+ python -m lidar_slam --no-model /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 Lidar SLAM 0.0.8 ===================================================== The recording path: /working/4784edb8-b5dc-4772-baf2-329dba74f8a1 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 0.003133365 Adjusted end_distance from 9.223372036854776e+18 to 372.893133365 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003133365 meters 0.8975597534499442 Centerline is valid? [0, False] SLAMing on 0.063133365 meters 0.6729844923031966 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999993e-01 6.62576144e-05 -9.72684585e-05 4.05675699e-04] [-6.62452656e-05 9.99999990e-01 1.26953366e-04 -7.72608998e-04] [ 9.72768692e-05 -1.26946922e-04 9.99999987e-01 6.48391080e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123133365 meters 0.6650830074345915 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999870e-01 4.53238303e-04 -2.32281128e-04 1.51856035e-03] [-4.52999998e-04 9.99999372e-01 1.02496121e-03 -6.65592941e-03] [ 2.32745534e-04 -1.02485585e-03 9.99999448e-01 -1.04745320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183133365 meters 0.6771622592887846 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99999258e-01 1.15681435e-03 -3.80770370e-04 2.42966401e-03] [-1.15584515e-03 9.99996117e-01 2.53581990e-03 -1.63889994e-02] [ 3.83702364e-04 -2.53537791e-03 9.99996712e-01 -1.30755524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243133365 meters 0.6551550569025194 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99998567e-01 1.63280829e-03 -4.47373204e-04 2.94250310e-03] [-1.63126613e-03 9.99992800e-01 3.42609376e-03 -2.19378791e-02] [ 4.52964137e-04 -3.42535907e-03 9.99994031e-01 -1.69345177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303133365 meters 0.6867630813174513 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.999993 0.003422 -0.00151441 0.01067639] [-0.00341491 0.9999833 0.00466169 -0.02533461] [ 0.00153033 -0.00465649 0.99998799 -0.00744117] [ 0. 0. 0. 1. ]] SLAMing on 0.363133365 meters 0.6520059091482244 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99991508e-01 4.06579494e-03 -6.73822545e-04 6.63514156e-03] [-4.06249277e-03 9.99980076e-01 4.83163583e-03 -2.48567335e-02] [ 6.93453560e-04 -4.82885740e-03 9.99988101e-01 -6.00438321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.423133365 meters 0.6721024071499795 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99992452e-01 3.83842077e-03 -6.01825631e-04 6.65925642e-03] [-3.83575049e-03 9.99983064e-01 4.37705771e-03 -2.20996907e-02] [ 6.18616428e-04 -4.37471622e-03 9.99990240e-01 -6.69193105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.483133365 meters 1.3482549969300728 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99992937e-01 3.71490314e-03 -5.70755530e-04 6.69791721e-03] [-3.71250596e-03 9.99984517e-01 4.14518437e-03 -2.06755474e-02] [ 5.86145652e-04 -4.14303615e-03 9.99991246e-01 -7.06050615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5431333650000001 meters 0.5473597603298326 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99994190e-01 3.36793892e-03 -5.26636280e-04 6.83834077e-03] [-3.36611826e-03 9.99988484e-01 3.42064990e-03 -1.61957972e-02] [ 5.38150756e-04 -3.41885731e-03 9.99994011e-01 -7.85149924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.603133365 meters 0.5261712695530564 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99995621e-01 2.92145788e-03 -4.71989465e-04 6.78722656e-03] [-2.92036990e-03 9.99993115e-01 2.28956633e-03 -9.00243563e-03] [ 4.78675086e-04 -2.28817792e-03 9.99997268e-01 -8.50916879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663133365 meters 0.7012048777114886 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99995932e-01 2.81070706e-03 4.85547062e-04 1.50635627e-03] [-2.81117688e-03 9.99995579e-01 9.69649902e-04 1.50376833e-03] [-4.82819513e-04 -9.71010916e-04 9.99999412e-01 -6.26775264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.723133365 meters 0.6979232905096339 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.01 [[ 9.99998017e-01 1.92313195e-03 5.18023357e-04 1.56530657e-03] [-1.92276290e-03 9.99997898e-01 -7.11978594e-04 1.22220016e-02] [-5.19391497e-04 7.10981146e-04 9.99999612e-01 -6.82653229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7831333650000001 meters 0.6779423686319962 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99996527e-01 2.61712912e-03 -3.12120296e-04 1.03381518e-02] [-2.61762764e-03 9.99995282e-01 -1.60761552e-03 2.44099540e-02] [ 3.07911486e-04 1.60842695e-03 9.99998659e-01 -1.44148900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.843133365 meters 0.7045877145885153 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99998255e-01 1.84846251e-03 -2.69952841e-04 9.89070938e-03] [-1.84924066e-03 9.99994052e-01 -2.91131804e-03 3.29122877e-02] [ 2.64569773e-04 2.91181217e-03 9.99995726e-01 -1.39896453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.903133365 meters 0.7337960556456099 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.01 [[ 9.99999131e-01 1.29795196e-03 -2.33053797e-04 9.25855739e-03] [-1.29883214e-03 9.99991871e-01 -3.81716852e-03 3.88262105e-02] [ 2.28097401e-04 3.81746790e-03 9.99992687e-01 -1.31636346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.963133365 meters 1.0334932502078351 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.01 [[ 9.99999390e-01 7.39562029e-04 -8.20526461e-04 1.24125458e-02] [-7.42954980e-04 9.99991144e-01 -4.14251960e-03 4.00471070e-02] [ 8.17455544e-04 4.14312668e-03 9.99991083e-01 -1.45208222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.023133365 meters 1.0203748322418358 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99999526e-01 7.39034036e-04 -6.33169499e-04 1.12791161e-02] [-7.41175004e-04 9.99993987e-01 -3.38781347e-03 3.49010724e-02] [ 6.30661982e-04 3.38828115e-03 9.99994061e-01 -1.32379701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0831333650000001 meters 1.0377514164150057 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99999288e-01 9.38307221e-04 -7.37837032e-04 1.19925631e-02] [-9.39966156e-04 9.99997024e-01 -2.25125193e-03 2.71300870e-02] [ 7.35722471e-04 2.25194387e-03 9.99997194e-01 -1.34364512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.143133365 meters 0.9908181366144796 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99999158e-01 1.02340574e-03 -7.97649247e-04 1.23312191e-02] [-1.02507214e-03 9.99997287e-01 -2.09153081e-03 2.60908428e-02] [ 7.95506599e-04 2.09234669e-03 9.99997495e-01 -1.35458509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.203133365 meters 0.986192866415081 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99999093e-01 1.07289346e-03 -8.13691809e-04 1.27235057e-02] [-1.07461698e-03 9.99997174e-01 -2.12066691e-03 2.62512388e-02] [ 8.11414259e-04 2.12153940e-03 9.99997420e-01 -1.42189733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.263133365 meters 0.99072565357983 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.01 [[ 9.99999158e-01 1.08497429e-03 -7.11256664e-04 1.23600527e-02] [-1.08649261e-03 9.99997125e-01 -2.13779968e-03 2.63642058e-02] [ 7.08935161e-04 2.13857066e-03 9.99997462e-01 -1.43756090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.323133365 meters 0.9949582179848977 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998838e-01 1.33653616e-03 -7.32628268e-04 1.23886651e-02] [-1.33777065e-03 9.99997682e-01 -1.68712301e-03 2.34966265e-02] [ 7.30371669e-04 1.68810114e-03 9.99998308e-01 -1.42137319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.383133365 meters 1.0054462827689383 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99999937e-01 -3.24276493e-04 1.45115344e-04 5.96132474e-03] [ 3.24599059e-04 9.99997465e-01 -2.22834765e-03 1.94212885e-02] [-1.44392375e-04 2.22839462e-03 9.99997507e-01 -9.54338251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.443133365 meters 1.008749374975584 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99998996e-01 -1.26627095e-03 -6.35806308e-04 1.23311934e-02] [ 1.26463242e-03 9.99995896e-01 -2.57091580e-03 1.66203586e-02] [ 6.39059175e-04 2.57010916e-03 9.99996493e-01 -1.39661431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.503133365 meters 1.01166687140899 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99997742e-01 -2.12135132e-03 1.22492387e-04 5.65205651e-03] [ 2.12162451e-03 9.99995162e-01 -2.27494455e-03 9.78633814e-03] [-1.17665838e-04 2.27519930e-03 9.99997405e-01 -8.31825551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.563133365 meters 1.057797720701895 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:-0.00 [[ 9.99994861e-01 -3.09871474e-03 8.21712026e-04 -1.25448099e-03] [ 3.10065604e-03 9.99992380e-01 -2.37185651e-03 3.81442300e-03] [-8.14356058e-04 2.37439217e-03 9.99996850e-01 -2.60012632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.623133365 meters 0.9884497308019544 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99996215e-01 -2.63793441e-03 7.82483542e-04 -9.36192988e-04] [ 2.63912994e-03 9.99995346e-01 -1.53078072e-03 -1.42909263e-03] [-7.78441801e-04 1.53284000e-03 9.99998522e-01 -2.74113330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.683133365 meters 0.8601158116728742 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 9.99997544e-01 -2.03360879e-03 8.80858586e-04 -1.28219000e-03] [ 2.03398997e-03 9.99997838e-01 -4.32057123e-04 -8.38081048e-03] [-8.79978047e-04 4.33847719e-04 9.99999519e-01 -2.50456702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.743133365 meters 0.825456744342252 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.00 [[ 9.99998263e-01 -1.61801084e-03 9.24917861e-04 -1.56290081e-03] [ 1.61770743e-03 9.99998637e-01 3.28688655e-04 -1.31291619e-02] [-9.25448423e-04 -3.27191837e-04 9.99999518e-01 -2.16610742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8031333649999999 meters 0.7988265348945139 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99966775e-01 7.83461526e-03 2.25105108e-03 2.54643160e-02] [-7.83261197e-03 9.99968922e-01 -8.97378874e-04 -1.58925388e-02] [-2.25801174e-03 8.79717449e-04 9.99997064e-01 -5.62859563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.863133365 meters 0.7919915204733377 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99996743 0.00777967 0.00215045 0.02642955] [-0.00777738 0.99996918 -0.0010707 -0.01488122] [-0.00215871 0.00105394 0.99999711 -0.00664166] [ 0. 0. 0. 1. ]] SLAMing on 1.923133365 meters 0.7696970620003154 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 9.99965164e-01 8.06330718e-03 2.15746493e-03 2.62841656e-02] [-8.06204621e-03 9.99967326e-01 -5.92527777e-04 -1.79661277e-02] [-2.16217217e-03 5.75113554e-04 9.99997497e-01 -6.38550358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.983133365 meters 0.9759571711209182 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.9999982 0.00137203 0.00131053 0.04721188] [-0.00137416 0.99999773 0.0016283 -0.01329323] [-0.00130829 -0.0016301 0.99999782 -0.00181052] [ 0. 0. 0. 1. ]] SLAMing on 2.043133365 meters 0.7577958753450095 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 9.99998610e-01 7.81805890e-04 1.47245119e-03 4.62481182e-02] [-7.82469191e-04 9.99999593e-01 4.49951478e-04 -5.11571224e-03] [-1.47209882e-03 -4.51103001e-04 9.99998815e-01 -1.72269303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.103133365 meters 0.7414987427497121 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.00 [[ 9.99998821e-01 3.36458837e-04 1.49812045e-03 4.58915836e-02] [-3.36002423e-04 9.99999897e-01 -3.04899054e-04 -1.57855757e-04] [-1.49822288e-03 3.04395323e-04 9.99998831e-01 -1.55323294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.163133365 meters SLAMing on 2.223133365 meters 0.6778802833982932 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998788 -0.00470102 0.00146529 0.04555395] [ 0.00470941 0.99997223 -0.00577523 0.00850278] [-0.0014381 0.00578206 0.99998225 -0.00123119] [ 0. 0. 0. 1. ]] SLAMing on 2.283133365 meters 1.0294929003769124 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 9.99986680e-01 -4.96398079e-03 1.41363527e-03 4.54841769e-02] [ 4.97262492e-03 9.99968550e-01 -6.17840573e-03 1.14635287e-02] [-1.38292132e-03 6.18535291e-03 9.99979914e-01 -9.16926877e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.343133365 meters 0.7323614926675156 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998626 -0.00508034 0.00129367 0.04630425] [ 0.00508846 0.99996687 -0.00635407 0.01240819] [-0.00126134 0.00636057 0.99997898 -0.00155136] [ 0. 0. 0. 1. ]] SLAMing on 2.403133365 meters 1.2906878136161324 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998589 -0.00516959 0.00121905 0.0467694 ] [ 0.00517741 0.99996548 -0.00649902 0.01330728] [-0.00118541 0.00650524 0.99997814 -0.00184411] [ 0. 0. 0. 1. ]] SLAMing on 2.463133365 meters 1.0061241957580709 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998698 -0.00496244 0.00118967 0.04682044] [ 0.00496962 0.99996899 -0.00610877 0.0108276 ] [-0.00115932 0.0061146 0.99998063 -0.00162045] [ 0. 0. 0. 1. ]] SLAMing on 2.523133365 meters 0.7218191268468239 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998862 -0.00464797 0.00107916 0.04759912] [ 0.00465389 0.99997375 -0.0055528 0.00715037] [-0.00105332 0.00555776 0.999984 -0.00205813] [ 0. 0. 0. 1. ]] SLAMing on 2.583133365 meters SLAMing on 2.6431333649999997 meters 1.1742993507746624 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.00 [[ 9.99999270e-01 4.71332076e-04 1.11249268e-03 4.77432482e-02] [-4.70916091e-04 9.99999819e-01 -3.74153839e-04 2.19730011e-04] [-1.11266883e-03 3.73629675e-04 9.99999311e-01 -2.26804282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.703133365 meters 0.6910788112316587 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.00 [[ 9.99999117e-01 6.11532610e-04 1.17986170e-03 4.75182312e-02] [-6.11101912e-04 9.99999747e-01 -3.65367025e-04 4.65608554e-04] [-1.18008483e-03 3.64645687e-04 9.99999237e-01 -2.35336048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.763133365 meters SLAMing on 2.823133365 meters SLAMing on 2.883133365 meters SLAMing on 2.943133365 meters SLAMing on 3.003133365 meters SLAMing on 3.063133365 meters SLAMing on 3.123133365 meters SLAMing on 3.1831333649999998 meters 0.6522190956602948 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.00 [[ 9.99984319e-01 -5.25412607e-03 -1.93794609e-03 7.75314026e-02] [ 5.25302778e-03 9.99986040e-01 -5.71383572e-04 2.30930982e-02] [ 1.94092115e-03 5.61194528e-04 9.99997959e-01 -4.57631982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243133365 meters 1.0612072793770646 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.00 [[ 9.99983831e-01 -5.26458548e-03 -2.14987832e-03 7.82395907e-02] [ 5.26344940e-03 9.99986006e-01 -5.33757052e-04 2.29142408e-02] [ 2.15265824e-03 5.22432646e-04 9.99997547e-01 -4.37377810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.303133365 meters 1.0646050500767112 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.00 [[ 9.99982827e-01 -5.42651511e-03 -2.21345015e-03 7.85487038e-02] [ 5.42466297e-03 9.99984932e-01 -8.41912918e-04 2.48358489e-02] [ 2.21798545e-03 8.29891238e-04 9.99997196e-01 -4.45985073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.363133365 meters 1.0288510365349088 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.00 [[ 0.9999965 -0.00152798 -0.00215914 0.07831864] [ 0.00153312 0.99999599 0.00238053 0.03164632] [ 0.0021555 -0.00238383 0.99999484 -0.00470427] [ 0. 0. 0. 1. ]] SLAMing on 3.423133365 meters 1.0152488322560724 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.00 [[ 0.99999316 0.00308708 -0.00203812 0.07729073] [-0.00307608 0.99998081 0.00537779 0.04217772] [ 0.00205468 -0.00537149 0.99998346 -0.00445257] [ 0. 0. 0. 1. ]] SLAMing on 3.483133365 meters 0.7122278192031555 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.00 [[ 0.99997438 0.00683306 -0.00213418 0.07715505] [-0.00681453 0.99994006 0.00856991 0.04868702] [ 0.00219261 -0.00855515 0.999961 -0.00405531] [ 0. 0. 0. 1. ]] SLAMing on 3.543133365 meters 0.9982236655082121 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.00 [[ 0.99994364 0.01037206 -0.00226844 0.07744695] [-0.01034539 0.99988071 0.01146866 0.05694736] [ 0.00238713 -0.01144455 0.99993166 -0.00394742] [ 0. 0. 0. 1. ]] SLAMing on 3.6031333649999997 meters 0.6715073063266944 Centerline is valid? [False, False] Translation: X:0.08, Y:0.06, Z:-0.00 [[ 0.99994727 0.00999434 -0.002362 0.07734992] [-0.00996844 0.99989273 0.01073143 0.06143343] [ 0.002469 -0.01070732 0.99993963 -0.00324314] [ 0. 0. 0. 1. ]] SLAMing on 3.6631333649999998 meters SLAMing on 3.723133365 meters SLAMing on 3.783133365 meters 0.7702549795475451 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:0.00 [[ 0.99999382 -0.00117396 0.00331429 0.07060114] [ 0.001128 0.99990363 0.01383687 0.0914606 ] [-0.00333021 -0.01383304 0.99989877 0.00115576] [ 0. 0. 0. 1. ]] SLAMing on 3.843133365 meters SLAMing on 3.903133365 meters SLAMing on 3.963133365 meters SLAMing on 4.023133365 meters SLAMing on 4.083133365 meters SLAMing on 4.143133365 meters 0.39621757104879524 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:0.00 [[ 0.99982957 0.00970366 0.01570553 -0.01188161] [-0.0098812 0.99988771 0.01126608 0.1160428 ] [-0.01559444 -0.01141935 0.99981319 0.00360723] [ 0. 0. 0. 1. ]] SLAMing on 4.203133365 meters 0.3817710715658969 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.12, Z:0.00 [[ 0.99982769 0.00951586 0.01593843 -0.01254293] [-0.00968463 0.9998975 0.01054529 0.1196634 ] [-0.01583645 -0.01069783 0.99981736 0.00367436] [ 0. 0. 0. 1. ]] SLAMing on 4.263133365 meters 0.3824955180660541 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:0.00 [[ 0.99977974 0.01338211 0.01616785 -0.01284487] [-0.01360418 0.99981355 0.01370392 0.12553865] [-0.01598145 -0.01392085 0.99977538 0.0031989 ] [ 0. 0. 0. 1. ]] SLAMing on 4.323133365 meters 0.37854058966276344 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.13, Z:0.00 [[ 0.99978052 0.01309171 0.01635622 -0.01312325] [-0.01330144 0.99982985 0.01278019 0.13019397] [-0.01618612 -0.01299495 0.99978455 0.00264176] [ 0. 0. 0. 1. ]] SLAMing on 4.383133365 meters 0.36472996588441686 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.14, Z:0.00 [[ 0.99978555 0.0127487 0.01631974 -0.0133517 ] [-0.01294229 0.99984647 0.01181203 0.13511236] [-0.01616665 -0.01202071 0.99979705 0.00315224] [ 0. 0. 0. 1. ]] SLAMing on 4.443133365 meters 0.35840390196283883 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.14, Z:0.00 [[ 0.99987469 0.00491078 0.01504968 -0.03268369] [-0.00510623 0.99990277 0.01297578 0.13865284] [-0.0149845 -0.013051 0.99980255 0.00165317] [ 0. 0. 0. 1. ]] SLAMing on 4.503133365 meters 0.3534133518231175 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.14, Z:0.00 [[ 9.99884576e-01 5.44842214e-04 1.51834643e-02 -3.27747340e-02] [-6.71789756e-04 9.99964853e-01 8.35706183e-03 1.40972594e-01] [-1.51783774e-02 -8.36629732e-03 9.99849800e-01 1.23763064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563133365 meters 0.3378407379007508 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99889172e-01 5.69437966e-03 1.37556302e-02 -5.31943320e-02] [-5.75165218e-03 9.99974940e-01 4.12760296e-03 1.41278575e-01] [-1.37317814e-02 -4.20626311e-03 9.99896867e-01 9.28656525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623133365 meters 0.33235177924947495 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99888836e-01 5.58084219e-03 1.38264527e-02 -5.32927676e-02] [-5.63327562e-03 9.99977078e-01 3.75621525e-03 1.43004244e-01] [-1.38051729e-02 -3.83368591e-03 9.99897355e-01 6.62568228e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.683133365 meters 0.3263855163993414 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 0.99988895 0.0055997 0.01381073 -0.05340223] [-0.00565292 0.99997673 0.0038182 0.14274945] [-0.01378902 -0.00389584 0.99989734 0.00111149] [ 0. 0. 0. 1. ]] SLAMing on 4.743133365 meters 0.32376689613276316 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99902650e-01 1.31637951e-03 1.38908982e-02 -5.35211321e-02] [-1.30852799e-03 9.99998979e-01 -5.74300773e-04 1.43374041e-01] [-1.38916401e-02 5.56068235e-04 9.99903352e-01 8.43677048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803133365 meters 0.32282098372299245 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99903709e-01 1.44947664e-03 1.38011420e-02 -5.33718413e-02] [-1.44829878e-03 9.99998947e-01 -9.53390562e-05 1.41211174e-01] [-1.38012656e-02 7.53416988e-05 9.99904755e-01 1.05164168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8631333649999995 meters 0.32156581229430253 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99904795e-01 1.52837708e-03 1.37136700e-02 -5.32050593e-02] [-1.53074695e-03 9.99998815e-01 1.62315940e-04 1.40083099e-01] [-1.37134056e-02 -1.83292646e-04 9.99905950e-01 1.19862963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923133365 meters 0.3143590584015142 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.14, Z:-0.00 [[ 9.99920705e-01 -6.07334765e-03 1.10316679e-02 -7.13254744e-02] [ 6.05524769e-03 9.99980267e-01 1.67338807e-03 1.39303346e-01] [-1.10416133e-02 -1.60645590e-03 9.99937749e-01 -2.92777678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983133365 meters 0.31745184021048495 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99924763e-01 2.37606188e-03 1.20342410e-02 -5.05783901e-02] [-2.38799300e-03 9.99996671e-01 9.77158826e-04 1.37606768e-01] [-1.20318791e-02 -1.00582299e-03 9.99927108e-01 3.16877213e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043133365 meters 0.320535334669956 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99924591e-01 2.33968472e-03 1.20556114e-02 -5.07020917e-02] [-2.35028212e-03 9.99996864e-01 8.64950546e-04 1.38114537e-01] [-1.20535498e-02 -8.93219409e-04 9.99926954e-01 2.44616298e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.103133365 meters 0.31238691164815197 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:0.00 [[ 9.99924757e-01 2.32692381e-03 1.20442925e-02 -5.06042172e-02] [-2.33704169e-03 9.99996928e-01 8.26049791e-04 1.38268297e-01] [-1.20423334e-02 -8.54135650e-04 9.99927124e-01 2.01014357e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163133365 meters 0.3082583002915378 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.00 [[ 9.99925729e-01 2.29271692e-03 1.19699180e-02 -5.03640313e-02] [-2.30156415e-03 9.99997088e-01 7.25399660e-04 1.38696884e-01] [-1.19682200e-02 -7.52895318e-04 9.99928095e-01 -2.14637315e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223133365 meters 0.3048330978119197 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.00 [[ 9.99926279e-01 2.18840646e-03 1.19435154e-02 -5.03664927e-02] [-2.19342246e-03 9.99997512e-01 4.06893896e-04 1.40060365e-01] [-1.19425952e-02 -4.33061074e-04 9.99928591e-01 -9.41984934e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283133364999999 meters 0.29944147296136864 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.14, Z:-0.00 [[ 9.99926651e-01 2.00370892e-03 1.19447761e-02 -5.03386123e-02] [-1.99954247e-03 9.99997936e-01 -3.60741285e-04 1.43426477e-01] [-1.19454743e-02 3.36830738e-04 9.99928594e-01 -3.13274579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343133365 meters 0.306159267727575 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.15, Z:0.00 [[ 0.99996443 0.00156756 0.00828725 -0.01105423] [-0.00155674 0.99999793 -0.00131203 0.14791518] [-0.00828929 0.00129908 0.9999648 0.00410112] [ 0. 