e-03 2.94458123e-01] [-1.44510442e-02 -6.27144327e-03 9.99875910e-01 8.37321654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7825578439999 meters 0.9335270029820871 Centerline is valid? [False, False] Translation: X:4.67, Y:0.30, Z:0.84 [[ 9.99894926e-01 -1.36373860e-03 1.44318366e-02 4.67464347e+00] [ 1.28450027e-03 9.99984059e-01 5.49836839e-03 2.99015387e-01] [-1.44391048e-02 -5.47925295e-03 9.99880738e-01 8.36743487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters 0.9127319671608883 Centerline is valid? [False, False] Translation: X:4.68, Y:0.30, Z:0.84 [[ 9.99896338e-01 -1.70681179e-03 1.42968353e-02 4.67554605e+00] [ 1.63748180e-03 9.99986851e-01 4.85962689e-03 3.02642992e-01] [-1.43049418e-02 -4.83571233e-03 9.99885986e-01 8.35824795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.902557844 meters 0.9561127769153133 Centerline is valid? [False, False] Translation: X:4.68, Y:0.30, Z:0.84 [[ 9.99898074e-01 -1.63560296e-03 1.41833244e-02 4.67574898e+00] [ 1.56354120e-03 9.99985822e-01 5.09033978e-03 3.01249044e-01] [-1.41914491e-02 -5.06764473e-03 9.99886454e-01 8.36390555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11864.38 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/17106 [00:00