0. 0. 1. ]] SLAMing on 5.4031333649999995 meters 0.3030781019785595 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.15, Z:0.00 [[ 0.99996516 0.00162105 0.0081882 -0.01097553] [-0.00161177 0.99999805 -0.00114032 0.14719565] [-0.00819003 0.00112708 0.99996583 0.00454666] [ 0. 0. 0. 1. ]] SLAMing on 5.463133365 meters 0.4643908153492653 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.14, Z:0.00 [[ 9.99967016e-01 -6.09080593e-03 5.37295138e-03 -2.99176707e-02] [ 6.08876489e-03 9.99981385e-01 3.96150004e-04 1.44731083e-01] [-5.37526424e-03 -3.63422300e-04 9.99985487e-01 3.59950352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523133365 meters 0.44666426138417054 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.14, Z:0.01 [[ 9.99974974e-01 1.81840082e-03 6.83700856e-03 -1.09626719e-02] [-1.81572608e-03 9.99998273e-01 -3.97401491e-04 1.38702805e-01] [-6.83771939e-03 3.84977411e-04 9.99976548e-01 5.31497835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583133365 meters 0.39065389529083416 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.14, Z:0.01 [[ 9.99973733e-01 1.89099648e-03 6.99694482e-03 -1.12718368e-02] [-1.88984512e-03 9.99998200e-01 -1.71159732e-04 1.37790613e-01] [-6.99725588e-03 1.57932094e-04 9.99975506e-01 5.23590759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.643133365 meters 0.2857308541273189 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.13, Z:0.01 [[ 0.99999124 -0.00293283 0.0029853 -0.03225446] [ 0.00292226 0.99998946 0.00354032 0.13047803] [-0.00299565 -0.00353156 0.99998928 0.00681762] [ 0. 0. 0. 1. ]] SLAMing on 5.703133365 meters 0.3275425046053177 Centerline is valid? [False, False] Translation: X:0.01, Y:0.13, Z:0.01 [[ 9.99997227e-01 -2.34208972e-03 -2.46211409e-04 9.12576825e-03] [ 2.34315128e-03 9.99987559e-01 4.40355152e-03 1.29541144e-01] [ 2.35894834e-04 -4.40411622e-03 9.99990274e-01 9.41813218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763133365 meters 0.2989016256339676 Centerline is valid? [False, False] Translation: X:0.01, Y:0.13, Z:0.01 [[ 9.99997644e-01 -2.15452459e-03 -2.66023974e-04 9.18129483e-03] [ 2.15581045e-03 9.99985515e-01 4.93184749e-03 1.27365505e-01] [ 2.55394334e-04 -4.93240937e-03 9.99987803e-01 9.45373875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8231333649999995 meters 0.2976645942140519 Centerline is valid? [False, False] Translation: X:0.03, Y:0.13, Z:0.01 [[ 0.99999334 0.00329992 0.00156084 0.03164686] [-0.00330244 0.99999324 0.00161377 0.1259487 ] [-0.0015555 -0.00161891 0.99999748 0.00842776] [ 0. 0. 0. 1. ]] SLAMing on 5.883133365 meters 0.2870738597998904 Centerline is valid? [False, False] Translation: X:0.03, Y:0.13, Z:0.01 [[ 0.99999362 0.00324519 0.00149536 0.03218455] [-0.00324738 0.99999366 0.00146323 0.12658579] [-0.0014906 -0.00146807 0.99999781 0.00738512] [ 0. 0. 0. 1. ]] SLAMing on 5.943133365 meters 0.29458688451179516 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:0.01 [[ 0.99998677 -0.00481567 0.00180835 0.05150191] [ 0.00481074 0.99998472 0.00272451 0.13108629] [-0.00182144 -0.00271578 0.99999465 0.00948285] [ 0. 0. 0. 1. ]] SLAMing on 6.003133365 meters 0.282336319718766 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:0.01 [[ 0.99998924 0.00407292 0.00222236 0.0304428 ] [-0.00407834 0.99998871 0.00243735 0.12417551] [-0.00221241 -0.00244639 0.99999456 0.01020573] [ 0. 0. 0. 1. ]] SLAMing on 6.063133365 meters 0.2826351651095837 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.01 [[ 0.99999623 0.00254198 0.00103661 0.03520663] [-0.00254305 0.99999623 0.00103096 0.12462803] [-0.00103398 -0.00103359 0.99999893 0.00728919] [ 0. 0. 0. 1. ]] SLAMing on 6.123133365 meters 0.2824741144768967 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:0.01 [[ 0.9999961 0.00259396 0.00103301 0.03523723] [-0.00259517 0.99999595 0.00117175 0.12405037] [-0.00102997 -0.00117443 0.99999878 0.00725313] [ 0. 0. 0. 1. ]] SLAMing on 6.183133365 meters 0.2795745823021201 Centerline is valid? [False, False] Translation: X:0.03, Y:0.12, Z:0.01 [[ 0.99999576 0.00261329 0.00128847 0.03435943] [-0.00261486 0.99999584 0.00121945 0.12396943] [-0.00128528 -0.00122281 0.99999843 0.00807547] [ 0. 0. 0. 1. ]] SLAMing on 6.243133365 meters 0.28223538635126494 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:0.01 [[ 0.99998854 0.00430901 0.0020886 0.07748216] [-0.00431389 0.99998796 0.00233724 0.13056519] [-0.0020785 -0.00234622 0.99999509 0.00717254] [ 0. 0. 0. 1. ]] SLAMing on 6.303133365 meters 0.2814977595083562 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:0.01 [[ 0.9999886 0.00429099 0.0020957 0.0774871 ] [-0.00429579 0.99998815 0.00229167 0.1307587 ] [-0.00208584 -0.00230065 0.99999518 0.0071147 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3631333649999995 meters 0.2804329936953095 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:0.01 [[ 0.9999882 0.00444142 0.00196898 0.07766784] [-0.00444692 0.99998619 0.00280031 0.1287634 ] [-0.00195652 -0.00280903 0.99999414 0.00745064] [ 0. 0. 0. 1. ]] SLAMing on 6.423133365 meters 0.27938535614700166 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:0.01 [[ 0.99998852 0.0044904 0.00167194 0.07854505] [-0.00449534 0.9999855 0.00296402 0.12807929] [-0.0016586 -0.0029715 0.99999421 0.00695614] [ 0. 0. 0. 1. ]] SLAMing on 6.483133365 meters 0.2790857841627254 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:0.01 [[ 0.99998845 0.00456114 0.00151837 0.07887411] [-0.00456597 0.99998448 0.00319318 0.12717481] [-0.00150378 -0.00320008 0.99999375 0.00704533] [ 0. 0. 0. 1. ]] SLAMing on 6.543133365 meters 0.27912780944903487 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:0.01 [[ 0.99998948 -0.00420043 0.00184441 0.10030273] [ 0.00419311 0.99998339 0.00395347 0.12896348] [-0.00186099 -0.0039457 0.99999048 0.00739292] [ 0. 0. 0. 1. ]] SLAMing on 6.603133365 meters 0.28001575753159935 Centerline is valid? [False, False] Translation: X:0.12, Y:0.12, Z:0.01 [[ 9.99989099e-01 4.60133352e-03 -7.92930352e-04 1.24331308e-01] [-4.59832259e-03 9.99982366e-01 3.75810126e-03 1.21879178e-01] [ 8.10208646e-04 -3.75441414e-03 9.99992624e-01 7.41476061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663133365 meters 0.27775193106833784 Centerline is valid? [False, False] Translation: X:0.10, Y:0.12, Z:0.01 [[ 0.99998617 -0.0051142 -0.00122316 0.10096539] [ 0.0051191 0.99997876 0.00403478 0.11861203] [ 0.00120249 -0.00404099 0.99999111 0.00869367] [ 0. 0. 0. 1. ]] SLAMing on 6.723133365 meters 0.2767645863073888 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:0.01 [[ 0.99998777 -0.00481017 -0.00114914 0.1005817 ] [ 0.00481596 0.99997544 0.00509169 0.11450213] [ 0.00112462 -0.00509716 0.99998638 0.00926237] [ 0. 0. 0. 1. ]] SLAMing on 6.783133364999999 meters 0.2775714102999655 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.01 [[ 9.99997732e-01 7.59389499e-04 -1.99003186e-03 1.24361148e-01] [-7.55284793e-04 9.99997588e-01 2.06257358e-03 1.07172845e-01] [ 1.99159335e-03 -2.06106586e-03 9.99995893e-01 8.90446266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843133365 meters 0.27809157734403034 Centerline is valid? [False, False] Translation: X:0.12, Y:0.11, Z:0.01 [[ 9.99997469e-01 9.38181103e-04 -2.04484261e-03 1.24465893e-01] [-9.32984488e-04 9.99996337e-01 2.54080144e-03 1.05231641e-01] [ 2.04721885e-03 -2.53888720e-03 9.99994681e-01 9.00338710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9031333649999995 meters 0.2771978954216133 Centerline is valid? [False, False] Translation: X:0.12, Y:0.10, Z:0.01 [[ 0.99999728 0.00132027 -0.0019219 0.12395289] [-0.00131322 0.99999241 0.00366689 0.1007523 ] [ 0.00192673 -0.00366435 0.99999143 0.00954632] [ 0. 0. 0. 1. ]] SLAMing on 6.963133365 meters 0.27703660997805607 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:0.01 [[ 0.99999558 -0.00233079 -0.00184325 0.12339387] [ 0.0023328 0.99999668 0.00109285 0.09337062] [ 0.00184069 -0.00109714 0.9999977 0.01047741] [ 0. 0. 0. 1. ]] SLAMing on 7.023133365 meters 0.2785200199007296 Centerline is valid? [False, False] Translation: X:0.12, Y:0.09, Z:0.01 [[ 0.9999967 -0.00178231 -0.00185128 0.12334285] [ 0.001787 0.99999518 0.00253724 0.08747006] [ 0.00184675 -0.00254054 0.99999507 0.01069352] [ 0. 0. 0. 1. ]] SLAMing on 7.083133365 meters 0.27689606629203883 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.01 [[ 9.99992866e-01 3.00878132e-03 -2.28363217e-03 1.01828606e-01] [-3.00902253e-03 9.99995468e-01 -1.02194061e-04 7.30671026e-02] [ 2.28331434e-03 1.09064833e-04 9.99997387e-01 1.01949272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143133365 meters 0.2782057267101601 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:0.01 [[ 0.99998246 -0.00566717 -0.00172307 0.12319649] [ 0.00566924 0.99998321 0.00120088 0.07107462] [ 0.00171623 -0.00121063 0.99999779 0.01030101] [ 0. 0. 0. 1. ]] SLAMing on 7.203133364999999 meters 0.27958316772771485 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:0.01 [[ 0.99998466 -0.00538981 -0.00127426 0.12176721] [ 0.00539217 0.99998374 0.0018573 0.06838333] [ 0.00126423 -0.00186414 0.99999746 0.01116996] [ 0. 0. 0. 1. ]] SLAMing on 7.263133365 meters 0.2794472937143424 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:0.01 [[ 0.99998545 -0.00525734 -0.00120568 0.12182659] [ 0.00526 0.99998373 0.00220626 0.06697226] [ 0.00119406 -0.00221257 0.99999684 0.01073201] [ 0. 0. 0. 1. ]] SLAMing on 7.3231333649999995 meters 0.27701832470723387 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99994736e-01 5.98140222e-04 -3.18904754e-03 1.01417103e-01] [-6.00375875e-04 9.99999575e-01 -7.00129766e-04 6.19997471e-02] [ 3.18862740e-03 7.02040707e-04 9.99994670e-01 1.04660689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383133365 meters 0.2794822495050446 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99994539e-01 6.30374255e-04 -3.24419298e-03 1.01871689e-01] [-6.32365673e-04 9.99999612e-01 -6.12851710e-04 6.15883464e-02] [ 3.24380539e-03 6.14899879e-04 9.99994550e-01 9.73182663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.443133365 meters 0.2802901761093812 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99994359e-01 6.54739472e-04 -3.29447183e-03 1.01988200e-01] [-6.56540070e-04 9.99999636e-01 -5.45499761e-04 6.13112143e-02] [ 3.29411347e-03 5.47659636e-04 9.99994424e-01 9.75303365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503133365 meters 0.28025062929301237 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99993565e-01 8.85953371e-04 -3.47642354e-03 1.02523266e-01] [-8.85890637e-04 9.99999607e-01 1.95854012e-05 5.89275821e-02] [ 3.47643953e-03 -1.65055441e-05 9.99993957e-01 9.65352677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.563133365 meters 0.28071575697523765 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 9.99993146e-01 1.00120603e-03 -3.56438552e-03 1.02950946e-01] [-1.00008346e-03 9.99999450e-01 3.16709630e-04 5.76518753e-02] [ 3.56470065e-03 -3.13142776e-04 9.99993597e-01 9.19705687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623133365 meters 0.280856734705268 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 0.99998889 -0.00325278 -0.0034104 0.10256983] [ 0.00324009 0.99998783 -0.00372063 0.05658144] [ 0.00342246 0.00370954 0.99998726 0.0092358 ] [ 0. 0. 0. 1. ]] SLAMing on 7.683133365 meters 0.28243288052676396 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:0.01 [[ 0.99998949 -0.00313822 -0.0033428 0.10221523] [ 0.00312674 0.99998921 -0.00343507 0.05542577] [ 0.00335355 0.00342458 0.99998851 0.00969184] [ 0. 0. 0. 1. ]] SLAMing on 7.743133364999999 meters 0.2828308528994933 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.01 [[ 0.99998978 -0.00305534 -0.00333129 0.10226255] [ 0.00304457 0.99999014 -0.00323385 0.05456258] [ 0.00334114 0.00322368 0.99998922 0.00954611] [ 0. 0. 0. 1. ]] SLAMing on 7.803133365 meters 0.28313083507269754 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.01 [[ 0.99999057 -0.002817 -0.00330565 0.10196333] [ 0.00280861 0.99999283 -0.00253944 0.05181973] [ 0.00331278 0.00253013 0.99999131 0.01017934] [ 0. 0. 0. 1. ]] SLAMing on 7.8631333649999995 meters 0.2816342292033848 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.01 [[ 0.99999081 -0.00255451 -0.00344288 0.10211375] [ 0.00254866 0.9999953 -0.00170409 0.04853313] [ 0.00344721 0.0016953 0.99999262 0.01066261] [ 0. 0. 0. 1. ]] SLAMing on 7.923133365 meters 0.2818728255645929 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.01 [[ 9.99990879e-01 -2.23156669e-03 -3.64171119e-03 1.02609325e-01] [ 2.22885258e-03 9.99997235e-01 -7.49172634e-04 4.46782342e-02] [ 3.64337295e-03 7.41048963e-04 9.99993088e-01 1.06320642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983133365 meters 0.2820278259696017 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:0.01 [[ 9.99996613e-01 -7.84105406e-04 -2.48161995e-03 1.47215369e-01] [ 7.83289801e-04 9.99999639e-01 -3.29613250e-04 4.70563335e-02] [ 2.48187750e-03 3.27668306e-04 9.99996866e-01 9.46887999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043133365 meters 0.2814066219242856 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.01 [[ 9.99983832e-01 -1.08102213e-03 -5.58283114e-03 1.03993282e-01] [ 1.08196763e-03 9.99999401e-01 1.66341596e-04 4.35443817e-02] [ 5.58264798e-03 -1.72379349e-04 9.99984402e-01 1.05601868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103133365 meters 0.2837184348663759 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.01 [[ 0.99998406 0.00529513 -0.00195833 0.12417881] [-0.0053014 0.99998079 -0.00321146 0.05051744] [ 0.00194129 0.00322179 0.99999293 0.00975013] [ 0. 0. 0. 1. ]] SLAMing on 8.163133365 meters 0.2833003246286461 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.01 [[ 0.99998586 0.00502006 -0.00175214 0.12349408] [-0.00502692 0.99997963 -0.0039319 0.05357858] [ 0.00173236 0.00394065 0.99999074 0.01007244] [ 0. 0. 0. 1. ]] SLAMing on 8.223133364999999 meters 0.2813571445408752 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:0.01 [[ 0.99998668 0.00480745 -0.00187978 0.12368041] [-0.00481578 0.9999785 -0.00445068 0.0557048 ] [ 0.00185835 0.00445968 0.99998833 0.01026759] [ 0. 0. 0. 1. ]] SLAMing on 8.283133365 meters 0.28074427080026615 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:0.01 [[ 0.9999858 0.00494161 -0.001995 0.12355306] [-0.00494968 0.9999795 -0.00406326 0.05435493] [ 0.00197488 0.00407308 0.99998975 0.01112947] [ 0. 0. 0. 1. ]] SLAMing on 8.343133365 meters 0.28003479230924266 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.01 [[ 0.99998298 -0.00520655 -0.00263187 0.10068438] [ 0.00519641 0.9999791 -0.00384694 0.05107545] [ 0.00265185 0.0038332 0.99998914 0.0123252 ] [ 0. 0. 0. 1. ]] SLAMing on 8.403133365 meters 0.27976438778644297 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.01 [[ 0.99998501 -0.00487427 -0.00249402 0.10029149] [ 0.00486716 0.9999841 -0.00284776 0.04704765] [ 0.00250786 0.00283558 0.99999284 0.01246457] [ 0. 0. 0. 1. ]] SLAMing on 8.463133365 meters 0.27943866081703167 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.01 [[ 0.99998594 -0.00465135 -0.00254471 0.10034467] [ 0.00464546 0.99998653 -0.00231409 0.04481036] [ 0.00255544 0.00230224 0.99999408 0.01265599] [ 0. 0. 0. 1. ]] SLAMing on 8.523133365 meters 0.2815709734877202 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:0.01 [[ 0.99998729 -0.00423208 -0.00274021 0.10078144] [ 0.00422843 0.99999017 -0.00133422 0.04067828] [ 0.00274583 0.00132262 0.99999536 0.0128828 ] [ 0. 0. 0. 1. ]] SLAMing on 8.583133365 meters 0.27935139759329236 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:0.01 [[ 0.99998958 0.00347107 -0.00296487 0.08218104] [-0.00347615 0.99999249 -0.00171149 0.02876141] [ 0.00295891 0.00172178 0.99999414 0.0118636 ] [ 0. 0. 0. 1. ]] SLAMing on 8.643133365 meters 0.27957559078921196 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:0.01 [[ 9.99988636e-01 3.76929013e-03 -2.91878949e-03 8.19888486e-02] [-3.77214511e-03 9.99992412e-01 -9.73253487e-04 2.57141148e-02] [ 2.91509887e-03 9.84252525e-04 9.99995267e-01 1.20304193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703133365 meters 0.2805770337760254 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.01 [[ 9.99989674e-01 -4.16678921e-03 -1.81382965e-03 1.02442461e-01] [ 4.16795997e-03 9.99991108e-01 6.42164101e-04 2.46687817e-02] [ 1.81113776e-03 -6.49717439e-04 9.99998149e-01 1.22559425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763133365 meters 0.278730779712146 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:0.01 [[ 0.99999152 0.00102616 -0.0039888 0.07992243] [-0.00103598 0.99999644 -0.0024605 0.02283818] [ 0.00398626 0.00246461 0.99998902 0.01380932] [ 0. 0. 0. 1. ]] SLAMing on 8.823133365 meters 0.281186622610772 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.02 [[ 0.99996879 0.00290483 -0.00734676 0.122306 ] [-0.00291679 0.99999444 -0.00161789 0.02176239] [ 0.00734202 0.00163927 0.9999717 0.01614437] [ 0. 0. 0. 1. ]] SLAMing on 8.883133364999999 meters 0.28061210345428206 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.02 [[ 0.99996908 0.00297505 -0.0072791 0.12196759] [-0.00298569 0.99999449 -0.00145197 0.02109254] [ 0.00727474 0.00147365 0.99997245 0.01650614] [ 0. 0. 0. 1. ]] SLAMing on 8.943133365 meters 0.2809677323879492 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.02 [[ 0.99996946 0.00309363 -0.00717678 0.12155904] [-0.00310199 0.99999452 -0.00115355 0.01988164] [ 0.00717317 0.00117577 0.99997358 0.01687537] [ 0. 0. 0. 1. ]] SLAMing on 9.003133365 meters 0.2800338826546143 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.02 [[ 9.99969006e-01 3.30536112e-03 -7.14575936e-03 1.21152920e-01] [-3.30955157e-03 9.99994358e-01 -5.74679993e-04 1.75257874e-02] [ 7.14381952e-03 5.98311441e-04 9.99974304e-01 1.76110957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063133365 meters 0.28007436275880776 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.02 [[ 9.99967581e-01 3.43128405e-03 -7.28445410e-03 1.21491329e-01] [-3.43323246e-03 9.99994074e-01 -2.54987125e-04 1.61801443e-02] [ 7.28353600e-03 2.79988083e-04 9.99973436e-01 1.76291486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123133365 meters 0.28061096033706556 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.02 [[ 9.99976558e-01 -4.36833136e-03 -5.27275576e-03 1.41155051e-01] [ 4.37239006e-03 9.99990153e-01 7.58467188e-04 1.78092178e-02] [ 5.26939061e-03 -7.81503952e-04 9.99985811e-01 1.82666209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183133365 meters 0.282039283680615 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.02 [[ 9.99977084e-01 -4.28597586e-03 -5.24036308e-03 1.41181803e-01] [ 4.29118190e-03 9.99990310e-01 9.82611342e-04 1.68801550e-02] [ 5.23610086e-03 -1.00507618e-03 9.99985786e-01 1.80545772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243133365 meters 0.2807144192549192 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.02 [[ 0.99997834 -0.00425699 -0.00501955 0.14055233] [ 0.00426233 0.99999036 0.00105501 0.01662688] [ 0.00501501 -0.00107638 0.99998685 0.01828371] [ 0. 0. 0. 1. ]] SLAMing on 9.303133364999999 meters 0.28092688618762734 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.02 [[ 0.99997874 -0.00413948 -0.00503927 0.14058301] [ 0.00414626 0.99999051 0.00133514 0.01544647] [ 0.0050337 -0.00135601 0.99998641 0.01834023] [ 0. 0. 0. 1. ]] SLAMing on 9.363133365 meters 0.2827038422825904 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.02 [[ 0.99997901 -0.00398039 -0.00511305 0.1409657 ] [ 0.00398925 0.99999055 0.00172509 0.0137585 ] [ 0.00510613 -0.00174545 0.99998544 0.01797744] [ 0. 0. 0. 1. ]] SLAMing on 9.423133365 meters 0.28290033052997177 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.02 [[ 0.99997908 -0.00388366 -0.00517212 0.14108567] [ 0.00389388 0.99999048 0.00196762 0.01274607] [ 0.00516443 -0.00198772 0.99998469 0.01806034] [ 0. 0. 0. 1. ]] SLAMing on 9.483133365 meters 0.28155412910622485 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.02 [[ 9.99988051e-01 5.58494801e-04 -4.85660344e-03 1.18426888e-01] [-5.66474033e-04 9.99998492e-01 -1.64174531e-03 5.77936560e-03] [ 4.85567921e-03 1.64447683e-03 9.99986859e-01 1.82912866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543133365 meters 0.28161470526618543 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.02 [[ 9.99987158e-01 7.48933094e-04 -5.01225791e-03 1.18900008e-01] [-7.54694633e-04 9.99999057e-01 -1.14769699e-03 3.67200518e-03] [ 5.01139364e-03 1.15146498e-03 9.99986780e-01 1.81215565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603133365 meters 0.2813593856049908 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.02 [[ 9.99986585e-01 9.78080928e-04 -5.08666514e-03 1.19164233e-01] [-9.81057653e-04 9.99999349e-01 -5.82739423e-04 1.27617781e-03] [ 5.08609187e-03 5.87721917e-04 9.99986893e-01 1.79876337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663133365 meters 0.2841604490738989 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99986178e-01 1.19406001e-03 -5.12029225e-03 1.19132055e-01] [-1.19433410e-03 9.99999286e-01 -5.04716907e-05 -9.32109032e-04] [ 5.12022833e-03 5.65863327e-05 9.99986890e-01 1.82749614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723133364999999 meters 0.2848959251653955 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99985438e-01 1.41179742e-03 -5.20861909e-03 1.19130541e-01] [-1.40934672e-03 9.99998894e-01 4.74150515e-04 -3.09036984e-03] [ 5.20928273e-03 -4.66802860e-04 9.99986323e-01 1.87553425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783133365 meters 0.2829752159788688 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99985589e-01 1.43701521e-03 -5.17271782e-03 1.18902314e-01] [-1.43423717e-03 9.99998825e-01 5.40725664e-04 -3.31796059e-03] [ 5.17348878e-03 -5.33298967e-04 9.99986475e-01 1.90617231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843133365 meters 0.2824267791209016 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99987086e-01 1.41778735e-03 -4.88037874e-03 1.17971447e-01] [-1.41549619e-03 9.99998886e-01 4.72884927e-04 -2.94071456e-03] [ 4.88104376e-03 -4.65970662e-04 9.99987979e-01 1.96094547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903133365 meters 0.28338200276901865 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99987255e-01 1.39327973e-03 -4.85277739e-03 1.17945862e-01] [-1.39130831e-03 9.99998948e-01 4.09597242e-04 -2.68363966e-03] [ 4.85334297e-03 -4.02840312e-04 9.99988141e-01 1.95127588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963133365 meters 0.2843787628751511 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99987189e-01 1.37358884e-03 -4.87176790e-03 1.17935684e-01] [-1.37184852e-03 9.99998994e-01 3.60548393e-04 -2.46665787e-03] [ 4.87225825e-03 -3.53860447e-04 9.99988068e-01 1.96355381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023133365 meters 0.2819241490895662 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99987882e-01 1.42375150e-03 -4.71257089e-03 1.17299963e-01] [-1.42141482e-03 9.99998865e-01 4.99151276e-04 -2.96619561e-03] [ 4.71327621e-03 -4.92446710e-04 9.99988771e-01 2.02899638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083133365 meters 0.28229097582943324 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99987452e-01 1.46870214e-03 -4.78938336e-03 1.17559785e-01] [-1.46574817e-03 9.99998733e-01 6.20225424e-04 -3.47846044e-03] [ 4.79028822e-03 -6.13197612e-04 9.99988338e-01 2.01386885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143133364999999 meters 0.28241917510255726 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99986691e-01 1.41306858e-03 -4.96204308e-03 1.18303824e-01] [-1.41070111e-03 9.99998889e-01 4.80584428e-04 -2.96760547e-03] [ 4.96271667e-03 -4.73578072e-04 9.99987574e-01 1.93028447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203133365 meters 0.28332823771337373 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99986343e-01 1.37321819e-03 -5.04271410e-03 1.18738156e-01] [-1.37127946e-03 9.99998985e-01 3.87898661e-04 -2.62178122e-03] [ 5.04324165e-03 -3.80978393e-04 9.99987210e-01 1.87891495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263133365 meters 0.28444991245763557 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99985869e-01 1.37351219e-03 -5.13559914e-03 1.19072178e-01] [-1.37150756e-03 9.99998982e-01 3.93841038e-04 -2.67063825e-03] [ 5.13613486e-03 -3.86791959e-04 9.99986735e-01 1.85643536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323133365 meters 0.2830600008029571 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.02 [[ 9.99995459e-01 1.65307939e-04 -3.00920696e-03 7.92156476e-02] [-1.62915084e-04 9.99999670e-01 7.95405459e-04 -5.57428703e-03] [ 3.00933745e-03 -7.94911602e-04 9.99995156e-01 1.60741859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383133364999999 meters 0.2806212059166172 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:0.02 [[ 9.99995694e-01 1.24308716e-04 -2.93199767e-03 7.88800933e-02] [-1.22285968e-04 9.99999754e-01 6.90056752e-04 -5.08377871e-03] [ 2.93208273e-03 -6.89695239e-04 9.99995464e-01 1.63922635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443133365 meters 0.28352780603773 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99994239e-01 1.12282092e-03 -3.20324684e-03 1.15752735e-01] [-1.12166590e-03 9.99999305e-01 3.62352123e-04 -2.12293944e-03] [ 3.20365147e-03 -3.58757063e-04 9.99994804e-01 1.98226503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503133365 meters 0.28258663926950356 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99994167e-01 1.17424703e-03 -3.20736118e-03 1.15696322e-01] [-1.17267746e-03 9.99999192e-01 4.91200497e-04 -2.64695920e-03] [ 3.20793538e-03 -4.87436432e-04 9.99994736e-01 1.99742863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563133364999999 meters 0.2833744276660683 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.02 [[ 9.99994482e-01 1.17300811e-03 -3.10815198e-03 1.15090628e-01] [-1.17150657e-03 9.99999196e-01 4.84871737e-04 -2.53808576e-03] [ 3.10871824e-03 -4.81227841e-04 9.99995052e-01 2.08420344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623133365 meters 0.2835273595295678 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.02 [[ 9.99995159e-01 1.08613957e-03 -2.91599262e-03 1.14747840e-01] [-1.08540818e-03 9.99999379e-01 2.52389413e-04 -1.57436404e-03] [ 2.91626494e-03 -2.49223149e-04 9.99995717e-01 2.05281687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683133365 meters 0.28335730756731037 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.00, Z:0.02 [[ 9.99995665e-01 9.91575147e-04 -2.77234460e-03 1.14414303e-01] [-9.91581276e-04 9.99999508e-01 -8.36169525e-07 -5.08152002e-04] [ 2.77234241e-03 3.58517090e-06 9.99996157e-01 2.04734900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743133365 meters 0.28290845022127487 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.02 [[ 9.99995890e-01 9.20132352e-04 -2.71529110e-03 1.14343564e-01] [-9.20640755e-04 9.99999559e-01 -1.85992887e-04 2.53291771e-04] [ 2.71511876e-03 1.88491930e-04 9.99996296e-01 2.03105579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803133364999999 meters 0.2832713120511753 Centerline is valid? [False, False] Translation: X:0.11, Y:0.00, Z:0.02 [[ 9.99995990e-01 8.45778994e-04 -2.70277828e-03 1.14628666e-01] [-8.46800367e-04 9.99999570e-01 -3.76775277e-04 1.00264728e-03] [ 2.70245845e-03 3.79062480e-04 9.99996277e-01 1.95876171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863133365 meters 0.2813762683091333 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.02 [[ 9.99995948e-01 7.78330380e-04 -2.73812001e-03 1.15062843e-01] [-7.79833155e-04 9.99999546e-01 -5.47809649e-04 1.65038372e-03] [ 2.73769239e-03 5.49942706e-04 9.99996101e-01 1.87701405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923133365 meters 0.28476980534775287 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999018 0.00163455 -0.00411964 0.15332747] [-0.00164013 0.99999774 -0.00135105 0.00547998] [ 0.00411742 0.00135779 0.9999906 0.02225677] [ 0. 0. 0. 1. ]] SLAMing on 10.983133365 meters 0.28406333878886525 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999018 0.0015669 -0.00414556 0.15381504] [-0.00157322 0.9999976 -0.00152252 0.00612655] [ 0.00414316 0.00152902 0.99999025 0.02128509] [ 0. 0. 0. 1. ]] SLAMing on 11.043133365 meters 0.2831106620780714 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999041 0.00154728 -0.00409593 0.153589 ] [-0.00155373 0.99999755 -0.00157351 0.00636304] [ 0.00409348 0.00157986 0.99999037 0.021512 ] [ 0. 0. 0. 1. ]] SLAMing on 11.103133365 meters 0.28464067815868527 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999063 0.00152706 -0.00405181 0.15345409] [-0.00153364 0.99999751 -0.00162103 0.00658405] [ 0.00404932 0.00162723 0.99999048 0.02156505] [ 0. 0. 0. 1. ]] SLAMing on 11.163133365 meters 0.2825475166536512 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999144 0.00155704 -0.00383269 0.15286068] [-0.00156302 0.99999757 -0.00155775 0.00633278] [ 0.00383025 0.00156372 0.99999144 0.02169903] [ 0. 0. 0. 1. ]] SLAMing on 11.223133364999999 meters 0.283620918338186 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999132 0.00151751 -0.00388161 0.15299916] [-0.00152394 0.99999747 -0.00165331 0.00672324] [ 0.00387909 0.00165921 0.9999911 0.02165791] [ 0. 0. 0. 1. ]] SLAMing on 11.283133365 meters 0.2823425579091222 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.02 [[ 0.99999199 0.00153165 -0.00369833 0.15225786] [-0.00153769 0.99999749 -0.00162825 0.00669369] [ 0.00369582 0.00163393 0.99999184 0.02237421] [ 0. 0. 0. 1. ]] SLAMing on 11.343133365 meters 0.2829756546012093 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:0.02 [[ 0.99999212 0.00172973 -0.00357413 0.15167112] [-0.00173366 0.99999789 -0.00109819 0.00451409] [ 0.00357222 0.00110438 0.99999301 0.02302599] [ 0. 0. 0. 1. ]] SLAMing on 11.403133365 meters 0.2810780278076826 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.02 [[ 9.99995432e-01 1.44809730e-04 -3.01919345e-03 1.16592000e-01] [-1.44158868e-04 9.99999966e-01 2.15791485e-04 -6.25298190e-03] [ 3.01922460e-03 -2.15355256e-04 9.99995419e-01 1.82416026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463133365 meters 0.28276094089434206 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.01 [[ 0.99999007 -0.00136071 -0.00424411 0.12218678] [ 0.00135622 0.99999852 -0.00106011 -0.00863558] [ 0.00424555 0.00105434 0.99999043 0.01481741] [ 0. 0. 0. 1. ]] SLAMing on 11.523133365 meters 0.2839659894713865 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.01 [[ 9.99990467e-01 -1.12930722e-03 -4.21797428e-03 1.22155284e-01] [ 1.12729198e-03 9.99999249e-01 -4.80123088e-04 -1.10054086e-02] [ 4.21851332e-03 4.75363622e-04 9.99990989e-01 1.48151219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583133365 meters 0.2831610511518972 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.01 [[ 9.99989486e-01 -1.20382048e-03 -4.42469414e-03 1.23078227e-01] [ 1.20078723e-03 9.99999042e-01 -6.88120737e-04 -1.03233439e-02] [ 4.42551827e-03 6.82800387e-04 9.99989974e-01 1.37020519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643133364999999 meters 0.28503572800284416 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.01 [[ 0.99998999 -0.00131181 -0.00427791 0.12324151] [ 0.00130613 0.99999826 -0.00133201 -0.00760195] [ 0.00427965 0.00132641 0.99998996 0.01253838] [ 0. 0. 0. 1. ]] SLAMing on 11.703133365 meters 0.28589746380342906 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:0.01 [[ 9.99989643e-01 -1.76429503e-03 -4.19534467e-03 1.23444889e-01] [ 1.75113773e-03 9.99993544e-01 -3.13777430e-03 -8.78320172e-04] [ 4.20085355e-03 3.13039518e-03 9.99986277e-01 1.15607462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763133365 meters 0.2869343946134676 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:0.01 [[ 9.99988891e-01 2.08318364e-03 -4.22831889e-03 1.23691271e-01] [-2.08316998e-03 9.99997830e-01 7.63500875e-06 4.09166548e-03] [ 4.22832562e-03 1.17338304e-06 9.99991061e-01 1.10539399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823133365 meters 0.28615812230223586 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.01 [[ 0.99999027 0.00132465 -0.00420889 0.1234207 ] [-0.00133147 0.99999781 -0.00161591 0.01101532] [ 0.00420674 0.00162149 0.99998984 0.01134011] [ 0. 0. 0. 1. ]] SLAMing on 11.883133364999999 meters 0.28647318177024295 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.01 [[ 0.99998898 -0.00422862 -0.00203916 0.14399407] [ 0.00423102 0.99999036 0.00117326 0.01642466] [ 0.00203418 -0.00118188 0.99999723 0.01139028] [ 0. 0. 0. 1. ]] SLAMing on 11.943133365 meters 0.2835527207305226 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.01 [[ 9.99989334e-01 4.37868889e-03 -1.46958099e-03 1.22017925e-01] [-4.37818916e-03 9.99990357e-01 3.43093227e-04 1.46570400e-02] [ 1.47106911e-03 -3.36655463e-04 9.99998861e-01 1.19500933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003133365 meters 0.2843124658135857 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:0.01 [[ 0.99999182 -0.00368022 -0.00167525 0.14358875] [ 0.00368191 0.99999271 0.00100779 0.01943383] [ 0.00167153 -0.00101395 0.99999809 0.01264826] [ 0. 0. 0. 1. ]] SLAMing on 12.063133364999999 meters 0.28271941215081636 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.01 [[ 9.99985809e-01 4.43702407e-03 -2.94858284e-03 1.24899170e-01] [-4.43605722e-03 9.99990105e-01 3.34360054e-04 1.32286925e-02] [ 2.95003722e-03 -3.21275227e-04 9.99995597e-01 1.22082913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123133365 meters 0.28389020064651344 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:0.01 [[ 0.99999375 -0.003276 -0.00133316 0.14535463] [ 0.00327809 0.99999339 0.00157319 0.01327772] [ 0.001328 -0.00157755 0.99999787 0.01324173] [ 0. 0. 0. 1. ]] SLAMing on 12.183133365 meters 0.2826838258336559 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.02 [[ 0.99999492 0.00186669 -0.00258217 0.12142087] [-0.00187051 0.99999716 -0.00147709 0.01099938] [ 0.0025794 0.00148191 0.99999558 0.01509874] [ 0. 0. 0. 1. ]] SLAMing on 12.243133365 meters 0.2833535261445238 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.02 [[ 9.99977821e-01 -6.42587534e-03 -1.75064678e-03 1.43432358e-01] [ 6.42461938e-03 9.99979101e-01 -7.22108366e-04 1.04626560e-02] [ 1.75525037e-03 7.10845112e-04 9.99998207e-01 1.51720078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303133364999999 meters 0.28404909810178675 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:0.01 [[ 9.99978404e-01 -6.28803319e-03 -1.91126943e-03 1.44023311e-01] [ 6.28735898e-03 9.99980170e-01 -3.58558958e-04 8.89251774e-03] [ 1.91348616e-03 3.46534377e-04 9.99998109e-01 1.47552990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363133365 meters 0.283048320537812 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.01 [[ 0.99999365 0.00134168 -0.0033001 0.12614942] [-0.00134611 0.9999982 -0.0013382 0.00248226] [ 0.0032983 0.00134264 0.99999366 0.01308136] [ 0. 0. 0. 1. ]] SLAMing on 12.423133365 meters 0.28293832483778086 Centerline is valid? [False, False] Translation: X:0.13, Y:0.00, Z:0.01 [[ 0.99999387 0.00146712 -0.0031793 0.12564948] [-0.00147031 0.99999842 -0.00100219 0.00113832] [ 0.00317782 0.00100686 0.99999444 0.01358439] [ 0. 0. 0. 1. ]] SLAMing on 12.483133365 meters 0.2838051874756238 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:0.01 [[ 9.99969566e-01 -7.75712586e-03 -8.33681736e-04 1.46461721e-01] [ 7.75630919e-03 9.99969441e-01 -9.78404312e-04 -2.39041124e-03] [ 8.41245865e-04 9.71908242e-04 9.99999174e-01 1.35494704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543133365 meters 0.2814549726962136 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:0.01 [[ 0.99999651 -0.00233391 -0.00123927 0.12296855] [ 0.00232957 0.9999912 -0.00348858 -0.0091619 ] [ 0.0012474 0.00348568 0.99999315 0.01496951] [ 0. 0. 0. 1. ]] SLAMing on 12.603133365 meters 0.2831764965926313 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.01 [[ 9.99967353e-01 -7.73912706e-03 2.32332730e-03 1.44133981e-01] [ 7.73955825e-03 9.99970034e-01 -1.76659308e-04 -1.60926085e-02] [-2.32189049e-03 1.94635068e-04 9.99997285e-01 1.40093493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663133365 meters 0.2825632774273093 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.01 [[ 9.99969580e-01 -7.45855979e-03 2.28232585e-03 1.44206292e-01] [ 7.45734572e-03 9.99972048e-01 5.39994964e-04 -1.90476810e-02] [-2.28628964e-03 -5.22958444e-04 9.99997250e-01 1.40924010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723133364999999 meters 0.2820766335306169 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.01 [[ 9.99998312e-01 1.20646592e-04 1.83348382e-03 1.24648623e-01] [-1.20153432e-04 9.99999957e-01 -2.69082403e-04 -2.54502652e-02] [-1.83351620e-03 2.68861649e-04 9.99998283e-01 1.24309086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783133365 meters 0.2839244037510255 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.01 [[ 9.99998883e-01 1.91875126e-04 1.48224058e-03 1.25521318e-01] [-1.91778519e-04 9.99999979e-01 -6.53186557e-05 -2.63362756e-02] [-1.48225309e-03 6.50343209e-05 9.99998899e-01 1.23092053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843133365 meters 0.2837562490057756 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.01 [[ 9.99998927e-01 2.30718576e-04 1.44648328e-03 1.25724714e-01] [-2.30807175e-04 9.99999971e-01 6.10848718e-05 -2.68417081e-02] [-1.44646914e-03 -6.14186650e-05 9.99998952e-01 1.20338256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903133365 meters 0.2855610037542189 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:0.01 [[ 9.99998094e-01 2.63968971e-04 1.93456499e-03 1.24497202e-01] [-2.64103385e-04 9.99999963e-01 6.92250795e-05 -2.67521239e-02] [-1.93454664e-03 -6.97358727e-05 9.99998126e-01 1.22668320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963133365 meters 0.2874714571705439 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.01 [[ 9.99998306e-01 1.49920413e-04 1.83448250e-03 1.25153143e-01] [-1.49376274e-04 9.99999945e-01 -2.96750227e-04 -2.53453078e-02] [-1.83452689e-03 2.96475696e-04 9.99998273e-01 1.12676555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023133365 meters 0.28778763425212217 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:0.01 [[ 9.99998359e-01 -4.60612698e-07 1.81158201e-03 1.25399160e-01] [ 1.74824562e-06 9.99999747e-01 -7.10776638e-04 -2.37022726e-02] [-1.81158123e-03 7.10778639e-04 9.99998106e-01 1.08168181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083133365 meters 0.28618929282526345 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:0.01 [[ 9.99998340e-01 -2.07206168e-04 1.81034232e-03 1.25478388e-01] [ 2.09439059e-04 9.99999218e-01 -1.23330587e-03 -2.15663228e-02] [-1.81008535e-03 1.23368298e-03 9.99997601e-01 1.06331073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143133364999999 meters 0.2875641664259311 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:0.01 [[ 0.99998204 -0.00532543 0.00274785 0.14844704] [ 0.00531999 0.99998388 0.00198339 -0.01793219] [-0.00275837 -0.00196874 0.99999426 0.00945489] [ 0. 0. 0. 1. ]] SLAMing on 13.203133365 meters 0.2843498849507556 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.01 [[ 9.99997252e-01 -5.27782397e-05 2.34378247e-03 1.23169870e-01] [ 5.56426231e-05 9.99999252e-01 -1.22207158e-03 -1.75999216e-02] [-2.34371622e-03 1.22219863e-03 9.99996507e-01 1.17645647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263133365 meters 0.2840947578530431 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.01 [[ 9.99997472e-01 -6.53929224e-05 2.24780322e-03 1.23272850e-01] [ 6.82079782e-05 9.99999214e-01 -1.25230481e-03 -1.74524184e-02] [-2.24771956e-03 1.25245496e-03 9.99996690e-01 1.20759523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323133365 meters 0.28436467698217244 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.01 [[ 9.99997932e-01 -7.95233987e-05 2.03209172e-03 1.23936147e-01] [ 8.21210410e-05 9.99999180e-01 -1.27825812e-03 -1.73876903e-02] [-2.03198840e-03 1.27842235e-03 9.99997118e-01 1.17465501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383133364999999 meters 0.2826002057198163 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:0.01 [[ 9.99997803e-01 -6.39475795e-05 2.09509036e-03 1.23527912e-01] [ 6.65535026e-05 9.99999224e-01 -1.24377763e-03 -1.74832288e-02] [-2.09500920e-03 1.24391433e-03 9.99997032e-01 1.23114588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443133365 meters 0.28407467531033825 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.01 [[ 0.99997249 -0.00512896 0.00535771 0.14482638] [ 0.00511805 0.9999848 0.00204972 -0.0193979 ] [-0.00536814 -0.00202224 0.99998355 0.0111302 ] [ 0. 0. 0. 1. ]] SLAMing on 13.503133365 meters 0.2840454036570443 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:0.01 [[ 0.99997319 -0.00505292 0.00530007 0.14487319] [ 0.0050411 0.99998478 0.00224028 -0.02018793] [-0.00531131 -0.0022135 0.99998345 0.01135906] [ 0. 0. 0. 1. ]] SLAMing on 13.563133364999999 meters 0.2831781283244852 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.01 [[ 0.99998221 0.00240275 0.0054588 0.12561184] [-0.00240923 0.9999964 0.0011811 -0.02652217] [-0.00545594 -0.00119423 0.9999844 0.0097577 ] [ 0. 0. 0. 1. ]] SLAMing on 13.623133365 meters 0.283355476757267 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:0.01 [[ 0.99998298 0.00247185 0.00528453 0.12611234] [-0.0024791 0.99999599 0.0013661 -0.0273204 ] [-0.00528113 -0.00137918 0.9999851 0.00960223] [ 0. 0. 0. 1. ]] SLAMing on 13.683133365 meters 0.2841077221960929 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.01 [[ 9.99989008e-01 3.63082083e-03 2.96674485e-03 1.65986547e-01] [-3.63322915e-03 9.99993074e-01 8.06786825e-04 -2.41553398e-02] [-2.96379500e-03 -8.17556821e-04 9.99995274e-01 1.23397983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743133365 meters 0.2842829519361483 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.01 [[ 9.99988817e-01 3.59154227e-03 3.07664971e-03 1.65757272e-01] [-3.59372846e-03 9.99993294e-01 7.05341119e-04 -2.37248576e-02] [-3.07409581e-03 -7.16389875e-04 9.99995018e-01 1.22251051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803133364999999 meters 0.2846022346038675 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.01 [[ 9.99989259e-01 3.47720456e-03 3.06440890e-03 1.65901040e-01] [-3.47850540e-03 9.99993862e-01 4.19271849e-04 -2.25513876e-02] [-3.06293219e-03 -4.29926909e-04 9.99995217e-01 1.19588848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863133365 meters 0.28533223444438316 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.01 [[ 9.99990466e-01 3.15394746e-03 3.01996748e-03 1.66319726e-01] [-3.15267806e-03 9.99994940e-01 -4.25003645e-04 -1.90763721e-02] [-3.02129264e-03 4.15478608e-04 9.99995350e-01 1.12605715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923133365 meters 0.2835473313008571 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.01 [[ 0.99999128 0.00290692 0.00299984 0.16633704] [-0.00290385 0.99999526 -0.00102771 -0.01656082] [-0.00300281 0.00101899 0.99999497 0.0112908 ] [ 0. 0. 0. 1. ]] SLAMing on 13.983133364999999 meters 0.28467809507665537 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.01 [[ 9.99983150e-01 -4.65383074e-03 3.47004344e-03 1.85563301e-01] [ 4.65438464e-03 9.99989157e-01 -1.51567585e-04 -9.89804130e-03] [-3.46930045e-03 1.67715948e-04 9.99993968e-01 1.28026833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043133365 meters 0.28453321144701066 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:0.01 [[ 9.99981435e-01 -4.85888144e-03 3.67707107e-03 1.84831886e-01] [ 4.86145080e-03 9.99987945e-01 -6.90137564e-04 -7.55405111e-03] [-3.67367344e-03 7.08000652e-04 9.99993001e-01 1.31771422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103133365 meters 0.2850644162209365 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.00, Z:0.01 [[ 0.99997682 -0.00520674 0.00438793 0.18309474] [ 0.00521576 0.9999843 -0.00204639 -0.00217214] [-0.00437721 0.00206923 0.99998828 0.01327135] [ 0. 0. 0. 1. ]] SLAMing on 14.163133365 meters 0.2832800768360588 Centerline is valid? [False, False] Translation: X:0.16, Y:0.00, Z:0.01 [[ 0.99999102 0.00320534 0.00277066 0.16206601] [-0.00319661 0.99998992 -0.00315202 0.00129837] [-0.00278074 0.00314314 0.99999119 0.01317724] [ 0. 0. 0. 1. ]] SLAMing on 14.223133364999999 meters 0.2850565667925635 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999258 0.00278605 0.00265945 0.16279235] [-0.00277454 0.99998682 -0.00431991 0.00605148] [-0.00267145 0.0043125 0.99998713 0.01234727] [ 0. 0. 0. 1. ]] SLAMing on 14.283133365 meters 0.2842281105098167 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999291 0.00274344 0.00257933 0.16269181] [-0.00273199 0.99998644 -0.00443354 0.00654333] [-0.00259146 0.00442646 0.99998685 0.0130088 ] [ 0. 0. 0. 1. ]] SLAMing on 14.343133365 meters 0.28396877994356234 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.01 [[ 0.99998303 -0.00470547 0.00343426 0.18205834] [ 0.00471608 0.99998411 -0.00308733 0.01079157] [-0.00341967 0.00310347 0.99998934 0.01442563] [ 0. 0. 0. 1. ]] SLAMing on 14.403133364999999 meters 0.28403490483100957 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.01 [[ 0.99998282 -0.00470999 0.00348943 0.18190421] [ 0.00472083 0.99998404 -0.00310417 0.0108551 ] [-0.00347475 0.00312059 0.99998909 0.01446359] [ 0. 0. 0. 1. ]] SLAMing on 14.463133365 meters 0.2843597937900703 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.01 [[ 0.99998304 -0.00469303 0.00344996 0.18204793] [ 0.00470359 0.99998426 -0.00305893 0.01065583] [-0.00343555 0.0030751 0.99998937 0.01436507] [ 0. 0. 0. 1. ]] SLAMing on 14.523133365 meters 0.2835433894864053 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999162 0.00322034 0.00252966 0.16185707] [-0.00321062 0.99998748 -0.00383761 0.00625603] [-0.00254198 0.00382945 0.99998944 0.01337272] [ 0. 0. 0. 1. ]] SLAMing on 14.583133365 meters 0.28460189420038084 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999184 0.00318083 0.00248863 0.1622821 ] [-0.00317101 0.99998722 -0.00393724 0.00664086] [-0.00250112 0.00392932 0.99998915 0.01261167] [ 0. 0. 0. 1. ]] SLAMing on 14.643133364999999 meters 0.28390775382949385 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999196 0.00311706 0.00252071 0.16223325] [-0.00310671 0.99998678 -0.00409752 0.00730625] [-0.00253345 0.00408966 0.99998843 0.01253286] [ 0. 0. 0. 1. ]] SLAMing on 14.703133365 meters 0.283607857198103 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.01 [[ 0.99999171 0.00298785 0.00276465 0.16130403] [-0.00297559 0.99998578 -0.00442557 0.0088301 ] [-0.00277783 0.00441731 0.99998639 0.01330619] [ 0. 0. 0. 1. ]] SLAMing on 14.763133365 meters 0.2852091883277767 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:0.01 [[ 0.99998181 -0.00504096 0.00331056 0.1816547 ] [ 0.00505394 0.99997953 -0.0039238 0.01461747] [-0.00329071 0.00394046 0.99998682 0.01391244] [ 0. 0. 0. 1. ]] SLAMing on 14.823133365 meters 0.28370201978263143 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 9.99995828e-01 -8.80432611e-04 2.75132551e-03 1.83207160e-01] [ 8.80413285e-04 9.99999612e-01 8.23557042e-06 1.57264257e-02] [-2.75133169e-03 -5.81323253e-06 9.99996215e-01 1.32145515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883133364999999 meters 0.28396890125604735 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 9.99995628e-01 -1.01605472e-03 2.77683551e-03 1.82975201e-01] [ 1.01697991e-03 9.99999428e-01 -3.31788673e-04 1.71823518e-02] [-2.77649680e-03 3.34611209e-04 9.99996090e-01 1.35593739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943133365 meters 0.2854406815406932 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 9.99995287e-01 -1.13062455e-03 2.85431653e-03 1.82895947e-01] [ 1.13239150e-03 9.99999168e-01 -6.17503347e-04 1.83612695e-02] [-2.85361600e-03 6.20732640e-04 9.99995736e-01 1.32878727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003133365 meters 0.28427636226216635 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 0.99999508 -0.00137971 0.00281701 0.18312099] [ 0.00138335 0.99999821 -0.00129271 0.02111396] [-0.00281522 0.0012966 0.9999952 0.01295756] [ 0. 0. 0. 1. ]] SLAMing on 15.063133364999999 meters 0.2836792496664484 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 0.99999489 -0.0014669 0.00284004 0.1829172 ] [ 0.0014712 0.99999777 -0.0015141 0.02206169] [-0.00283781 0.00151827 0.99999482 0.01325762] [ 0. 0. 0. 1. ]] SLAMing on 15.123133365 meters 0.28342951113611653 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 0.99999471 -0.00145127 0.00290949 0.18262484] [ 0.00145558 0.99999784 -0.00148215 0.02194166] [-0.00290733 0.00148637 0.99999467 0.01352737] [ 0. 0. 0. 1. ]] SLAMing on 15.183133365 meters 0.2847517498661241 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:0.01 [[ 0.99999514 -0.00162423 0.00266295 0.1836559 ] [ 0.00162959 0.99999665 -0.00200992 0.02401809] [-0.00265967 0.00201425 0.99999443 0.01230029] [ 0. 0. 0. 1. ]] SLAMing on 15.243133365 meters 0.2831740453890134 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:0.01 [[ 0.99999378 -0.00181247 0.0030249 0.18256895] [ 0.00182039 0.99999492 -0.00261763 0.02662847] [-0.00302014 0.00262312 0.999992 0.01276781] [ 0. 0. 0. 1. ]] SLAMing on 15.303133364999999 meters 0.2850014122596024 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.02 [[ 9.99998270e-01 6.79209224e-04 1.73166331e-03 2.20809847e-01] [-6.75625403e-04 9.99997631e-01 -2.06932873e-03 3.44728021e-02] [-1.73306471e-03 2.06815519e-03 9.99996360e-01 1.63735623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363133365 meters 0.2853683751523584 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.02 [[ 9.99998576e-01 6.05885147e-04 1.57529319e-03 2.21414348e-01] [-6.02335828e-04 9.99997281e-01 -2.25261506e-03 3.51561107e-02] [-1.57665373e-03 2.25166300e-03 9.99996222e-01 1.58353344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423133365 meters 0.28424490304572414 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.02 [[ 9.99997646e-01 5.79481100e-04 2.09102192e-03 2.19866284e-01] [-5.74554563e-04 9.99997060e-01 -2.35587468e-03 3.57039393e-02] [-2.09238096e-03 2.35466772e-03 9.99995039e-01 1.67683688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483133364999999 meters 0.28337030098393523 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.02 [[ 9.99997500e-01 5.93487278e-04 2.15590398e-03 2.19599177e-01] [-5.88487639e-04 9.99997138e-01 -2.31893978e-03 3.55701119e-02] [-2.15727407e-03 2.31766526e-03 9.99994987e-01 1.70385015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543133365 meters 0.2823771427293028 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.02 [[ 9.99997890e-01 6.55826440e-04 1.94653903e-03 2.20103418e-01] [-6.51697400e-04 9.99997538e-01 -2.12109824e-03 3.47555573e-02] [-1.94792531e-03 2.11982521e-03 9.99995856e-01 1.70434726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603133365 meters 0.2823616737022969 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.02 [[ 9.99997816e-01 7.69902898e-04 1.94306070e-03 2.20181318e-01] [-7.66347865e-04 9.99998032e-01 -1.82968682e-03 3.35176849e-02] [-1.94446555e-03 1.82819376e-03 9.99996438e-01 1.69025865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663133365 meters 0.2822472309361848 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:0.02 [[ 9.99997512e-01 8.42979987e-04 2.06506125e-03 2.19820501e-01] [-8.39568349e-04 9.99998282e-01 -1.65238628e-03 3.27947357e-02] [-2.06645063e-03 1.65064841e-03 9.99996503e-01 1.70240522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723133364999999 meters 0.281459849944123 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.02 [[ 9.99997419e-01 6.43483653e-04 2.17918573e-03 2.19591040e-01] [-6.38303028e-04 9.99996971e-01 -2.37718332e-03 3.55945887e-02] [-2.18070880e-03 2.37578620e-03 9.99994800e-01 1.68606255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783133365 meters 0.2822240345825149 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.02 [[ 9.99997547e-01 4.61311881e-04 2.16654327e-03 2.19938525e-01] [-4.54806795e-04 9.99995390e-01 -3.00205208e-03 3.80655046e-02] [-2.16791816e-03 3.00105936e-03 9.99993147e-01 1.60435894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843133365 meters 0.2835975920759552 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.02 [[ 9.99985522e-01 -5.34325922e-03 -6.36743906e-04 2.43335808e-01] [ 5.34262087e-03 9.99985228e-01 -1.00003327e-03 4.79018843e-02] [ 6.42077937e-04 9.96616909e-04 9.99999297e-01 1.59254160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903133364999999 meters 0.2846755461208354 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.02 [[ 9.99992203e-01 3.93318966e-03 3.50785373e-04 2.64962931e-01] [-3.93246742e-03 9.99990194e-01 -2.03638666e-03 5.10821363e-02] [-3.58791428e-04 2.03499133e-03 9.99997865e-01 1.59178879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963133365 meters 0.2850451546273265 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.02 [[ 9.99993736e-01 3.50867443e-03 4.66153420e-04 2.64764117e-01] [-3.50725915e-03 9.99989341e-01 -3.00297552e-03 5.51700868e-02] [-4.76684915e-04 3.00132179e-03 9.99995382e-01 1.56583233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023133365 meters 0.2822483517109793 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99994714e-01 -2.59618684e-03 -1.95758436e-03 2.44575637e-01] [ 2.59646256e-03 9.99996620e-01 1.38317846e-04 5.86619712e-02] [ 1.95721865e-03 -1.43399910e-04 9.99998074e-01 1.57687458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083133365 meters 0.28262294306189517 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.02 [[ 9.99984333e-01 5.59038473e-03 2.85663260e-04 2.62931405e-01] [-5.58999444e-03 9.99983466e-01 -1.34928914e-03 5.65329232e-02] [-2.93201582e-04 1.34767115e-03 9.99999049e-01 1.67955822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143133365 meters 0.2819395124905398 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99990509e-01 -4.32848747e-03 4.95124484e-04 2.39679433e-01] [ 4.32908935e-03 9.99989884e-01 -1.22107415e-03 5.56528616e-02] [-4.89834072e-04 1.22320599e-03 9.99999132e-01 1.70050097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203133365 meters 0.2809226913619455 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99990300e-01 -4.35528338e-03 6.57163512e-04 2.39170221e-01] [ 4.35613196e-03 9.99989673e-01 -1.29541612e-03 5.59983164e-02] [-6.51514821e-04 1.29826625e-03 9.99998945e-01 1.72430042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263133364999998 meters 0.282218177830727 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99989746e-01 -4.46748754e-03 7.40783122e-04 2.39014554e-01] [ 4.46869054e-03 9.99988686e-01 -1.63033560e-03 5.73186966e-02] [-7.33491237e-04 1.63362921e-03 9.99998397e-01 1.71188317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323133365 meters 0.28240641678111494 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99989381e-01 -4.56014531e-03 6.64840602e-04 2.39367409e-01] [ 4.56138978e-03 9.99987825e-01 -1.88248829e-03 5.83376948e-02] [-6.56248088e-04 1.88550090e-03 9.99998007e-01 1.66825804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383133365 meters 0.2831264348099411 Centerline is valid? [False, False] Translation: X:0.26, Y:0.06, Z:0.02 [[ 0.99998905 0.00446859 0.00138852 0.26098785] [-0.00446485 0.99998643 -0.00268494 0.05765324] [-0.00140049 0.00267871 0.99999543 0.01675971] [ 0. 0. 0. 1. ]] SLAMing on 16.443133364999998 meters 0.28217336081488964 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99998653e-01 -1.62701255e-03 2.17013239e-04 2.39614594e-01] [ 1.62688042e-03 9.99998492e-01 6.07639147e-04 6.02060933e-02] [-2.18001549e-04 -6.07285274e-04 9.99999792e-01 1.62141889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503133365 meters 0.28396588031015485 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99998179e-01 -1.90322292e-03 1.43698319e-04 2.40075782e-01] [ 1.90323505e-03 9.99998185e-01 -8.43031267e-05 6.31044383e-02] [-1.43537611e-04 8.45764648e-05 9.99999986e-01 1.55544169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563133365 meters 0.2827781626176338 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.02 [[ 9.99998025e-01 -1.98510940e-03 9.33630186e-05 2.40102178e-01] [ 1.98513575e-03 9.99997990e-01 -2.82908757e-04 6.39523469e-02] [-9.28012261e-05 2.83093537e-04 9.99999956e-01 1.57503314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623133365 meters 0.2827514229682603 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.02 [[ 9.99997781e-01 -2.09621392e-03 2.07413540e-04 2.39720926e-01] [ 2.09632636e-03 9.99997655e-01 -5.43402854e-04 6.51010529e-02] [-2.06273965e-04 5.43836455e-04 9.99999831e-01 1.59266583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683133365 meters 0.2831061543167017 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.02 [[ 9.99997532e-01 -2.20715543e-03 2.54910818e-04 2.39687426e-01] [ 2.20736235e-03 9.99997232e-01 -8.14314621e-04 6.62226723e-02] [-2.53112793e-04 8.14875291e-04 9.99999636e-01 1.57160400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743133365 meters 0.28052184603218105 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:0.01 [[ 9.99996345e-01 -2.49050949e-03 1.05264477e-03 2.02008037e-01] [ 2.49146164e-03 9.99996488e-01 -9.04186834e-04 6.58652276e-02] [-1.05038919e-03 9.06806153e-04 9.99999037e-01 1.22757527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803133365 meters 0.28038215125164256 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:0.01 [[ 0.9999959 -0.00260779 0.00118541 0.20140651] [ 0.00260923 0.99999586 -0.00121218 0.06724521] [-0.00118225 0.00121527 0.99999856 0.01291083] [ 0. 0. 0. 1. ]] SLAMing on 16.863133365 meters 0.27995744973812514 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:0.01 [[ 0.99999571 -0.00266122 0.00122004 0.20123989] [ 0.00266287 0.99999555 -0.00134866 0.06781848] [-0.00121644 0.0013519 0.99999835 0.01308325] [ 0. 0. 0. 1. ]] SLAMing on 16.923133364999998 meters 0.28084941661272533 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.01 [[ 0.99997772 0.00572473 0.00343413 0.21991719] [-0.00571678 0.99998097 -0.00231988 0.06435847] [-0.00344735 0.0023002 0.99999141 0.01397353] [ 0. 0. 0. 1. ]] SLAMing on 16.983133365 meters 0.2797937081672859 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:0.01 [[ 0.99999098 -0.0034853 0.00242754 0.19820386] [ 0.00348905 0.99999273 -0.00154032 0.06220075] [-0.00242215 0.00154878 0.99999587 0.01408415] [ 0. 0. 0. 1. ]] SLAMing on 17.043133365 meters 0.28133435345014945 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.99998504 -0.00379211 0.00394241 0.24323909] [ 0.00379949 0.99999104 -0.00186488 0.05923143] [-0.0039353 0.00187983 0.99999049 0.01260102] [ 0. 0. 0. 1. ]] SLAMing on 17.103133364999998 meters 0.28077354898247064 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.99998619 -0.00358035 0.00384697 0.24377138] [ 0.00358552 0.99999268 -0.00133638 0.056939 ] [-0.00384216 0.00135016 0.99999171 0.01201705] [ 0. 0. 0. 1. ]] SLAMing on 17.163133365 meters 0.28133747621595706 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.9999869 -0.00345657 0.00377464 0.24416455] [ 0.00346044 0.9999935 -0.00101712 0.05558912] [-0.0037711 0.00103017 0.99999236 0.0115621 ] [ 0. 0. 0. 1. ]] SLAMing on 17.223133365 meters 0.2807306260943824 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:0.01 [[ 0.9999845 0.00535071 0.00154183 0.22458447] [-0.00534847 0.99998464 -0.00145073 0.05409063] [-0.00154957 0.00144246 0.99999776 0.01055939] [ 0. 0. 0. 1. ]] SLAMing on 17.283133365 meters 0.28182746191787494 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:0.01 [[ 0.99998511 0.00525496 0.00147002 0.22516478] [-0.0052524 0.99998469 -0.00174112 0.05528378] [-0.00147915 0.00173337 0.9999974 0.00952349] [ 0. 0. 0. 1. ]] SLAMing on 17.343133365 meters 0.2825850861615535 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 9.99992730e-01 -2.54784503e-03 2.83704364e-03 2.42616788e-01] [ 2.54983075e-03 9.99996507e-01 -6.96526701e-04 6.29102112e-02] [-2.83525909e-03 7.03755618e-04 9.99995733e-01 1.12634296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403133365 meters 0.2834431181019198 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99998361e-01 -8.33656714e-04 1.60736061e-03 2.48034105e-01] [ 8.32162303e-04 9.99999221e-01 9.30174399e-04 6.30381735e-02] [-1.60813481e-03 -9.28835290e-04 9.99998276e-01 7.88963320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463133365 meters 0.284023997024396 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:0.01 [[ 9.99998125e-01 -1.09105660e-03 1.59983735e-03 2.47939564e-01] [ 1.09054404e-03 9.99999354e-01 3.21215909e-04 6.55890394e-02] [-1.60018678e-03 -3.19470614e-04 9.99998669e-01 8.06066921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523133365 meters 0.27996120187935275 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.01 [[ 9.99960928e-01 8.15980788e-03 3.39986530e-03 2.23446542e-01] [-8.16055550e-03 9.99966681e-01 2.06080400e-04 6.28976445e-02] [-3.39807044e-03 -2.33817137e-04 9.99994199e-01 9.78407741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583133365 meters 0.2815891565167563 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.01 [[ 9.99991175e-01 -2.95609516e-04 4.19084906e-03 2.44752705e-01] [ 2.92969992e-04 9.99999758e-01 6.30430275e-04 6.70976951e-02] [-4.19103441e-03 -6.29196918e-04 9.99991020e-01 1.03871355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643133365 meters 0.28051930468721964 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.01 [[ 9.99991190e-01 -1.83398034e-04 4.19364560e-03 2.44668329e-01] [ 1.79516145e-04 9.99999555e-01 9.26017605e-04 6.58865127e-02] [-4.19381357e-03 -9.25256620e-04 9.99990778e-01 1.05709631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703133365 meters 0.2812189103900353 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 9.99991019e-01 -5.26180835e-05 4.23793911e-03 2.44419597e-01] [ 4.73457449e-05 9.99999225e-01 1.24417150e-03 6.45726452e-02] [-4.23800129e-03 -1.24395967e-03 9.99990246e-01 1.08914641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763133364999998 meters 0.2798019849691666 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 9.99991238e-01 1.08638089e-04 4.18466346e-03 2.44812626e-01] [-1.15753928e-04 9.99998548e-01 1.70025196e-03 6.27200463e-02] [-4.18447267e-03 -1.70072145e-03 9.99989799e-01 1.03115926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823133365 meters 0.28094361375609667 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99991597e-01 9.50274895e-05 4.09845475e-03 2.45418150e-01] [-1.01848975e-04 9.99998610e-01 1.66422762e-03 6.28147128e-02] [-4.09829091e-03 -1.66463106e-03 9.99990216e-01 9.46389975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883133365 meters 0.28035435868115316 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99992445e-01 1.49996190e-04 3.88427272e-03 2.46141232e-01] [-1.57133761e-04 9.99998300e-01 1.83731661e-03 6.21295916e-02] [-3.88399053e-03 -1.83791308e-03 9.99990768e-01 8.93033441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943133364999998 meters 0.2829461644651512 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99992423e-01 2.56784958e-04 3.88429698e-03 2.46142116e-01] [-2.64974904e-04 9.99997743e-01 2.10810803e-03 6.10065910e-02] [-3.88374688e-03 -2.10912130e-03 9.99990234e-01 8.95673547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003133365 meters 0.28108102252422207 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99993703e-01 4.32198281e-04 3.52248171e-03 2.47209268e-01] [-4.41709788e-04 9.99996258e-01 2.69989863e-03 5.85228392e-02] [-3.52130163e-03 -2.70143754e-03 9.99990151e-01 8.51739629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063133365 meters 0.282481526475277 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99994636e-01 6.03122540e-04 3.21936106e-03 2.48052150e-01] [-6.13568820e-04 9.99994547e-01 3.24482942e-03 5.62878996e-02] [-3.21738648e-03 -3.24678731e-03 9.99989553e-01 8.28221777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123133365 meters 0.2809951927225842 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:0.01 [[ 9.99995036e-01 8.37303162e-04 3.03761410e-03 2.48350261e-01] [-8.49197326e-04 9.99991970e-01 3.91645265e-03 5.35775537e-02] [-3.03431045e-03 -3.91901275e-03 9.99987717e-01 8.66618703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183133365 meters 0.2814130078303808 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:0.01 [[ 9.99977639e-01 6.53310115e-03 1.42835596e-03 2.25174335e-01] [-6.53416754e-03 9.99978376e-01 7.43204008e-04 5.32165383e-02] [-1.42346965e-03 -7.52520506e-04 9.99998704e-01 1.07066048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243133365 meters 0.2812146853368942 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 0.99999759 -0.0011495 0.00187215 0.24502387] [ 0.00114677 0.99999828 0.00145664 0.06282811] [-0.00187382 -0.00145449 0.99999719 0.01071541] [ 0. 0. 0. 1. ]] SLAMing on 18.303133365 meters 0.2842111637763312 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.99999721 -0.00130632 0.00196653 0.24485469] [ 0.00130433 0.99999864 0.00101349 0.06462342] [-0.00196786 -0.00101092 0.99999755 0.01052033] [ 0. 0. 0. 1. ]] SLAMing on 18.363133365 meters 0.28345649823742314 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.01 [[ 9.99995425e-01 -1.66684034e-03 2.52431536e-03 2.43470110e-01] [ 1.66763912e-03 9.99998560e-01 -3.14363140e-04 6.98524220e-02] [-2.52378773e-03 3.18571349e-04 9.99996764e-01 1.05394752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423133364999998 meters 0.28464167481319147 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999393 -0.00218571 0.00271268 0.24270041] [ 0.00219001 0.99999635 -0.00158241 0.07510386] [-0.00270922 0.00158834 0.99999507 0.01096612] [ 0. 0. 0. 1. ]] SLAMing on 18.483133365 meters 0.2845434878809759 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999306 -0.00246425 0.00279331 0.24256881] [ 0.00247052 0.99999444 -0.00224098 0.07784897] [-0.00278778 0.00224786 0.99999359 0.01072469] [ 0. 0. 0. 1. ]] SLAMing on 18.543133365 meters 0.28385466834231765 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999272 -0.00271172 0.00268464 0.24285081] [ 0.00271936 0.99999225 -0.00284587 0.08035742] [-0.0026769 0.00285315 0.99999235 0.0106021 ] [ 0. 0. 0. 1. ]] SLAMing on 18.603133364999998 meters 0.28079989820301104 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999265 -0.00285512 0.00256039 0.24333842] [ 0.00286324 0.99999087 -0.00317293 0.08175761] [-0.00255131 0.00318024 0.99999169 0.01021559] [ 0. 0. 0. 1. ]] SLAMing on 18.663133365 meters 0.2801555331771689 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999262 -0.00293739 0.00247742 0.24365519] [ 0.00294579 0.9999899 -0.00339417 0.08263014] [-0.00246742 0.00340145 0.99999117 0.00991434] [ 0. 0. 0. 1. ]] SLAMing on 18.723133365 meters 0.28237707607358403 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999222 -0.00309153 0.00245086 0.24399213] [ 0.00310077 0.99998806 -0.00377667 0.08420413] [-0.00243915 0.00378424 0.99998986 0.00927485] [ 0. 0. 0. 1. ]] SLAMing on 18.783133364999998 meters 0.2808830190312675 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 9.99997040e-01 9.77295316e-04 2.22817313e-03 2.44639477e-01] [-9.77016542e-04 9.99999515e-01 -1.26198332e-04 8.68419197e-02] [-2.22829538e-03 1.24020996e-04 9.99997510e-01 8.90251823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843133365 meters 0.2802483441071222 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 9.99997559e-01 7.10042302e-04 2.09249749e-03 2.44927034e-01] [-7.08464600e-04 9.99999464e-01 -7.54625138e-04 8.94582745e-02] [-2.09303219e-03 7.53140836e-04 9.99997526e-01 8.94602555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903133365 meters 0.28081853168877313 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 9.99997446e-01 6.23040709e-04 2.17268286e-03 2.44782660e-01] [-6.20922417e-04 9.99999331e-01 -9.75504524e-04 9.03770875e-02] [-2.17328919e-03 9.74152964e-04 9.99997164e-01 8.79620016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963133365 meters 0.28181991681516655 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 9.99997116e-01 5.81906684e-04 2.33003124e-03 2.43990234e-01] [-5.79327373e-04 9.99999219e-01 -1.10750736e-03 9.09094403e-02] [-2.33067389e-03 1.10615431e-03 9.99996672e-01 9.89082523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023133365 meters 0.2799916171604348 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 9.99997107e-01 6.06506733e-04 2.32750401e-03 2.44019666e-01] [-6.04068108e-04 9.99999268e-01 -1.04830262e-03 9.06459144e-02] [-2.32813810e-03 1.04689362e-03 9.99996742e-01 9.83965932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083133365 meters 0.28106588874933724 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:0.01 [[ 0.99997349 -0.00581371 0.00438336 0.26398965] [ 0.00580586 0.99998153 0.0017998 0.09224477] [-0.00439374 -0.00177431 0.99998877 0.00977714] [ 0. 0. 0. 1. ]] SLAMing on 19.143133365 meters 0.27953362489240435 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99999178 0.00251212 0.00318346 0.24417053] [-0.00251584 0.99999615 0.00116706 0.08702768] [-0.00318052 -0.00117505 0.99999425 0.00927239] [ 0. 0. 0. 1. ]] SLAMing on 19.203133365 meters 0.2818373690033153 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99999149 0.00257319 0.00322503 0.24396723] [-0.00257745 0.99999581 0.00131902 0.08639587] [-0.00322162 -0.00132732 0.99999393 0.00951507] [ 0. 0. 0. 1. ]] SLAMing on 19.263133364999998 meters 0.2808307175575694 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99999099 0.00262081 0.00333951 0.24363607] [-0.00262563 0.99999552 0.00143922 0.08591745] [-0.00333572 -0.00144798 0.99999339 0.00964375] [ 0. 0. 0. 1. ]] SLAMing on 19.323133365 meters 0.28038144369776563 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99999053 0.00269549 0.00341672 0.24341316] [-0.00270105 0.99999503 0.00162448 0.08516147] [-0.00341232 -0.00163369 0.99999284 0.00972486] [ 0. 0. 0. 1. ]] SLAMing on 19.383133365 meters 0.2811184063278932 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999028 0.00275138 0.00344465 0.24328808] [-0.00275748 0.99999464 0.00176688 0.08458672] [-0.00343977 -0.00177636 0.99999251 0.00986165] [ 0. 0. 0. 1. ]] SLAMing on 19.443133364999998 meters 0.28062712608316154 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999042 0.00284872 0.00332333 0.243846 ] [-0.00285534 0.99999394 0.00198933 0.08358332] [-0.00331765 -0.0019988 0.9999925 0.009392 ] [ 0. 0. 0. 1. ]] SLAMing on 19.503133365 meters 0.28160420508594386 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99999055 0.0027625 0.00335544 0.24392335] [-0.00276845 0.9999946 0.00176892 0.08451859] [-0.00335053 -0.00177819 0.99999281 0.00901978] [ 0. 0. 0. 1. ]] SLAMing on 19.563133365 meters 0.28106763716368965 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99999129 0.00267941 0.00320077 0.24461418] [-0.0026844 0.99999519 0.00155673 0.08536076] [-0.00319658 -0.00156531 0.99999367 0.00825771] [ 0. 0. 0. 1. ]] SLAMing on 19.623133365 meters 0.2820973101448961 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:0.01 [[ 9.99993339e-01 -3.55232187e-03 8.38352904e-04 2.22100686e-01] [ 3.54843985e-03 9.99983182e-01 4.58746623e-03 8.29228551e-02] [-8.54634961e-04 -4.58446083e-03 9.99989126e-01 9.91924225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683133365 meters 0.28324458911016864 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99998714 0.00212505 0.0046044 0.24255364] [-0.00213202 0.99999659 0.00151024 0.08454155] [-0.00460117 -0.00152003 0.99998826 0.00894938] [ 0. 0. 0. 1. ]] SLAMing on 19.743133365 meters 0.281391129176286 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99998771 0.0022022 0.0044429 0.24288562] [-0.00220983 0.99999609 0.00171235 0.08370025] [-0.00443911 -0.00172215 0.99998866 0.00913342] [ 0. 0. 0. 1. ]] SLAMing on 19.803133365 meters 0.28215649185185776 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99998779 0.00236817 0.00433668 0.24331687] [-0.00237746 0.99999488 0.00214 0.08189702] [-0.00433159 -0.00215028 0.99998831 0.00881578] [ 0. 0. 0. 1. ]] SLAMing on 19.863133365 meters 0.2816544425135964 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99998709 0.00260209 0.00436554 0.24318638] [-0.00261397 0.9999929 0.00271604 0.07951357] [-0.00435844 -0.00272741 0.99998678 0.00896221] [ 0. 0. 0. 1. ]] SLAMing on 19.923133364999998 meters 0.2807220017933844 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:0.01 [[ 0.9999758 -0.00625799 0.00303886 0.22260402] [ 0.00624697 0.99997392 0.00362286 0.08038414] [-0.00306145 -0.00360379 0.99998882 0.00894028] [ 0. 0. 0. 1. ]] SLAMing on 19.983133365 meters 0.2812677853052863 Centerline is valid? [False, False] Translation: X:0.24, Y:0.08, Z:0.01 [[ 0.99997386 0.00386827 0.00610866 0.24206138] [-0.00389197 0.99998492 0.00387354 0.08441827] [-0.00609359 -0.00389722 0.99997384 0.00877048] [ 0. 0. 0. 1. ]] SLAMing on 20.043133365 meters 0.28118474451724856 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.9999745 0.00358326 0.00617764 0.24211728] [-0.00360146 0.9999892 0.0029384 0.08813261] [-0.00616705 -0.00296058 0.9999766 0.0081948 ] [ 0. 0. 0. 1. ]] SLAMing on 20.103133364999998 meters 0.28109806249701863 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:0.01 [[ 0.99997528 0.00342912 0.0061387 0.2424594 ] [-0.00344482 0.99999082 0.00254862 0.089746 ] [-0.00612991 -0.00256971 0.99997791 0.00757357] [ 0. 0. 0. 1. ]] SLAMing on 20.163133365 meters 0.28198445397424665 Centerline is valid? [False, False] Translation: X:0.26, Y:0.09, Z:0.01 [[ 0.99996072 -0.00617602 0.00635791 0.26474892] [ 0.00616337 0.99997899 0.00200738 0.09448077] [-0.00637018 -0.00196812 0.99997777 0.00723424] [ 0. 0. 0. 1. ]] SLAMing on 20.223133365 meters 0.28123372329840157 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:0.01 [[ 9.99988311e-01 1.88253770e-03 4.45357337e-03 2.46711879e-01] [-1.88589729e-03 9.99997940e-01 7.50278670e-04 9.02371367e-02] [-4.45215177e-03 -7.58668881e-04 9.99989801e-01 6.33601589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283133364999998 meters 0.2798098719194831 Centerline is valid? [False, False] Translation: X:0.23, Y:0.09, Z:0.01 [[ 0.99998464 -0.00525931 0.00174826 0.22620753] [ 0.00525411 0.9999818 0.00296526 0.09043183] [-0.00176382 -0.00295603 0.99999408 0.00718987] [ 0. 0. 0. 1. ]] SLAMing on 20.343133365 meters 0.2808152818509081 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:0.01 [[ 0.99998905 0.00322509 0.00339172 0.24572554] [-0.00323144 0.99999303 0.00186913 0.08881 ] [-0.00338567 -0.00188007 0.9999925 0.00825077] [ 0. 0. 0. 1. ]] SLAMing on 20.403133365 meters 0.279133278693107 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:0.01 [[ 0.99998574 -0.00502163 0.0018154 0.22496849] [ 0.00501584 0.99998235 0.00318297 0.08906441] [-0.00183135 -0.00317382 0.99999329 0.00811594] [ 0. 0. 0. 1. ]] SLAMing on 20.463133365 meters 0.28020303677154856 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:0.01 [[ 9.99990319e-01 5.32156974e-04 4.36787295e-03 2.46072016e-01] [-5.32559718e-04 9.99999854e-01 9.10434603e-05 8.67715645e-02] [-4.36782387e-03 -9.33687321e-05 9.99990457e-01 7.98989823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523133365 meters 0.27929406787861855 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:0.01 [[ 9.99989974e-01 7.58388915e-04 4.41324941e-03 2.45739508e-01] [-7.61818659e-04 9.99999409e-01 7.75518015e-04 8.40384397e-02] [-4.41265865e-03 -7.78872336e-04 9.99989961e-01 8.55806500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583133365 meters 0.27875882255407475 Centerline is valid? [False, False] Translation: X:0.25, Y:0.08, Z:0.01 [[ 0.99999131 0.00114809 0.00400815 0.24684696] [-0.00115629 0.99999724 0.00204295 0.07895108] [-0.00400579 -0.00204756 0.99998988 0.00828754] [ 0. 0. 0. 1. ]] SLAMing on 20.643133365 meters 0.27911460554183726 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:0.01 [[ 0.99999113 0.0016914 0.00385852 0.24724252] [-0.00170446 0.99999282 0.00338375 0.07348628] [-0.00385277 -0.00339029 0.99998683 0.00831482] [ 0. 0. 0. 1. ]] SLAMing on 20.703133365 meters 0.28108284581907655 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:0.01 [[ 0.99999115 0.00186703 0.00376961 0.24757586] [-0.00188145 0.99999091 0.00382594 0.07167097] [-0.00376243 -0.003833 0.99998558 0.0081146 ] [ 0. 0. 0. 1. ]] SLAMing on 20.763133364999998 meters 0.2791859588048506 Centerline is valid? [False, False] Translation: X:0.25, Y:0.06, Z:0.01 [[ 9.99990200e-01 -9.17962471e-04 4.33097601e-03 2.45788604e-01] [ 9.07631882e-04 9.99996740e-01 2.38664245e-03 6.41481213e-02] [-4.33315274e-03 -2.38268813e-03 9.99987773e-01 8.66292141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823133365 meters 0.27947750323533455 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:0.01 [[ 9.99982716e-01 4.88555390e-03 3.27084549e-03 2.24950228e-01] [-4.88420504e-03 9.99987984e-01 -4.20251075e-04 5.59878994e-02] [-3.27285935e-03 4.04268332e-04 9.99994562e-01 8.51427675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883133365 meters 0.28141573574021295 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.99998373 -0.00266535 0.00504425 0.24321649] [ 0.00265755 0.99999526 0.00155209 0.05777122] [-0.00504837 -0.00153866 0.99998607 0.00968259] [ 0. 0. 0. 1. ]] SLAMing on 20.943133364999998 meters 0.2828017671742336 Centerline is valid? [False, False] Translation: X:0.24, Y:0.06, Z:0.01 [[ 0.99998481 -0.0024638 0.00492995 0.24350578] [ 0.00245375 0.9999949 0.00204321 0.05571793] [-0.00493496 -0.00203109 0.99998576 0.00974332] [ 0. 0. 0. 1. ]] SLAMing on 21.003133365 meters 0.2810118435945635 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:0.01 [[ 0.99998512 -0.00226392 0.00496246 0.24323123] [ 0.00225133 0.99999424 0.00253982 0.05364992] [-0.00496818 -0.00252861 0.99998446 0.01021299] [ 0. 0. 0. 1. ]] SLAMing on 21.063133365 meters 0.28140237270348073 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.01 [[ 0.99995722 0.00632483 0.00674948 0.26231682] [-0.00633844 0.99997792 0.00199743 0.0474746 ] [-0.0067367 -0.00204012 0.99997523 0.01134958] [ 0. 0. 0. 1. ]] SLAMing on 21.123133364999997 meters 0.28110013117879856 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.01 [[ 0.9999758 0.00202463 0.00665649 0.26269143] [-0.00200948 0.99999538 -0.00228201 0.0474082 ] [-0.00666108 0.00226858 0.99997524 0.01091961] [ 0. 0. 0. 1. ]] SLAMing on 21.183133365 meters 0.2816672555580547 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.01 [[ 0.99997633 0.00203681 0.00657197 0.26306971] [-0.00202206 0.99999543 -0.00224933 0.04724943] [-0.00657652 0.00223599 0.99997587 0.01053555] [ 0. 0. 0. 1. ]] SLAMing on 21.243133365 meters 0.28105152005246803 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.01 [[ 0.99997533 0.00191492 0.00675759 0.26258788] [-0.00189733 0.9999948 -0.00260843 0.04873415] [-0.00676255 0.00259555 0.99997377 0.01057863] [ 0. 0. 0. 1. ]] SLAMing on 21.303133365 meters 0.2807072576887271 Centerline is valid? [False, False] Translation: X:0.26, Y:0.05, Z:0.01 [[ 0.99997308 0.00172905 0.00713036 0.26142238] [-0.00170604 0.99999332 -0.0032318 0.05134474] [-0.0071359 0.00321955 0.99996936 0.01122381] [ 0. 0. 0. 1. ]] SLAMing on 21.363133365 meters 0.2857522343218216 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:0.02 [[ 9.99995272e-01 -1.72433044e-03 2.54612467e-03 2.79865269e-01] [ 1.72349348e-03 9.99998460e-01 3.30878159e-04 5.66693607e-02] [-2.54669130e-03 -3.26488365e-04 9.99996704e-01 1.53892939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423133364999998 meters 0.28342287026705787 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:0.02 [[ 9.99994393e-01 -1.92890417e-03 2.73750372e-03 2.79389800e-01] [ 1.92945084e-03 9.99998119e-01 -1.97071542e-04 5.88763795e-02] [-2.73711844e-03 2.02352316e-04 9.99996234e-01 1.53066208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483133365 meters 0.28252663540695966 Centerline is valid? [False, False] Translation: X:0.28, Y:0.06, Z:0.01 [[ 0.99999304 -0.00236296 0.00288684 0.27922181] [ 0.00236708 0.99999618 -0.00142375 0.06379715] [-0.00288346 0.00143057 0.99999482 0.01477923] [ 0. 0. 0. 1. ]] SLAMing on 21.543133365 meters 0.28318049112472404 Centerline is valid? [False, False] Translation: X:0.28, Y:0.07, Z:0.01 [[ 0.9999919 -0.00268437 0.00299926 0.27924398] [ 0.00269113 0.99999384 -0.0022549 0.06721842] [-0.00299318 0.00226295 0.99999296 0.01406032] [ 0. 0. 0. 1. ]] SLAMing on 21.603133364999998 meters 0.2848711109833476 Centerline is valid? [False, False] Translation: X:0.32, Y:0.08, Z:0.01 [[ 0.99999053 -0.00115133 0.00419805 0.32272774] [ 0.00115901 0.99999766 -0.00182781 0.07774953] [-0.00419593 0.00183265 0.99998952 0.01264931] [ 0. 0. 0. 1. ]] SLAMing on 21.663133365 meters 0.28267889885034403 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:0.01 [[ 0.99998758 -0.00169754 0.00468573 0.28681592] [ 0.00170655 0.9999967 -0.00191898 0.07560598] [-0.00468246 0.00192695 0.99998718 0.00773282] [ 0. 0. 0. 1. ]] SLAMing on 21.723133365 meters 0.28476943168638336 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:0.00 [[ 9.99992947e-01 8.67095289e-04 3.65423399e-03 2.91832241e-01] [-8.67631758e-04 9.99999613e-01 1.45225022e-04 7.88219155e-02] [-3.65410665e-03 -1.48394527e-04 9.99993313e-01 4.23596163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783133364999998 meters 0.27887813279161755 Centerline is valid? [False, False] Translation: X:0.25, Y:0.07, Z:0.00 [[ 9.99978230e-01 -8.79265379e-04 6.53956589e-03 2.48843995e-01] [ 8.81958716e-04 9.99999527e-01 -4.08980189e-04 7.44180256e-02] [-6.53920319e-03 4.14738913e-04 9.99978533e-01 3.40407010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843133365 meters 0.28126974311262015 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 9.99991969e-01 -2.97781391e-04 3.99677545e-03 2.90613851e-01] [ 2.97606356e-04 9.99999955e-01 4.43887137e-05 7.49560727e-02] [-3.99678849e-03 -4.31988914e-05 9.99992012e-01 5.55857027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903133365 meters 0.2803935247443093 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.01 [[ 0.99998825 0.00463951 0.00140474 0.26894315] [-0.00463517 0.99998452 -0.00307958 0.07049549] [-0.00141901 0.00307303 0.99999427 0.00675432] [ 0. 0. 0. 1. ]] SLAMing on 21.963133365 meters 0.27905922380140624 Centerline is valid? [False, False] Translation: X:0.27, Y:0.07, Z:0.01 [[ 0.99998721 0.00481549 0.0015491 0.26830532] [-0.0048115 0.99998513 -0.0025651 0.0683708 ] [-0.00156143 0.00255761 0.99999551 0.00752944] [ 0. 0. 0. 1. ]] SLAMing on 22.023133365 meters 0.2799305884821276 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.9999888 -0.00383572 0.00277415 0.28991775] [ 0.0038411 0.99999075 -0.00193744 0.06868984] [-0.0027667 0.00194807 0.99999428 0.00709514] [ 0. 0. 0. 1. ]] SLAMing on 22.083133365 meters 0.2792133592973051 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.99998885 -0.00378894 0.00281873 0.28983851] [ 0.00379409 0.99999114 -0.00182143 0.06820518] [-0.0028118 0.0018321 0.99999437 0.00703286] [ 0. 0. 0. 1. ]] SLAMing on 22.143133365 meters 0.2792093626281712 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.99998859 -0.00364195 0.00309138 0.28893778] [ 0.00364647 0.99999229 -0.00145808 0.06664896] [-0.00308605 0.00146933 0.99999416 0.00766238] [ 0. 0. 0. 1. ]] SLAMing on 22.203133365 meters 0.27924767950341284 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.9999889 -0.00358905 0.00305422 0.28925475] [ 0.00359308 0.99999268 -0.00131739 0.06603766] [-0.00304947 0.00132835 0.99999447 0.00714709] [ 0. 0. 0. 1. ]] SLAMing on 22.263133364999998 meters 0.2798711378583852 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.99998878 -0.00359253 0.00308725 0.2896098 ] [ 0.00359663 0.99999266 -0.00132334 0.06604479] [-0.00308248 0.00133443 0.99999436 0.00610913] [ 0. 0. 0. 1. ]] SLAMing on 22.323133365 meters 0.2802887223570433 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.01 [[ 0.99998732 -0.00362556 0.00349406 0.28838306] [ 0.00363064 0.99999236 -0.00144918 0.06665888] [-0.00348878 0.00146184 0.99999285 0.00684657] [ 0. 0. 0. 1. ]] SLAMing on 22.383133365 meters 0.2813025849810372 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.00 [[ 9.99995725e-01 -1.11277326e-03 2.70399616e-03 2.93172137e-01] [ 1.11189182e-03 9.99999328e-01 3.27458955e-04 7.13296941e-02] [-2.70435873e-03 -3.24451004e-04 9.99996291e-01 2.53566045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443133364999998 meters 0.28009221677023866 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.00 [[ 9.99995929e-01 -1.27038172e-03 2.55489634e-03 2.93817898e-01] [ 1.27076678e-03 9.99999181e-01 -1.49096724e-04 7.32433944e-02] [-2.55470483e-03 1.52342794e-04 9.99996725e-01 1.72193467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503133365 meters 0.2826908973989563 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:0.00 [[ 0.99999518 -0.00157713 0.00267317 0.29359389] [ 0.00158045 0.99999799 -0.0012378 0.07751665] [-0.00267121 0.00124202 0.99999566 0.00153012] [ 0. 0. 0. 1. ]] SLAMing on 22.563133365 meters 0.2822782528263895 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:0.00 [[ 9.99994404e-01 -2.06801729e-03 2.62954891e-03 2.94383035e-01] [ 2.07502197e-03 9.99994299e-01 -2.66389944e-03 8.36282427e-02] [-2.62402493e-03 2.66934090e-03 9.99992995e-01 4.52388916e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623133364999997 meters 0.2812541077079359 Centerline is valid? [False, False] Translation: X:0.29, Y:0.09, Z:0.00 [[ 9.99994263e-01 -2.24695420e-03 2.53498272e-03 2.94519300e-01] [ 2.25483939e-03 9.99992616e-01 -3.11199363e-03 8.54689465e-02] [-2.52797150e-03 3.11769175e-03 9.99991945e-01 1.93161812e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683133365 meters 0.28079990771688845 Centerline is valid? [False, False] Translation: X:0.29, Y:0.09, Z:0.00 [[ 9.99995387e-01 1.22782558e-03 2.77809291e-03 2.93003303e-01] [-1.22670195e-03 9.99999165e-01 -4.06130193e-04 8.93478269e-02] [-2.77858925e-03 4.02720427e-04 9.99996059e-01 1.72242495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743133365 meters 0.28135797536420887 Centerline is valid? [False, False] Translation: X:0.31, Y:0.09, Z:0.00 [[ 9.99977197e-01 -4.68745654e-03 4.86132502e-03 3.14284491e-01] [ 4.67415491e-03 9.99985311e-01 2.74397483e-03 9.15023053e-02] [-4.87411588e-03 -2.72118968e-03 9.99984419e-01 8.98526844e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803133365 meters 0.2792464171892975 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:0.00 [[ 9.99997636e-01 1.43296905e-03 1.63547213e-03 2.92505734e-01] [-1.43273435e-03 9.99998963e-01 -1.44664404e-04 9.51195744e-02] [-1.63567773e-03 1.42320865e-04 9.99998652e-01 2.87626695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863133365 meters 0.279993923271577 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:0.00 [[ 9.99997939e-01 1.21343849e-03 1.62801855e-03 2.92649539e-01] [-1.21200859e-03 9.99998879e-01 -8.79003982e-04 9.80003788e-02] [-1.62908335e-03 8.77028997e-04 9.99998288e-01 2.50736972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923133364999998 meters 0.2809569430879222 Centerline is valid? [False, False] Translation: X:0.29, Y:0.10, Z:0.00 [[ 0.999998 0.0010029 0.00172892 0.29242228] [-0.00100037 0.99999843 -0.00146255 0.10038151] [-0.00173038 0.00146082 0.99999744 0.00240656] [ 0. 0. 0. 1. ]] SLAMing on 22.983133365 meters 0.2821495413031552 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:0.00 [[ 0.99998767 -0.00386953 0.00311108 0.31337893] [ 0.00386326 0.9999905 0.00201767 0.10840357] [-0.00311885 -0.00200563 0.99999313 0.00272214] [ 0. 0. 0. 1. ]] SLAMing on 23.043133365 meters 0.2798582850473146 Centerline is valid? [False, False] Translation: X:0.31, Y:0.11, Z:0.00 [[ 0.99998688 -0.00400049 0.00320018 0.31293471] [ 0.0039951 0.99999059 0.0016901 0.10977889] [-0.00320691 -0.0016773 0.99999345 0.00315967] [ 0. 0. 0. 1. ]] SLAMing on 23.103133364999998 meters 0.28127115381368367 Centerline is valid? [False, False] Translation: X:0.33, Y:0.11, Z:0.00 [[ 9.99982552e-01 4.88008896e-03 3.32860023e-03 3.34375541e-01] [-4.88219591e-03 9.99987887e-01 6.25153457e-04 1.08285403e-01] [-3.32550910e-03 -6.41393428e-04 9.99994265e-01 3.34550257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163133365 meters 0.280208212228866 Centerline is valid? [False, False] Translation: X:0.32, Y:0.11, Z:0.00 [[ 9.99995149e-01 -3.11433382e-03 5.65078526e-05 3.16512424e-01] [ 3.11420986e-03 9.99992998e-01 2.07498844e-03 1.07441333e-01] [-6.29696636e-05 -2.07480239e-03 9.99997846e-01 1.82886221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223133365 meters 0.28009099860474457 Centerline is valid? [False, False] Translation: X:0.32, Y:0.11, Z:0.00 [[ 9.99995494e-01 -3.00179510e-03 4.30434824e-05 3.16341654e-01] [ 3.00168342e-03 9.99992628e-01 2.39471216e-03 1.06149419e-01] [-5.02316003e-05 -2.39457217e-03 9.99997132e-01 2.32720401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283133364999998 meters 0.27866278536165745 Centerline is valid? [False, False] Translation: X:0.32, Y:0.10, Z:0.00 [[ 9.99995845e-01 -2.88175209e-03 -6.75460737e-05 3.16571315e-01] [ 2.88192365e-03 9.99992217e-01 2.69464345e-03 1.04896506e-01] [ 5.97802536e-05 -2.69482692e-03 9.99996367e-01 2.46869916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343133365 meters 0.27905262215204735 Centerline is valid? [False, False] Translation: X:0.32, Y:0.10, Z:0.00 [[ 9.99995815e-01 -2.88667046e-03 -1.92541017e-04 3.17024302e-01] [ 2.88717713e-03 9.99992227e-01 2.68530454e-03 1.04921844e-01] [ 1.84787931e-04 -2.68584920e-03 9.99996376e-01 2.12882351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403133365 meters 0.28075501467131897 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.00 [[ 9.99990751e-01 3.18188290e-03 2.89357733e-03 3.37164090e-01] [-3.18067747e-03 9.99994853e-01 -4.21093103e-04 1.05237828e-01] [-2.89490230e-03 4.11885672e-04 9.99995725e-01 1.83543273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463133365 meters 0.27980870481476117 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.00 [[ 9.99990727e-01 3.25425722e-03 2.82066154e-03 3.37345699e-01] [-3.25362567e-03 9.99994681e-01 -2.28459478e-04 1.04449961e-01] [-2.82139001e-03 2.19279983e-04 9.99995996e-01 1.84726045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523133365 meters 0.2811844362001324 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:-0.00 [[ 9.99994238e-01 -3.08269131e-03 1.42185834e-03 3.62994134e-01] [ 3.07895912e-03 9.99991829e-01 2.61962954e-03 1.06379119e-01] [-1.42992223e-03 -2.61523660e-03 9.99995558e-01 -3.09142323e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583133365 meters 0.27872551296682374 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.00 [[ 9.99995243e-01 2.87380974e-03 -1.12027149e-03 3.41258739e-01] [-2.87435304e-03 9.99995752e-01 -4.83662668e-04 1.06857617e-01] [ 1.11887678e-03 4.86880423e-04 9.99999256e-01 1.07024380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643133365 meters 0.27893669294993406 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.00 [[ 9.99995655e-01 2.81658062e-03 -8.70082945e-04 3.40556055e-01] [-2.81715313e-03 9.99995816e-01 -6.57471798e-04 1.07567764e-01] [ 8.68227482e-04 6.59920098e-04 9.99999405e-01 1.33950118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703133365 meters 0.28179967912698173 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:-0.00 [[ 9.99995674e-01 -2.94034891e-03 -8.06804437e-05 3.63986178e-01] [ 2.94055804e-03 9.99991957e-01 2.72750202e-03 1.08749081e-01] [ 7.26599872e-05 -2.72772747e-03 9.99996277e-01 -4.47603077e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763133364999998 meters 0.27892517149212276 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:-0.00 [[ 9.99995969e-01 -2.83575714e-03 -1.44329387e-04 3.64328212e-01] [ 2.83617607e-03 9.99991507e-01 2.99029049e-03 1.07623643e-01] [ 1.35848424e-04 -2.99068778e-03 9.99995519e-01 -8.00971108e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823133365 meters 0.2811261663206924 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:-0.00 [[ 9.99995910e-01 -2.85723201e-03 -1.28000840e-04 3.64201527e-01] [ 2.85759554e-03 9.99991607e-01 2.93614012e-03 1.07854642e-01] [ 1.19610532e-04 -2.93649389e-03 9.99995681e-01 -6.18330156e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883133365 meters 0.2828872474811343 Centerline is valid? [False, False] Translation: X:0.39, Y:0.11, Z:-0.00 [[ 0.99997044 0.00716331 0.00279219 0.38510957] [-0.00717222 0.99996918 0.00319365 0.113263 ] [-0.00276923 -0.00321358 0.999991 -0.00166922] [ 0. 0. 0. 1. ]] SLAMing on 23.943133364999998 meters 0.28238949415503334 Centerline is valid? [False, False] Translation: X:0.36, Y:0.12, Z:-0.00 [[ 0.99999564 -0.00253688 0.00151231 0.3635412 ] [ 0.00253328 0.99999396 0.0023797 0.11886392] [-0.00151834 -0.00237586 0.99999602 -0.0011753 ] [ 0. 0. 0. 1. ]] SLAMing on 24.003133365 meters 0.27886067854467206 Centerline is valid? [False, False] Translation: X:0.36, Y:0.12, Z:-0.00 [[ 0.99999518 -0.00269873 0.0015376 0.36343919] [ 0.00269572 0.99999445 0.00195665 0.12058939] [-0.00154287 -0.00195249 0.9999969 -0.00113525] [ 0. 0. 0. 1. ]] SLAMing on 24.063133365 meters 0.2787283293113526 Centerline is valid? [False, False] Translation: X:0.36, Y:0.13, Z:-0.00 [[ 9.99993316e-01 -3.24529712e-03 1.68399750e-03 3.62870229e-01] [ 3.24450747e-03 9.99994625e-01 4.71437065e-04 1.26538824e-01] [-1.68551841e-03 -4.65970171e-04 9.99998471e-01 -8.29946495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123133364999997 meters 0.278890678589849 Centerline is valid? [False, False] Translation: X:0.36, Y:0.13, Z:-0.00 [[ 9.99992274e-01 -3.58850040e-03 1.60459939e-03 3.62849662e-01] [ 3.58904935e-03 9.99993502e-01 -3.39363271e-04 1.29885668e-01] [-1.60337116e-03 3.45119635e-04 9.99998655e-01 -4.67078434e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183133365 meters 0.2789875989349395 Centerline is valid? [False, False] Translation: X:0.36, Y:0.13, Z:0.00 [[ 9.99999350e-01 2.67641168e-04 1.10866654e-03 3.63585208e-01] [-2.70717349e-04 9.99996112e-01 2.77544701e-03 1.34619389e-01] [-1.10791941e-03 -2.77574534e-03 9.99995534e-01 1.39369474e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243133365 meters 0.2810493911604865 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.00 [[ 9.99999418e-01 -7.34410856e-05 1.07660965e-03 3.63552747e-01] [ 7.13626469e-05 9.99998134e-01 1.93045203e-03 1.38119021e-01] [-1.07674942e-03 -1.93037407e-03 9.99997557e-01 1.42511840e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303133365 meters 0.28067908529738683 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99999913e-01 1.68841593e-04 3.80692839e-04 3.99603468e-01] [-1.69269208e-04 9.99999355e-01 1.12350200e-03 1.49962187e-01] [-3.80502899e-04 -1.12356634e-03 9.99999296e-01 5.04213970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363133365 meters 0.2787241143880207 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.00 [[ 9.99999033e-01 -8.45599088e-05 1.38802575e-03 3.62741874e-01] [ 8.40627750e-05 9.99999932e-01 3.58213334e-04 1.50742476e-01] [-1.38805595e-03 -3.58096307e-04 9.99998973e-01 6.77586120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423133364999998 meters 0.28042698549137723 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.00 [[ 9.99998973e-01 -4.18871849e-04 1.37033328e-03 3.62943489e-01] [ 4.19462372e-04 9.99999819e-01 -4.30675048e-04 1.53984022e-01] [-1.37015263e-03 4.31249409e-04 9.99998968e-01 2.36047488e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483133365 meters 0.2794716606961059 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99992216e-01 3.67218919e-03 1.44295550e-03 3.62513042e-01] [-3.67682474e-03 9.99988046e-01 3.22312557e-03 1.56700484e-01] [-1.43110233e-03 -3.22840597e-03 9.99993765e-01 8.01142905e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543133365 meters 0.27933909524378864 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99993771e-01 3.27372939e-03 1.31955355e-03 3.62824809e-01] [-3.27667104e-03 9.99992138e-01 2.23331326e-03 1.60807581e-01] [-1.31223192e-03 -2.23762309e-03 9.99996636e-01 6.31189149e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603133364999998 meters 0.279469715731254 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99994706e-01 3.00967368e-03 1.23714995e-03 3.62985437e-01] [-3.01165751e-03 9.99994177e-01 1.60482946e-03 1.63430688e-01] [-1.23231273e-03 -1.60854684e-03 9.99997947e-01 6.64278355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663133365 meters 0.2790439649897038 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 0.99999488 0.00292204 0.00130666 0.36233653] [-0.0029238 0.99999481 0.00134986 0.16445203] [-0.00130271 -0.00135368 0.99999824 0.00176025] [ 0. 0. 0. 1. ]] SLAMing on 24.723133365 meters 0.27857113144701223 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 0.99999471 0.00304979 0.00113246 0.36259407] [-0.00305181 0.99999375 0.00178447 0.16275448] [-0.00112701 -0.00178792 0.99999777 0.00219939] [ 0. 0. 0. 1. ]] SLAMing on 24.783133364999998 meters 0.2799441578248761 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.01 [[ 0.99999805 0.00160021 0.00115842 0.4003006 ] [-0.00160223 0.99999719 0.00174476 0.15738559] [-0.00115563 -0.00174661 0.99999781 0.00582688] [ 0. 0. 0. 1. ]] SLAMing on 24.843133365 meters 0.2783309227366906 Centerline is valid? [False, False] Translation: X:0.38, Y:0.15, Z:0.01 [[ 0.99997031 0.00748858 0.00181696 0.37641136] [-0.00748639 0.99997125 -0.0012066 0.15039526] [-0.00182595 0.00119296 0.99999762 0.007143 ] [ 0. 0. 0. 1. ]] SLAMing on 24.903133365 meters 0.27932590724091144 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99998542e-01 -1.69966823e-03 -1.62148583e-04 3.98935116e-01] [ 1.69957698e-03 9.99998398e-01 -5.61250892e-04 1.53023635e-01] [ 1.63102264e-04 5.60974489e-04 9.99999829e-01 7.46944441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963133365 meters 0.28013888147810284 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99998840e-01 -1.51192337e-03 -1.84407361e-04 3.98914108e-01] [ 1.51190646e-03 9.99998853e-01 -9.18488462e-05 1.51105513e-01] [ 1.84546018e-04 9.15699329e-05 9.99999979e-01 7.67733472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023133365 meters 0.27979771688044003 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99999187e-01 -1.27122689e-03 -1.03385004e-04 3.98526807e-01] [ 1.27127568e-03 9.99999080e-01 4.73222649e-04 1.48744880e-01] [ 1.02783335e-04 -4.73353695e-04 9.99999883e-01 8.10592813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083133365 meters 0.2797930908450329 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.01 [[ 9.99999693e-01 -7.65892984e-04 -1.64458783e-04 3.98853023e-01] [ 7.66158679e-04 9.99998392e-01 1.62163066e-03 1.43957237e-01] [ 1.63216522e-04 -1.62175617e-03 9.99998672e-01 7.89622038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143133365 meters 0.2795882173580288 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.01 [[ 9.99999876e-01 -4.60450349e-04 -1.88795222e-04 3.98743227e-01] [ 4.60891063e-04 9.99997154e-01 2.34098804e-03 1.40952715e-01] [ 1.87716776e-04 -2.34107477e-03 9.99997242e-01 8.32986817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203133365 meters 0.27972686872783314 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.01 [[ 9.99999945e-01 -2.90159359e-04 -1.63727216e-04 3.98777946e-01] [ 2.90619393e-04 9.99995991e-01 2.81676696e-03 1.39053934e-01] [ 1.62909248e-04 -2.81681439e-03 9.99996020e-01 8.20324852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263133364999998 meters 0.28045461269328 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.01 [[ 9.99999886e-01 -3.08503535e-04 -3.63133794e-04 3.99492622e-01] [ 3.09506682e-04 9.99996128e-01 2.76566694e-03 1.39249814e-01] [ 3.62279170e-04 -2.76577902e-03 9.99996110e-01 7.64250744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323133365 meters 0.27986575642577594 Centerline is valid? [False, False] Translation: X:0.38, Y:0.14, Z:0.01 [[ 9.99978455e-01 5.58950287e-03 -3.44206031e-03 3.78285436e-01] [-5.59041348e-03 9.99984341e-01 -2.54988653e-04 1.39713505e-01] [ 3.44058115e-03 2.74225699e-04 9.99994044e-01 8.99279678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383133365 meters 0.27995660270284856 Centerline is valid? [False, False] Translation: X:0.40, Y:0.14, Z:0.01 [[ 9.99993601e-01 -2.82946769e-03 -2.18918686e-03 3.97882583e-01] [ 2.83053462e-03 9.99995877e-01 4.84421488e-04 1.44500417e-01] [ 2.18780718e-03 -4.90614957e-04 9.99997486e-01 9.81458269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443133364999998 meters 0.2804347791145484 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99993225e-01 -2.98752362e-03 -2.15063377e-03 3.97820374e-01] [ 2.98774567e-03 9.99995532e-01 1.00043021e-04 1.46090543e-01] [ 2.15032528e-03 -1.06467890e-04 9.99997682e-01 9.69828188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503133365 meters 0.28103644790540844 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 0.99999375 -0.00113798 -0.00334737 0.40362334] [ 0.00114364 0.99999792 0.00168722 0.14701503] [ 0.00334545 -0.00169104 0.99999297 0.0058495 ] [ 0. 0. 0. 1. ]] SLAMing on 25.563133365 meters 0.28137209383386 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99993318e-01 -1.49486153e-03 -3.33603969e-03 4.03748619e-01] [ 1.49729757e-03 9.99998614e-01 7.27842095e-04 1.50884276e-01] [ 3.33494705e-03 -7.32832276e-04 9.99994171e-01 5.45963155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623133364999997 meters 0.28117193889452763 Centerline is valid? [False, False] Translation: X:0.40, Y:0.15, Z:0.01 [[ 9.99992831e-01 -1.83277016e-03 -3.31339828e-03 4.03598150e-01] [ 1.83241487e-03 9.99998315e-01 -1.10261178e-04 1.54326272e-01] [ 3.31359478e-03 1.04188867e-04 9.99994505e-01 5.55818857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683133365 meters 0.28104748512745564 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.01 [[ 0.99999215 -0.00235587 -0.00318553 0.40308846] [ 0.00235136 0.99999623 -0.00142067 0.15966845] [ 0.00318886 0.00141317 0.99999392 0.00577025] [ 0. 0. 0. 1. ]] SLAMing on 25.743133365 meters 0.28062423218639093 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:0.01 [[ 0.99999228 -0.00279277 -0.00276458 0.40137284] [ 0.00278562 0.99999278 -0.00258475 0.16471996] [ 0.00277178 0.00257703 0.99999284 0.00680832] [ 0. 0. 0. 1. ]] SLAMing on 25.803133365 meters 0.28274948442761344 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:0.01 [[ 0.99999054 -0.00337937 -0.00273903 0.40091469] [ 0.00336837 0.99998629 -0.00401039 0.17049999] [ 0.00275255 0.00400112 0.99998821 0.00742207] [ 0. 0. 0. 1. ]] SLAMing on 25.863133365 meters 0.27952744216311903 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:0.01 [[ 0.99998974 -0.00373401 -0.00256358 0.40033317] [ 0.00372152 0.99998126 -0.00486046 0.17397276] [ 0.00258168 0.00485087 0.9999849 0.00755726] [ 0. 0. 0. 1. ]] SLAMing on 25.923133364999998 meters 0.2800841494018446 Centerline is valid? [False, False] Translation: X:0.40, Y:0.18, Z:0.01 [[ 9.99997076e-01 3.39230486e-04 -2.39452890e-03 3.99406840e-01] [-3.42297122e-04 9.99999122e-01 -1.28039084e-03 1.76656956e-01] [ 2.39409245e-03 1.28120674e-03 9.99996313e-01 8.61853977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983133365 meters 0.280347969420435 Centerline is valid? [False, False] Translation: X:0.40, Y:0.18, Z:0.01 [[ 9.99997076e-01 1.19411044e-04 -2.41517341e-03 3.99479610e-01] [-1.23747374e-04 9.99998381e-01 -1.79538313e-03 1.78779604e-01] [ 2.41495511e-03 1.79567676e-03 9.99995472e-01 8.50223729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043133365 meters 0.2805586969646923 Centerline is valid? [False, False] Translation: X:0.36, Y:0.18, Z:0.00 [[ 9.99998997e-01 2.60319789e-04 -1.39231400e-03 3.62445947e-01] [-2.62932281e-04 9.99998205e-01 -1.87651268e-03 1.76804199e-01] [ 1.39182300e-03 1.87687688e-03 9.99997270e-01 4.56821405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103133364999998 meters 0.2796051210916314 Centerline is valid? [False, False] Translation: X:0.36, Y:0.18, Z:0.00 [[ 9.99999010e-01 3.80872808e-04 -1.35445146e-03 3.62379176e-01] [-3.82957637e-04 9.99998742e-01 -1.53931639e-03 1.75435721e-01] [ 1.35386347e-03 1.53983357e-03 9.99997898e-01 4.54314057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163133365 meters 0.2798833047930072 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99998946e-01 5.08609304e-04 -1.35968724e-03 3.62629029e-01] [-5.10272608e-04 9.99999122e-01 -1.22323208e-03 1.74095466e-01] [ 1.35906390e-03 1.22392460e-03 9.99998327e-01 4.06482842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223133365 meters 0.2811511408104315 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99998484e-01 4.48087661e-04 -1.68285062e-03 3.63687791e-01] [-4.50446815e-04 9.99998916e-01 -1.40176234e-03 1.74826511e-01] [ 1.68222068e-03 1.40251825e-03 9.99997602e-01 3.27527181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283133364999998 meters 0.2813016027383802 Centerline is valid? [False, False] Translation: X:0.36, Y:0.18, Z:0.00 [[ 9.99998154e-01 3.46714364e-04 -1.88985714e-03 3.64334126e-01] [-3.49947911e-04 9.99998475e-01 -1.71093869e-03 1.76056998e-01] [ 1.88926105e-03 1.71159688e-03 9.99996751e-01 2.80951310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343133365 meters 0.2814671176447369 Centerline is valid? [False, False] Translation: X:0.36, Y:0.18, Z:0.00 [[ 9.99998307e-01 3.72170329e-04 -1.80207298e-03 3.64095606e-01] [-3.75143711e-04 9.99998569e-01 -1.64992214e-03 1.75804217e-01] [ 1.80145634e-03 1.65059538e-03 9.99997015e-01 2.86465509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403133365 meters 0.28142278172317287 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99998073e-01 4.55456447e-04 -1.90978657e-03 3.64630564e-01] [-4.58190779e-04 9.99998870e-01 -1.43155420e-03 1.74865208e-01] [ 1.90913240e-03 1.43242649e-03 9.99997152e-01 2.28950534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463133364999997 meters 0.28153470093336275 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99997985e-01 5.98996463e-04 -1.91628988e-03 3.64561542e-01] [-6.01011007e-04 9.99999267e-01 -1.05087024e-03 1.73302126e-01] [ 1.91565901e-03 1.05201983e-03 9.99997612e-01 2.52360791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523133365 meters 0.28110605683735174 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99998234e-01 8.83592867e-04 -1.65891144e-03 3.63658525e-01] [-8.83774198e-04 9.99999604e-01 -1.08577035e-04 1.69536301e-01] [ 1.65881484e-03 1.10042946e-04 9.99998618e-01 3.36127015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583133365 meters 0.28142290355335386 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99997163e-01 1.16400772e-03 -2.07815146e-03 3.64992302e-01] [-1.16240185e-03 9.99999025e-01 7.73779645e-04 1.65929999e-01] [ 2.07905012e-03 -7.71361803e-04 9.99997541e-01 2.59151044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643133365 meters 0.2817898262807168 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 0.99999692 0.00137966 -0.00206264 0.36479953] [-0.0013769 0.99999816 0.00133653 0.16361797] [ 0.00206448 -0.00133369 0.99999698 0.00299278] [ 0. 0. 0. 1. ]] SLAMing on 26.703133365 meters 0.27947758593342803 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 9.99999747e-01 2.36924701e-04 6.70187445e-04 3.23186015e-01] [-2.37679273e-04 9.99999338e-01 1.12605760e-03 1.56061472e-01] [-6.69920210e-04 -1.12621661e-03 9.99999141e-01 8.99525329e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763133364999998 meters 0.2811014618013015 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:0.00 [[ 9.99960336e-01 8.68541821e-03 1.97225913e-03 3.43941964e-01] [-8.68648741e-03 9.99962129e-01 5.34203411e-04 1.52411308e-01] [-1.96754466e-03 -5.51314227e-04 9.99997912e-01 1.04965495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823133365 meters 0.28060095444161465 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 9.99999464e-01 -4.14533274e-04 9.48726879e-04 3.23228160e-01] [ 4.13896530e-04 9.99999689e-01 6.71254712e-04 1.56071481e-01] [-9.49004841e-04 -6.70861677e-04 9.99999325e-01 1.12260844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883133365 meters 0.2819087617547024 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 9.99992353e-01 3.77934055e-03 1.00489767e-03 3.23090594e-01] [-3.78399380e-03 9.99981937e-01 4.66970744e-03 1.57489785e-01] [-9.87231101e-04 -4.67347426e-03 9.99988592e-01 1.10791437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943133364999998 meters 0.28156078876431445 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 0.99999316 0.00353512 0.00108871 0.32250654] [-0.00353948 0.99998561 0.00403141 0.16017634] [-0.00107444 -0.00403523 0.99999128 0.00188503] [ 0. 0. 0. 1. ]] SLAMing on 27.003133365 meters 0.28115448981457763 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 0.99999314 0.0035152 0.00116555 0.32209072] [-0.00351981 0.99998591 0.00397427 0.16042367] [-0.00115157 -0.00397835 0.99999142 0.00240519] [ 0. 0. 0. 1. ]] SLAMing on 27.063133365 meters 0.2804577455629975 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 0.99999253 0.00360408 0.00139569 0.32129153] [-0.00361004 0.99998428 0.00429002 0.15915938] [-0.00138021 -0.00429502 0.99998982 0.00314225] [ 0. 0. 0. 1. ]] SLAMing on 27.123133364999997 meters 0.2802694371558693 Centerline is valid? [False, False] Translation: X:0.32, Y:0.16, Z:0.00 [[ 9.99998899e-01 -5.55061381e-04 1.37603553e-03 3.21273946e-01] [ 5.54554541e-04 9.99999778e-01 3.68687132e-04 1.57451706e-01] [-1.37623987e-03 -3.67923639e-04 9.99998985e-01 3.31053591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183133365 meters 0.2809460245786659 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:0.00 [[ 9.99999294e-01 -3.29672373e-04 1.14142234e-03 3.21829699e-01] [ 3.28501261e-04 9.99999420e-01 1.02604601e-03 1.54804139e-01] [-1.14175994e-03 -1.02567033e-03 9.99998822e-01 3.36190133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243133365 meters 0.2804296905036377 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:0.00 [[ 9.99999616e-01 -2.88046484e-05 8.75665018e-04 3.22784746e-01] [ 2.72657768e-05 9.99998456e-01 1.75733587e-03 1.51676473e-01] [-8.75714285e-04 -1.75731132e-03 9.99998072e-01 2.81425663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303133365 meters 0.28011454898312027 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:0.00 [[ 9.99999588e-01 1.47258594e-04 8.95244221e-04 3.22728198e-01] [-1.49234231e-04 9.99997553e-01 2.20714692e-03 1.49848979e-01] [-8.94917009e-04 -2.20727962e-03 9.99997164e-01 2.89746764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363133365 meters 0.27928481097056707 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:0.00 [[ 9.99999532e-01 1.76300646e-04 9.50778737e-04 3.22768695e-01] [-1.78472918e-04 9.99997373e-01 2.28512839e-03 1.49523833e-01] [-9.50373370e-04 -2.28529701e-03 9.99996937e-01 2.50137480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423133364999998 meters 0.2815741496896015 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.00 [[ 9.99998909e-01 1.47589151e-03 5.92438844e-05 3.63712519e-01] [-1.47606281e-03 9.99994399e-01 3.00375681e-03 1.54899715e-01] [-5.48103334e-05 -3.00384098e-03 9.99995487e-01 3.84226578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483133365 meters 0.2803838109268392 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99999168e-01 1.28910385e-03 4.39413501e-05 3.63847590e-01] [-1.28920717e-03 9.99996196e-01 2.43857674e-03 1.57197715e-01] [-4.07976043e-05 -2.43863136e-03 9.99997026e-01 3.52342352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543133365 meters 0.28246751611016624 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99985567e-01 5.37274320e-03 -8.07713507e-06 3.64119659e-01] [-5.37259271e-03 9.99966773e-01 6.13099648e-03 1.59841286e-01] [ 4.10171363e-05 -6.13086459e-03 9.99981205e-01 3.13303518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603133364999998 meters 0.2809049814125871 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99999639e-01 8.48986344e-04 -2.57288070e-05 3.63887969e-01] [-8.48948686e-04 9.99998617e-01 1.42991988e-03 1.61703699e-01] [ 2.69427539e-05 -1.42989752e-03 9.99998977e-01 3.46908038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663133365 meters 0.2812471961402022 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.00 [[ 9.99999559e-01 8.69601164e-04 3.54774530e-04 3.62677962e-01] [-8.70132962e-04 9.99998494e-01 1.50158334e-03 1.61399104e-01] [-3.53468217e-04 -1.50189138e-03 9.99998810e-01 4.40303757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723133365 meters 0.2802401132535869 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999571e-01 8.23729788e-04 4.23646206e-04 3.62199319e-01] [-8.24318567e-04 9.99998692e-01 1.39149568e-03 1.61918913e-01] [-4.22499436e-04 -1.39184431e-03 9.99998942e-01 5.10238615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783133364999998 meters 0.28097438208812603 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999643e-01 7.54142905e-04 3.81895478e-04 3.62257690e-01] [-7.54608458e-04 9.99998971e-01 1.22038512e-03 1.62639083e-01] [-3.80974740e-04 -1.22067287e-03 9.99999182e-01 5.18818281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843133365 meters 0.28123820300648333 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999685e-01 6.96293990e-04 3.81289145e-04 3.62220764e-01] [-6.96702554e-04 9.99999182e-01 1.07245110e-03 1.63243326e-01] [-3.80542092e-04 -1.07271641e-03 9.99999352e-01 5.25660066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903133365 meters 0.2814499845731903 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999676e-01 6.57810751e-04 4.63318706e-04 3.62108212e-01] [-6.58261653e-04 9.99999309e-01 9.73720725e-04 1.63653931e-01] [-4.62677862e-04 -9.74025395e-04 9.99999419e-01 5.04598836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963133364999997 meters 0.2813399436239311 Centerline is valid? [False, False] Translation: X:0.38, Y:0.17, Z:0.00 [[ 0.9999699 0.00712135 0.00308004 0.38345787] [-0.00711591 0.99997311 -0.00177357 0.16604652] [-0.00309259 0.0017516 0.99999368 0.00401704] [ 0. 0. 0. 1. ]] SLAMing on 28.023133365 meters 0.2803905258950154 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 0.9999944 -0.00148309 0.00299843 0.36197422] [ 0.00148621 0.99999836 -0.00103659 0.16978024] [-0.00299688 0.00104104 0.99999497 0.00355581] [ 0. 0. 0. 1. ]] SLAMing on 28.083133365 meters 0.28149775221696083 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 0.99999271 -0.00166393 0.00343752 0.36078041] [ 0.00166963 0.99999724 -0.00165451 0.17228172] [-0.00343476 0.00166024 0.99999272 0.00391419] [ 0. 0. 0. 1. ]] SLAMing on 28.143133365 meters 0.28110645602747547 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 0.99999213 -0.00184696 0.0035112 0.3608376 ] [ 0.00185448 0.99999599 -0.00213966 0.17427797] [-0.00350723 0.00214615 0.99999155 0.00332505] [ 0. 0. 0. 1. ]] SLAMing on 28.203133365 meters 0.282584616245055 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 0.99999213 -0.00189154 0.00348689 0.36075756] [ 0.0018994 0.99999566 -0.00225272 0.17475296] [-0.00348262 0.00225933 0.99999138 0.00362052] [ 0. 0. 0. 1. ]] SLAMing on 28.263133364999998 meters 0.28189717772201484 Centerline is valid? [False, False] Translation: X:0.34, Y:0.17, Z:0.00 [[ 9.99965884e-01 -8.25747423e-03 2.13859880e-04 3.40297535e-01] [ 8.25740092e-03 9.99965849e-01 3.41463635e-04 1.72775050e-01] [-2.16672204e-04 -3.39686058e-04 9.99999919e-01 4.43650598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323133365 meters 0.2813994909974671 Centerline is valid? [False, False] Translation: X:0.34, Y:0.17, Z:0.00 [[ 9.99966022e-01 -8.24317102e-03 -6.91976359e-05 3.41292286e-01] [ 8.24319700e-03 9.99965951e-01 3.83948841e-04 1.72508026e-01] [ 6.60303238e-05 -3.84506205e-04 9.99999924e-01 3.64779387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383133365 meters 0.28160685656625545 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.00 [[ 9.99998839e-01 5.07101652e-04 -1.43696812e-03 3.62900722e-01] [-5.07476718e-04 9.99999837e-01 -2.60659378e-04 1.68356861e-01] [ 1.43683570e-03 2.61388303e-04 9.99998934e-01 4.92549075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443133364999998 meters 0.28003960112087695 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.01 [[ 9.99999245e-01 -1.20744201e-03 -2.26144021e-04 3.57176591e-01] [ 1.20702346e-03 9.99997575e-01 -1.84191359e-03 1.68812220e-01] [ 2.28367477e-04 1.84163924e-03 9.99998278e-01 8.96801351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503133365 meters 0.2805225819919707 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.01 [[ 9.99999456e-01 -9.99293622e-04 -2.97390028e-04 3.57276860e-01] [ 9.98914090e-04 9.99998690e-01 -1.27363218e-03 1.66481013e-01] [ 2.98662371e-04 1.27333442e-03 9.99999145e-01 9.20824585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563133365 meters 0.27971961420153285 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999567e-01 -8.27999630e-04 -4.24256572e-04 3.57662042e-01] [ 8.27644571e-04 9.99999308e-01 -8.36388698e-04 1.64641811e-01] [ 4.24948808e-04 8.36037203e-04 9.99999560e-01 9.09717648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623133364999997 meters 0.28019865360303364 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999739e-01 -6.15282786e-04 -3.79643834e-04 3.57108131e-01] [ 6.15176904e-04 9.99999772e-01 -2.78953104e-04 1.62201896e-01] [ 3.79815383e-04 2.78719483e-04 9.99999889e-01 1.02114339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683133365 meters 0.2804034700135425 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999828e-01 -5.05390827e-04 -2.97211688e-04 3.56823663e-01] [ 5.05389558e-04 9.99999872e-01 -4.34770795e-06 1.61064992e-01] [ 2.97213847e-04 4.19749952e-06 9.99999956e-01 1.04239771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743133365 meters 0.28078305246144053 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999839e-01 -4.06493958e-04 -3.97147397e-04 3.57302239e-01] [ 4.06588580e-04 9.99999889e-01 2.38202814e-04 1.60042770e-01] [ 3.97050525e-04 -2.38364252e-04 9.99999893e-01 9.95394972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803133364999997 meters 0.2798740431963966 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999956e-01 -2.13513451e-04 -2.08076386e-04 3.56749475e-01] [ 2.13657881e-04 9.99999736e-01 6.94344833e-04 1.58146170e-01] [ 2.07928079e-04 -6.94389260e-04 9.99999737e-01 1.01878674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863133365 meters 0.27944101953705075 Centerline is valid? [False, False] Translation: X:0.36, Y:0.16, Z:0.01 [[ 9.99999995e-01 -3.49143528e-05 -9.06103092e-05 3.56418449e-01] [ 3.50169422e-05 9.99999358e-01 1.13244989e-03 1.56310303e-01] [ 9.05707123e-05 -1.13245306e-03 9.99999355e-01 1.03171692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923133364999998 meters 0.28074531749149056 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.01 [[ 9.99999929e-01 2.06655400e-04 -3.15744833e-04 3.57542481e-01] [-2.06075571e-04 9.99998295e-01 1.83531415e-03 1.53161253e-01] [ 3.16123572e-04 -1.83524896e-03 9.99998266e-01 8.97887911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983133365 meters 0.28062847975679667 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.01 [[ 9.99999792e-01 5.43627119e-04 -3.46412702e-04 3.57436200e-01] [-5.42547960e-04 9.99995024e-01 3.10775686e-03 1.48259324e-01] [ 3.48100439e-04 -3.10756827e-03 9.99995111e-01 9.49369955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043133365 meters 0.28069949510627834 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 9.99999584e-01 8.49255361e-04 -3.33140677e-04 3.57312715e-01] [-8.47846367e-04 9.99990791e-01 4.20700874e-03 1.43970221e-01] [ 3.36710434e-04 -4.20672454e-03 9.99991095e-01 9.78421202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103133364999998 meters 0.28119389114107635 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 9.99995679e-01 -2.92023835e-03 -3.39122658e-04 3.57709365e-01] [ 2.92065243e-03 9.99994982e-01 1.22701657e-03 1.38187986e-01] [ 3.35537776e-04 -1.22800173e-03 9.99999190e-01 9.17077287e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163133365 meters 0.2816487878533074 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 9.99996209e-01 -2.72104400e-03 -4.20924218e-04 3.58079297e-01] [ 2.72176217e-03 9.99994825e-01 1.71512736e-03 1.36143261e-01] [ 4.16255103e-04 -1.71626652e-03 9.99998441e-01 8.87588936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223133365 meters 0.28165153061084225 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 0.99999578 -0.00270248 -0.00106587 0.35976376] [ 0.00270432 0.99999483 0.00173743 0.13602208] [ 0.00106117 -0.0017403 0.99999792 0.0082568 ] [ 0. 0. 0. 1. ]] SLAMing on 29.283133364999998 meters 0.2805217004466939 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.01 [[ 9.99978988e-01 6.43861491e-03 -7.53410871e-04 3.37402711e-01] [-6.43748704e-03 9.99978169e-01 1.48998648e-03 1.33273150e-01] [ 7.62987873e-04 -1.48510510e-03 9.99998606e-01 8.33967399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343133365 meters 0.2807431374222406 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.01 [[ 9.99979482e-01 6.38248616e-03 -5.46646649e-04 3.36922018e-01] [-6.38174590e-03 9.99978731e-01 1.34538888e-03 1.33890256e-01] [ 5.55221949e-04 -1.34187272e-03 9.99998946e-01 8.25929494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403133365 meters 0.2814016096895226 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 9.99998828e-01 -1.53089652e-03 -2.86947740e-05 3.56341146e-01] [ 1.53097056e-03 9.99994944e-01 2.78720731e-03 1.38398990e-01] [ 2.44277029e-05 -2.78724797e-03 9.99996115e-01 1.02696213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463133364999997 meters 0.28176570924940925 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:0.01 [[ 9.99998848e-01 -1.51248797e-03 1.26363157e-04 3.55715386e-01] [ 1.51212387e-03 9.99994843e-01 2.83338862e-03 1.38228953e-01] [-1.30647972e-04 -2.83319428e-03 9.99995978e-01 1.08649732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523133365 meters 0.2800270553524607 Centerline is valid? [False, False] Translation: X:0.32, Y:0.14, Z:0.01 [[ 9.99997550e-01 -2.09896165e-03 7.02590320e-04 3.18979756e-01] [ 2.09732987e-03 9.99995120e-01 2.31525200e-03 1.36817119e-01] [-7.07446517e-04 -2.31377276e-03 9.99997073e-01 6.57866051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583133365 meters 0.2804071624040346 Centerline is valid? [False, False] Translation: X:0.32, Y:0.14, Z:0.01 [[ 9.99997127e-01 -2.30802417e-03 6.47317158e-04 3.19229778e-01] [ 2.30685822e-03 9.99995726e-01 1.79620192e-03 1.38997470e-01] [-6.51460069e-04 -1.79470349e-03 9.99998177e-01 6.25940796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643133365 meters 0.2811137904420277 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.01 [[ 9.99979602e-01 5.37480791e-03 3.45060973e-03 3.38058288e-01] [-5.37523864e-03 9.99985547e-01 1.15565789e-04 1.40972772e-01] [-3.44993871e-03 -1.34111282e-04 9.99994040e-01 7.67989318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703133365 meters 0.28004255156515606 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.01 [[ 9.99979900e-01 5.28226589e-03 3.50677481e-03 3.37818753e-01] [-5.28190715e-03 9.99986044e-01 -1.11553870e-04 1.41952697e-01] [-3.50731513e-03 9.30291693e-05 9.99993845e-01 7.87525852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763133364999998 meters 0.28051653894280504 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.01 [[ 9.99981116e-01 5.11458719e-03 3.40712930e-03 3.38392215e-01] [-5.11274761e-03 9.99986779e-01 -5.48411270e-04 1.43783720e-01] [-3.40988915e-03 5.30981121e-04 9.99994045e-01 7.02401785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823133365 meters 0.2799031205843773 Centerline is valid? [False, False] Translation: X:0.32, Y:0.15, Z:0.01 [[ 9.99995115e-01 -2.66418082e-03 1.63485385e-03 3.19856199e-01] [ 2.66297901e-03 9.99996183e-01 7.36858040e-04 1.48867373e-01] [-1.63681073e-03 -7.32500859e-04 9.99998392e-01 5.72718170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883133365 meters 0.2808843304649083 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:0.01 [[ 0.99998173 0.00376236 0.00473189 0.338764 ] [-0.00375258 0.9999908 -0.00207576 0.1488167 ] [-0.00473965 0.00205797 0.99998665 0.00603626] [ 0. 0. 0. 1. ]] SLAMing on 29.943133364999998 meters 0.28124545726824707 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:0.01 [[ 0.99998131 0.00389171 0.00471601 0.33855735] [-0.00388362 0.99999097 -0.00172341 0.14737958] [-0.00472267 0.00170506 0.99998739 0.00662477] [ 0. 0. 0. 1. ]] SLAMing on 30.003133365 meters 0.282422343154867 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.01 [[ 0.9999812 0.00414534 0.00451878 0.33942707] [-0.00414067 0.99999088 -0.00104319 0.1444269 ] [-0.00452307 0.00102446 0.99998925 0.00586374] [ 0. 0. 0. 1. ]] SLAMing on 30.063133365 meters 0.2821203571917205 Centerline is valid? [False, False] Translation: X:0.36, Y:0.15, Z:0.01 [[ 9.99974245e-01 -3.65706405e-03 6.17545212e-03 3.58041663e-01] [ 3.65197960e-03 9.99992983e-01 8.34407937e-04 1.46250347e-01] [-6.17846027e-03 -8.11833821e-04 9.99980584e-01 7.13151618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123133364999997 meters 0.2827065034068921 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.01 [[ 9.99975427e-01 4.18847123e-03 5.62157473e-03 3.39012188e-01] [-4.18777733e-03 9.99991222e-01 -1.35201521e-04 1.36543852e-01] [-5.62209167e-03 1.11656296e-04 9.99984190e-01 6.41975425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183133365 meters 0.28187333264530023 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:0.01 [[ 9.99973639e-01 4.50868843e-03 5.69151729e-03 3.38738197e-01] [-4.51303349e-03 9.99989534e-01 7.50815041e-04 1.32877158e-01] [-5.68807253e-03 -7.76481257e-04 9.99983521e-01 6.73421481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243133365 meters 0.28156984568740784 Centerline is valid? [False, False] Translation: X:0.34, Y:0.12, Z:0.01 [[ 9.99983226e-01 9.08119493e-04 5.72042088e-03 3.38994605e-01] [-8.98650973e-04 9.99998222e-01 -1.65756687e-03 1.24825871e-01] [-5.72191598e-03 1.65239840e-03 9.99982264e-01 6.25383400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303133364999997 meters 0.28063609661002076 Centerline is valid? [False, False] Translation: X:0.32, Y:0.11, Z:0.01 [[ 0.99998616 -0.00498252 0.00168791 0.31837965] [ 0.00497899 0.99998543 0.00208622 0.11199679] [-0.00169828 -0.00207778 0.9999964 0.00813642] [ 0. 0. 0. 1. ]] SLAMing on 30.363133365 meters 0.28103778347169633 Centerline is valid? [False, False] Translation: X:0.32, Y:0.11, Z:0.01 [[ 0.99998774 -0.00469357 0.00157553 0.3188072 ] [ 0.00468918 0.99998514 0.00278219 0.10904279] [-0.00158857 -0.00277477 0.99999489 0.00790322] [ 0. 0. 0. 1. ]] SLAMing on 30.423133364999998 meters 0.2820780415607942 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99990175e-01 1.95160454e-03 3.98020620e-03 3.39354894e-01] [-1.95418431e-03 9.99997883e-01 6.44364382e-04 1.03568602e-01] [-3.97894023e-03 -6.52136108e-04 9.99991871e-01 7.53109306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483133365 meters 0.2834711352931283 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99990600e-01 2.08081517e-03 3.80400178e-03 3.40075431e-01] [-2.08453032e-03 9.99997354e-01 9.72939569e-04 1.02147791e-01] [-3.80196720e-03 -9.80859980e-04 9.99992291e-01 6.91109146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543133365 meters 0.28285237526440876 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 0.99999099 0.00217422 0.00364498 0.34060399] [-0.00217856 0.99999692 0.00118694 0.10119952] [-0.00364239 -0.00119487 0.99999265 0.00665793] [ 0. 0. 0. 1. ]] SLAMing on 30.603133364999998 meters 0.28267763947227753 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 0.99999052 0.00217109 0.00377442 0.34022411] [-0.00217556 0.99999693 0.00118193 0.10125549] [-0.00377184 -0.00119013 0.99999218 0.00681684] [ 0. 0. 0. 1. ]] SLAMing on 30.663133365 meters 0.2852508590209642 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:0.01 [[ 0.99997178 -0.0065819 0.00362293 0.36097234] [ 0.00657531 0.99997671 0.00182648 0.10536285] [-0.00363487 -0.00180261 0.99999177 0.00705218] [ 0. 0. 0. 1. ]] SLAMing on 30.723133365 meters 0.2832295846133157 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 0.99999677 0.00144166 0.00209241 0.34198602] [-0.00144381 0.99999843 0.00102676 0.09928916] [-0.00209093 -0.00102978 0.99999728 0.0061915 ] [ 0. 0. 0. 1. ]] SLAMing on 30.783133364999998 meters 0.2835845798990844 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 0.99999658 0.00145653 0.00217291 0.34156693] [-0.00145884 0.99999837 0.00106132 0.09916746] [-0.00217136 -0.00106449 0.99999708 0.00670087] [ 0. 0. 0. 1. ]] SLAMing on 30.843133365 meters 0.2841026212865309 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99996564e-01 1.35771561e-03 2.24227187e-03 3.41353962e-01] [-1.35956804e-03 9.99998736e-01 8.24819784e-04 1.00204681e-01] [-2.24114916e-03 -8.27865471e-04 9.99997146e-01 6.75043897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903133365 meters 0.2842707024783413 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99996973e-01 1.07812261e-03 2.21177531e-03 3.41414661e-01] [-1.07839260e-03 9.99999411e-01 1.20878557e-04 1.03166028e-01] [-2.21164369e-03 -1.23263353e-04 9.99997547e-01 6.69910252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963133364999997 meters 0.28410477117083816 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.01 [[ 9.99997390e-01 8.22936453e-04 2.13147440e-03 3.41544553e-01] [-8.21932292e-04 9.99999551e-01 -4.71943786e-04 1.05705439e-01] [-2.13186182e-03 4.70190626e-04 9.99997617e-01 6.81439918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023133365 meters 0.28277373387324806 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:0.01 [[ 9.99967086e-01 -7.64797124e-03 2.70844304e-03 3.61644160e-01] [ 7.64782336e-03 9.99970753e-01 6.49520114e-05 1.12646662e-01] [-2.70886058e-03 -4.42361796e-05 9.99996330e-01 8.24720764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083133365 meters 0.2824345658652517 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.01 [[ 9.99997309e-01 8.74118857e-04 2.14898977e-03 3.42257196e-01] [-8.72173096e-04 9.99999209e-01 -9.06201347e-04 1.08030548e-01] [-2.14978020e-03 9.04324617e-04 9.99997280e-01 8.00455371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143133365 meters 0.28310235676287787 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.01 [[ 9.99996861e-01 1.07626342e-03 2.26263591e-03 3.41828453e-01] [-1.07556876e-03 9.99999374e-01 -3.08210014e-04 1.05618406e-01] [-2.26296621e-03 3.05775426e-04 9.99997393e-01 8.47756181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203133365 meters 0.2827033743161687 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99997016e-01 1.28786147e-03 2.07578975e-03 3.42412126e-01] [-1.28822088e-03 9.99999155e-01 1.71817779e-04 1.03541471e-01] [-2.07556672e-03 -1.74491342e-04 9.99997831e-01 8.30668137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263133364999998 meters 0.2841245554992769 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99997158e-01 1.39900497e-03 1.93041494e-03 3.42971696e-01] [-1.39991189e-03 9.99998910e-01 4.68534321e-04 1.02297300e-01] [-1.92975736e-03 -4.71235401e-04 9.99998027e-01 7.83830039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323133365 meters 0.28296566038883203 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:0.01 [[ 0.99999393 -0.00259753 0.00232199 0.341906 ] [ 0.00260447 0.99999214 -0.00298899 0.09874707] [-0.00231421 0.00299502 0.99999284 0.0082989 ] [ 0. 0. 0. 1. ]] SLAMing on 31.383133365 meters 0.28364105144828794 Centerline is valid? [False, False] Translation: X:0.36, Y:0.09, Z:0.01 [[ 0.99997511 0.00607214 0.0035928 0.36063538] [-0.00606133 0.99997709 -0.00301224 0.08869486] [-0.00361101 0.00299039 0.99998901 0.00966257] [ 0. 0. 0. 1. ]] SLAMing on 31.443133364999998 meters 0.28161537292326866 Centerline is valid? [False, False] Translation: X:0.34, Y:0.08, Z:0.01 [[ 0.99999255 -0.00362818 0.00131454 0.34012484] [ 0.00363141 0.99999038 -0.0024615 0.08262782] [-0.00130559 0.00246625 0.99999611 0.00986125] [ 0. 0. 0. 1. ]] SLAMing on 31.503133365 meters 0.28185184156191717 Centerline is valid? [False, False] Translation: X:0.36, Y:0.07, Z:0.01 [[ 0.99998087 0.00428802 0.0044581 0.35739945] [-0.00427714 0.99998786 -0.00244628 0.07166685] [-0.00446853 0.00242717 0.99998707 0.01193716] [ 0. 0. 0. 1. ]] SLAMing on 31.563133365 meters 0.281001548712396 Centerline is valid? [False, False] Translation: X:0.36, Y:0.07, Z:0.01 [[ 9.99979797e-01 4.72855853e-03 4.24809091e-03 3.57739204e-01] [-4.72548235e-03 9.99988566e-01 -7.33877955e-04 6.50330912e-02] [-4.25151252e-03 7.13788850e-04 9.99990708e-01 1.22296426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623133364999997 meters 0.28150241355216865 Centerline is valid? [False, False] Translation: X:0.36, Y:0.06, Z:0.01 [[ 9.99979517e-01 4.89633225e-03 4.12206588e-03 3.58173895e-01] [-4.89517475e-03 9.99987976e-01 -2.90850087e-04 6.31696069e-02] [-4.12344042e-03 2.70665897e-04 9.99991462e-01 1.19595398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683133365 meters 0.2813373156797956 Centerline is valid? [False, False] Translation: X:0.36, Y:0.06, Z:0.01 [[ 9.99978704e-01 5.18783482e-03 3.95956754e-03 3.58762939e-01] [-5.18965093e-03 9.99986433e-01 4.48528072e-04 6.00115961e-02] [-3.95718693e-03 -4.69067293e-04 9.99992060e-01 1.16046055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743133365 meters 0.2825785549355232 Centerline is valid? [False, False] Translation: X:0.36, Y:0.06, Z:0.01 [[ 0.99997801 0.00540663 0.00384125 0.35944254] [-0.00541053 0.99998486 0.0010062 0.05757047] [-0.00383575 -0.00102696 0.99999212 0.01077259] [ 0. 0. 0. 1. ]] SLAMing on 31.803133364999997 meters 0.28165105334803403 Centerline is valid? [False, False] Translation: X:0.34, Y:0.06, Z:0.01 [[ 0.99999181 -0.0031956 0.00248161 0.33971091] [ 0.00318963 0.99999202 0.00240433 0.05805246] [-0.00248927 -0.0023964 0.99999403 0.01015933] [ 0. 0. 0. 1. ]] SLAMing on 31.863133365 meters 0.28108751786591657 Centerline is valid? [False, False] Translation: X:0.34, Y:0.06, Z:0.01 [[ 0.9999922 -0.00307475 0.00247839 0.33964923] [ 0.00306804 0.99999163 0.00270535 0.05679908] [-0.00248669 -0.00269772 0.99999327 0.01033013] [ 0. 0. 0. 1. ]] SLAMing on 31.923133364999998 meters 0.28324306257494086 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:0.01 [[ 0.99999296 -0.00289889 0.00238137 0.33997239] [ 0.00289141 0.9999909 0.00313686 0.05495447] [-0.00239044 -0.00312995 0.99999224 0.01018271] [ 0. 0. 0. 1. ]] SLAMing on 31.983133365 meters 0.2816345169094484 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:0.01 [[ 9.99995405e-01 2.50724142e-03 1.70404526e-03 3.17626853e-01] [-2.50713918e-03 9.99996855e-01 -6.21330679e-05 5.02905566e-02] [-1.70419569e-03 5.78605038e-05 9.99998546e-01 1.07641683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043133364999996 meters 0.2827100776652019 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:0.01 [[ 0.99998116 -0.00512191 0.00338262 0.33703507] [ 0.00511669 0.99998571 0.00154819 0.05069696] [-0.0033905 -0.00153085 0.99999308 0.01245557] [ 0. 0. 0. 1. ]] SLAMing on 32.103133365 meters 0.2812742270854121 Centerline is valid? [False, False] Translation: X:0.34, Y:0.05, Z:0.01 [[ 0.99998183 -0.00491031 0.00349663 0.33658156] [ 0.004903 0.99998578 0.00209553 0.04839854] [-0.00350687 -0.00207835 0.99999169 0.01288271] [ 0. 0. 0. 1. ]] SLAMing on 32.16313336499999 meters 0.28184506825198263 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:0.01 [[ 0.99998073 0.00335067 0.00522543 0.35411005] [-0.00335785 0.99999343 0.00136638 0.03831262] [-0.00522081 -0.0013839 0.99998541 0.01497257] [ 0. 0. 0. 1. ]] SLAMing on 32.223133364999995 meters 0.28185741748158843 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:0.01 [[ 0.99998028 0.00366173 0.00510268 0.35451378] [-0.00367289 0.99999088 0.00218005 0.03493662] [-0.00509465 -0.00219875 0.9999846 0.01481117] [ 0. 0. 0. 1. ]] SLAMing on 32.283133365 meters 0.2823356377252642 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:0.01 [[ 9.99986906e-01 -2.56124638e-04 5.11099294e-03 3.54599481e-01] [ 2.61503081e-04 9.99999413e-01 -1.05168790e-03 3.08544186e-02] [-5.11072057e-03 1.05301067e-03 9.99986386e-01 1.45879480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34313336499999 meters 0.2814617483653669 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:0.01 [[ 9.99986970e-01 -7.05029188e-05 5.10442730e-03 3.54600573e-01] [ 7.34599479e-05 9.99999830e-01 -5.79121570e-04 2.89059454e-02] [-5.10438560e-03 5.79488995e-04 9.99986805e-01 1.46591499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403133364999995 meters 0.284385372885409 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:0.01 [[ 9.99939324e-01 1.01843219e-02 4.19850088e-03 3.78737281e-01] [-1.01840609e-02 9.99948138e-01 -8.35410090e-05 2.46551090e-02] [-4.19913394e-03 4.07781515e-05 9.99991183e-01 1.33280081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463133365 meters 0.2848236624787355 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:0.01 [[ 0.99996796 0.00643649 0.00475961 0.37732763] [-0.00642214 0.9999748 -0.00302449 0.0205251 ] [-0.00477896 0.00299383 0.9999841 0.01347868] [ 0. 0. 0. 1. ]] SLAMing on 32.52313336499999 meters 0.28528076735926433 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:0.01 [[ 0.99996689 0.0065868 0.00477798 0.37716626] [-0.00657421 0.99997489 -0.00264586 0.01897009] [-0.00479529 0.00261436 0.99998509 0.01374995] [ 0. 0. 0. 1. ]] SLAMing on 32.583133364999995 meters 0.28616134610684135 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.01 [[ 0.99999035 -0.00180928 0.00400444 0.39943218] [ 0.0018162 0.99999686 -0.00172477 0.02009765] [-0.00400131 0.00173203 0.99999049 0.01320974] [ 0. 0. 0. 1. ]] SLAMing on 32.643133365 meters 0.2862692494191785 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.01 [[ 0.9999912 -0.00152803 0.00390599 0.39962614] [ 0.00153226 0.99999824 -0.00107889 0.01731855] [-0.00390433 0.00108486 0.99999179 0.01338978] [ 0. 0. 0. 1. ]] SLAMing on 32.70313336499999 meters 0.2844134998090544 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.01 [[ 9.99991397e-01 -1.45652777e-03 3.88397730e-03 3.99570384e-01] [ 1.46004100e-03 9.99998527e-01 -9.01864511e-04 1.65950492e-02] [-3.88265799e-03 9.07527518e-04 9.99992051e-01 1.36385054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763133364999995 meters 0.28513206194617907 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:0.01 [[ 0.99999142 -0.00155728 0.00383789 0.39963923] [ 0.00156171 0.99999812 -0.0011523 0.01765103] [-0.00383609 0.00115828 0.99999197 0.01372322] [ 0. 0. 0. 1. ]] SLAMing on 32.823133365 meters 0.2875258995482745 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.02 [[ 9.99991205e-01 4.06668210e-05 4.19373562e-03 4.33778751e-01] [-3.54297041e-05 9.99999220e-01 -1.24886193e-03 2.49002096e-02] [-4.19378314e-03 1.24870237e-03 9.99990426e-01 1.87685210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88313336499999 meters 0.28608648130465847 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.02 [[ 9.99990556e-01 -3.08088987e-04 4.33498796e-03 4.33207650e-01] [ 3.17383268e-04 9.99997652e-01 -2.14349094e-03 2.86988483e-02] [-4.33431739e-03 2.14484655e-03 9.99988307e-01 1.91764104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943133364999994 meters 0.2843225986768499 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.02 [[ 0.99998364 0.00371052 0.00435318 0.4329374 ] [-0.00371664 0.99999212 0.00139859 0.03195777] [-0.00434795 -0.00141475 0.99998955 0.01962495] [ 0. 0. 0. 1. ]] SLAMing on 33.003133365 meters 0.28654272408975207 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:0.02 [[ 0.99998158 -0.0048499 0.00364973 0.45552125] [ 0.00484517 0.99998741 0.00130453 0.03779757] [-0.00365601 -0.00128682 0.99999249 0.02024848] [ 0. 0. 0. 1. ]] SLAMing on 33.063133365 meters 0.2841722717318476 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 9.99995315e-01 2.76972655e-03 1.30350575e-03 4.37402539e-01] [-2.77002501e-03 9.99996138e-01 2.27221037e-04 3.37411058e-02] [-1.30287138e-03 -2.30830716e-04 9.99999125e-01 1.88291907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123133364999994 meters 0.28455865029787897 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 9.99994966e-01 2.87259537e-03 1.34768077e-03 4.37294472e-01] [-2.87323245e-03 9.99995761e-01 4.71026103e-04 3.27027789e-02] [-1.34632199e-03 -4.74895932e-04 9.99998981e-01 1.88266970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183133364999996 meters 0.2843359162786077 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 9.99995125e-01 2.85455757e-03 1.26540458e-03 4.37788162e-01] [-2.85510579e-03 9.99995831e-01 4.31637746e-04 3.28387273e-02] [-1.26416717e-03 -4.35248506e-04 9.99999106e-01 1.81534869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243133365 meters 0.285585380447252 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 9.99995023e-01 2.94963478e-03 1.11930630e-03 4.38467472e-01] [-2.95041693e-03 9.99995404e-01 6.97774490e-04 3.16063963e-02] [-1.11724297e-03 -7.01073438e-04 9.99999130e-01 1.74032118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303133364999994 meters 0.2835518491424003 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 0.9999939 0.00323354 0.00132281 0.43739264] [-0.00323571 0.99999341 0.00164696 0.02777554] [-0.00131748 -0.00165123 0.99999777 0.01875681] [ 0. 0. 0. 1. ]] SLAMing on 33.363133364999996 meters 0.28400419145389555 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:0.02 [[ 0.99999342 0.00342176 0.00120325 0.43744377] [-0.0034244 0.99999172 0.00219896 0.02554076] [-0.00119572 -0.00220306 0.99999686 0.01931801] [ 0. 0. 0. 1. ]] SLAMing on 33.423133365 meters 0.28380329532838205 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.02 [[ 0.99999276 0.00355552 0.0013551 0.43686916] [-0.00355897 0.99999039 0.00255914 0.02409018] [-0.00134599 -0.00256395 0.99999581 0.01984966] [ 0. 0. 0. 1. ]] SLAMing on 33.48313336499999 meters 0.282482891532686 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.02 [[ 9.99998970e-01 -4.99883880e-04 1.34524851e-03 4.36230823e-01] [ 5.01386761e-04 9.99999250e-01 -1.11707144e-03 2.15434287e-02] [-1.34468909e-03 1.11774478e-03 9.99998471e-01 2.11967475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543133364999996 meters 0.2825754067794285 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.02 [[ 9.99998997e-01 -3.63526097e-04 1.36894008e-03 4.35938168e-01] [ 3.64548623e-04 9.99999655e-01 -7.46772055e-04 2.00105301e-02] [-1.36866814e-03 7.47270351e-04 9.99998784e-01 2.17449740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603133365 meters 0.2811126375303729 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.02 [[ 9.99998790e-01 7.41189669e-06 1.55529602e-03 4.35198613e-01] [-8.00078766e-06 9.99999928e-01 3.78630059e-04 1.58441967e-02] [-1.55529310e-03 -3.78642045e-04 9.99998719e-01 2.24120363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66313336499999 meters 0.28065083799421175 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.02 [[ 9.99999183e-01 1.73623949e-04 1.26633431e-03 4.36011071e-01] [-1.74780534e-04 9.99999568e-01 9.13279023e-04 1.35800982e-02] [-1.26617519e-03 -9.13499608e-04 9.99998781e-01 2.21379982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723133364999995 meters 0.2809740118397182 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:0.02 [[ 0.99999242 -0.00367691 0.00127702 0.43542632] [ 0.00367975 0.99999075 -0.00222805 0.008838 ] [-0.00126882 0.00223273 0.9999967 0.02328501] [ 0. 0. 0. 1. ]] SLAMing on 33.783133365 meters 0.28016622633966637 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.02 [[ 0.99998988 0.00358086 -0.00272279 0.41978265] [-0.00358716 0.9999909 -0.00231118 -0.0020552 ] [ 0.00271449 0.00232093 0.99999362 0.02159187] [ 0. 0. 0. 1. ]] SLAMing on 33.84313336499999 meters 0.2808598275943203 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.02 [[ 9.99989992e-01 -4.29244797e-03 -1.26106604e-03 4.40359674e-01] [ 4.29144844e-03 9.99990476e-01 -7.94245545e-04 -5.29142393e-03] [ 1.26446329e-03 7.88825796e-04 9.99998889e-01 2.26792071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903133364999995 meters 0.2809415003272418 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.02 [[ 9.99991592e-01 -3.86701940e-03 -1.36463025e-03 4.40646364e-01] [ 3.86742515e-03 9.99992478e-01 2.94818848e-04 -9.90986828e-03] [ 1.36347992e-03 -3.00093975e-04 9.99999025e-01 2.25996371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963133365 meters 0.2805898408807366 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.02 [[ 9.99985997e-01 3.30316105e-03 -4.13462718e-03 4.23472527e-01] [-3.30562268e-03 9.99994363e-01 -5.88677052e-04 -1.75614161e-02] [ 4.13265938e-03 6.02336326e-04 9.99991279e-01 2.07278731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02313336499999 meters 0.2810990542637415 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.02 [[ 9.99985309e-01 3.42113994e-03 -4.20448547e-03 4.23625329e-01] [-3.42236710e-03 9.99994103e-01 -2.84710817e-04 -1.88304769e-02] [ 4.20348664e-03 2.99095927e-04 9.99991121e-01 2.07637951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083133364999995 meters 0.28032625134864375 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.02, Z:0.02 [[ 9.99985983e-01 3.47289146e-03 -3.99658010e-03 4.22959625e-01] [-3.47351942e-03 9.99993956e-01 -1.50192104e-04 -1.93648946e-02] [ 3.99603435e-03 1.64072197e-04 9.99992002e-01 2.11670657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143133365 meters 0.27951371399863395 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.02, Z:0.02 [[ 9.99975786e-01 -5.44578305e-03 -4.33253142e-03 4.03354810e-01] [ 5.44995652e-03 9.99984696e-01 9.52063923e-04 -1.53867888e-02] [ 4.32728038e-03 -9.75652977e-04 9.99990161e-01 1.98405997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20313336499999 meters 0.2802694499016234 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:0.02 [[ 9.99993344e-01 3.16409587e-03 -1.81672374e-03 4.22243193e-01] [-3.16534795e-03 9.99994754e-01 -6.86738872e-04 -1.28347906e-02] [ 1.81454130e-03 6.92484864e-04 9.99998114e-01 2.04274338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263133364999995 meters 0.28059917385840394 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.02 [[ 9.99986510e-01 -5.19217140e-03 1.44998129e-04 4.41456680e-01] [ 5.19221456e-03 9.99986476e-01 -2.98831196e-04 -8.88129151e-03] [-1.43444585e-04 2.99580026e-04 9.99999945e-01 2.15830365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323133365 meters 0.2788805992724076 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.01, Z:0.02 [[ 9.99990151e-01 4.33295433e-03 -9.60489935e-04 4.20540558e-01] [-4.33249918e-03 9.99990502e-01 4.75450146e-04 -1.21067503e-02] [ 9.62540916e-04 -4.71284142e-04 9.99999426e-01 2.15599560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38313336499999 meters 0.27985301519268296 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:0.02 [[ 9.99992203e-01 -3.93538755e-03 -3.27314793e-04 4.42044227e-01] [ 3.93571891e-03 9.99991737e-01 1.01794028e-03 -9.88789058e-03] [ 3.23306098e-04 -1.01922056e-03 9.99999428e-01 2.22936167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443133364999994 meters 0.2775143758967352 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:0.02 [[ 0.99998916 0.00190383 -0.00424905 0.42081525] [-0.00191096 0.99999677 -0.00167546 -0.00352854] [ 0.00424585 0.00168356 0.99998957 0.02420417] [ 0. 0. 0. 1. ]] SLAMing on 34.503133365 meters 0.27993942840611963 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:0.02 [[ 0.99998901 -0.0032038 -0.0034234 0.44501938] [ 0.00320749 0.99999428 0.00107229 0.00190986] [ 0.00341995 -0.00108326 0.99999357 0.02240425] [ 0. 0. 0. 1. ]] SLAMing on 34.563133365 meters 0.2797624106129373 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:0.02 [[ 9.99989019e-01 -3.35512485e-03 -3.27182156e-03 4.44627199e-01] [ 3.35740514e-03 9.99994125e-01 6.91702374e-04 3.49548085e-03] [ 3.26948159e-03 -7.02679609e-04 9.99994408e-01 2.24643870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623133364999994 meters 0.27895912116502425 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.02 [[ 9.99971258e-01 5.09143321e-03 -5.61795943e-03 4.25921049e-01] [-5.09068288e-03 9.99987031e-01 1.47850745e-04 2.33974378e-03] [ 5.61863934e-03 -1.19247245e-04 9.99984208e-01 2.16812432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683133364999996 meters 0.27999909109779636 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:0.02 [[ 9.99969397e-01 4.99606043e-03 -6.02039445e-03 4.27061317e-01] [-4.99698680e-03 9.99987505e-01 -1.38838996e-04 3.44486653e-03] [ 6.01962558e-03 1.68918579e-04 9.99981868e-01 2.11088648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743133365 meters 0.28004739135827883 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.02 [[ 9.99970805e-01 4.70828496e-03 -6.01839152e-03 4.26904014e-01] [-4.71347681e-03 9.99988531e-01 -8.48770346e-04 6.49338894e-03] [ 6.01432625e-03 8.77113116e-04 9.99981529e-01 2.14519041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803133364999994 meters 0.2791742146535184 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.02 [[ 0.99997194 0.00446547 -0.00601499 0.42693668] [-0.00447431 0.99998893 -0.00145673 0.0090433 ] [ 0.00600841 0.0014836 0.99998085 0.02140016] [ 0. 0. 0. 1. ]] SLAMing on 34.863133364999996 meters 0.2792840192247438 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:0.02 [[ 0.99997315 0.00425058 -0.0059688 0.42680438] [-0.00426258 0.99998892 -0.00199995 0.01131627] [ 0.00596023 0.00202534 0.99998019 0.0214854 ] [ 0. 0. 0. 1. ]] SLAMing on 34.923133365 meters 0.2788019002329427 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.02 [[ 0.99997728 0.00385272 -0.00553105 0.42556358] [-0.00387194 0.99998649 -0.00346867 0.01734187] [ 0.00551761 0.00349001 0.99997869 0.02204014] [ 0. 0. 0. 1. ]] SLAMing on 34.98313336499999 meters 0.2787296375050463 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.02 [[ 0.9999784 0.00347384 -0.00557875 0.42573076] [-0.00349932 0.99998346 -0.0045639 0.02177449] [ 0.00556281 0.00458332 0.99997402 0.02203231] [ 0. 0. 0. 1. ]] SLAMing on 35.043133364999996 meters 0.27955167782515405 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.02 [[ 0.99999293 -0.00103604 -0.00361453 0.4474783 ] [ 0.00102945 0.99999781 -0.00182454 0.03181716] [ 0.00361642 0.00182081 0.9999918 0.0218313 ] [ 0. 0. 0. 1. ]] SLAMing on 35.103133365 meters 0.27821819368392153 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.02 [[ 9.99997214e-01 9.08273748e-04 -2.17894391e-03 4.42490323e-01] [-9.10826155e-04 9.99998900e-01 -1.17068996e-03 4.22171782e-02] [ 2.17787821e-03 1.17267134e-03 9.99996941e-01 2.40977245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16313336499999 meters 0.27867475140005227 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.02 [[ 9.99997188e-01 5.45017233e-04 -2.30810430e-03 4.42951924e-01] [-5.49629368e-04 9.99997853e-01 -1.99807241e-03 4.56310335e-02] [ 2.30701036e-03 1.99933540e-03 9.99995340e-01 2.38668523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223133364999995 meters 0.27889676544741676 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.02 [[ 9.99987740e-01 4.29909780e-03 -2.45707155e-03 4.43442492e-01] [-4.29738870e-03 9.99990521e-01 7.00441481e-04 5.11920341e-02] [ 2.46005953e-03 -6.89873903e-04 9.99996736e-01 2.36398071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283133365 meters 0.27922468438204634 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:0.03 [[ 0.99999075 -0.00352373 -0.00246817 0.46341208] [ 0.00352652 0.99999315 0.00112603 0.06211558] [ 0.00246419 -0.00113472 0.99999632 0.02514835] [ 0. 0. 0. 1. ]] SLAMing on 35.34313336499999 meters 0.279452186392156 Centerline is valid? [False, False] Translation: X:0.46, Y:0.07, Z:0.02 [[ 9.99989439e-01 -3.81621172e-03 -2.56076268e-03 4.63982402e-01] [ 3.81719948e-03 9.99992642e-01 3.80951397e-04 6.52760713e-02] [ 2.55929004e-03 -3.90722316e-04 9.99996649e-01 2.44089366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403133364999995 meters 0.28078532542343665 Centerline is valid? [False, False] Translation: X:0.46, Y:0.07, Z:0.02 [[ 9.99987689e-01 -4.23052683e-03 -2.59329177e-03 4.64163476e-01] [ 4.22909238e-03 9.99990901e-01 -5.58372322e-04 6.91729641e-02] [ 2.59563039e-03 5.47398177e-04 9.99996482e-01 2.42916951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463133365 meters 0.2794710352838095 Centerline is valid? [False, False] Translation: X:0.44, Y:0.07, Z:0.02 [[ 0.99998401 0.00419348 -0.00379318 0.44365085] [-0.00419952 0.99998992 -0.0015876 0.06886097] [ 0.00378649 0.00160351 0.99999155 0.02377777] [ 0. 0. 0. 1. ]] SLAMing on 35.52313336499999 meters 0.28076092673244096 Centerline is valid? [False, False] Translation: X:0.47, Y:0.07, Z:0.02 [[ 9.99981429e-01 -2.32050677e-03 -5.63531034e-03 4.69202067e-01] [ 2.32303268e-03 9.99997204e-01 4.41724943e-04 7.43061036e-02] [ 5.63426956e-03 -4.54807750e-04 9.99984024e-01 2.24535420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583133364999995 meters 0.2797705156032194 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.02 [[ 9.99980456e-01 -2.53954472e-03 -5.71306688e-03 4.69385094e-01] [ 2.53884543e-03 9.99996769e-01 -1.29651313e-04 7.66440994e-02] [ 5.71337767e-03 1.15144185e-04 9.99983672e-01 2.24977101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643133365 meters 0.28113628881287844 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.02 [[ 9.99980228e-01 -2.83486633e-03 -5.61304333e-03 4.68977440e-01] [ 2.82965149e-03 9.99995558e-01 -9.36780741e-04 7.99577382e-02] [ 5.61567405e-03 9.20879263e-04 9.99983808e-01 2.29284838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70313336499999 meters 0.280719250171807 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.02 [[ 0.99998036 -0.00307799 -0.0054591 0.46843012] [ 0.00306964 0.99999411 -0.00153663 0.08243672] [ 0.0054638 0.00151984 0.99998392 0.0233235 ] [ 0. 0. 0. 1. ]] SLAMing on 35.763133364999995 meters 0.27997000658548865 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.02 [[ 0.99998174 -0.00318738 -0.00513478 0.46740204] [ 0.00317805 0.99999329 -0.00182443 0.08356002] [ 0.00514056 0.00180808 0.99998515 0.0239843 ] [ 0. 0. 0. 1. ]] SLAMing on 35.823133365 meters 0.2812886711148722 Centerline is valid? [False, False] Translation: X:0.49, Y:0.08, Z:0.02 [[ 0.99997797 0.0055839 -0.00358744 0.48707445] [-0.00559303 0.99998113 -0.00254006 0.08017842] [ 0.00357319 0.00256007 0.99999034 0.02416116] [ 0. 0. 0. 1. ]] SLAMing on 35.88313336499999 meters 0.280326292335759 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 9.99983290e-01 -1.02697969e-03 -5.68909027e-03 4.65470736e-01] [ 1.02649292e-03 9.99999469e-01 -8.84824794e-05 8.26490292e-02] [ 5.68917812e-03 8.26411899e-05 9.99983813e-01 2.52831460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943133364999994 meters 0.2815145616429333 Centerline is valid? [False, False] Translation: X:0.47, Y:0.08, Z:0.03 [[ 9.99982691e-01 -1.22314566e-03 -5.75517196e-03 4.65676974e-01] [ 1.21997904e-03 9.99999103e-01 -5.53699203e-04 8.45852544e-02] [ 5.75584405e-03 5.46668429e-04 9.99983286e-01 2.52348557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003133365 meters 0.2804128442098031 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:0.03 [[ 0.99998377 -0.00154252 -0.00548385 0.46497748] [ 0.00153541 0.99999798 -0.00130073 0.08774225] [ 0.00548585 0.00129229 0.99998412 0.02534319] [ 0. 0. 0. 1. ]] SLAMing on 36.06313336499999 meters 0.28227455353624625 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.02 [[ 0.99998263 -0.00167416 -0.00565096 0.46578898] [ 0.00166486 0.99999725 -0.00165112 0.08923237] [ 0.00565371 0.00164168 0.99998267 0.02436421] [ 0. 0. 0. 1. ]] SLAMing on 36.123133364999994 meters 0.2822981327705874 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.02 [[ 0.99998078 -0.00180028 -0.0059322 0.46683818] [ 0.00178845 0.9999964 -0.00199974 0.09067341] [ 0.00593578 0.00198909 0.9999804 0.02346445] [ 0. 0. 0. 1. ]] SLAMing on 36.183133364999996 meters 0.28498154590468766 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.02 [[ 0.99998133 -0.00186799 -0.00581878 0.4662805 ] [ 0.0018554 0.99999593 -0.00216822 0.09132883] [ 0.0058228 0.00215738 0.99998072 0.02408887] [ 0. 0. 0. 1. ]] SLAMing on 36.243133365 meters 0.2822014640670659 Centerline is valid? [False, False] Translation: X:0.47, Y:0.09, Z:0.02 [[ 0.99998083 -0.00205004 -0.00584203 0.46633814] [ 0.00203484 0.99999453 -0.00260732 0.09316544] [ 0.00584734 0.00259538 0.99997954 0.02414689] [ 0. 0. 0. 1. ]] SLAMing on 36.303133364999994 meters 0.2812406747573314 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.02 [[ 0.99998129 -0.0023099 -0.00566395 0.46561826] [ 0.00229027 0.99999136 -0.0034698 0.09668533] [ 0.00567191 0.00345677 0.99997794 0.02482045] [ 0. 0. 0. 1. ]] SLAMing on 36.363133364999996 meters 0.28079359859108766 Centerline is valid? [False, False] Translation: X:0.47, Y:0.10, Z:0.03 [[ 0.99997709 -0.00264869 -0.00623005 0.46665573] [ 0.00261923 0.99998537 -0.00473206 0.10154395] [ 0.00624249 0.00471564 0.9999694 0.02540889] [ 0. 0. 0. 1. ]] SLAMing on 36.423133365 meters 0.28357145106788706 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 9.99988835e-01 -9.71981452e-04 -4.62443221e-03 5.09153873e-01] [ 9.55473630e-04 9.99993169e-01 -3.57056809e-03 1.06138152e-01] [ 4.62787115e-03 3.56610970e-03 9.99982933e-01 2.58796824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48313336499999 meters 0.2808167546579098 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99998826 -0.001511 -0.00460407 0.50890056] [ 0.00148876 0.99998723 -0.00482986 0.11137675] [ 0.00461131 0.00482295 0.99997774 0.02636571] [ 0. 0. 0. 1. ]] SLAMing on 36.543133364999996 meters 0.28149090840620467 Centerline is valid? [False, False] Translation: X:0.51, Y:0.11, Z:0.03 [[ 0.99998857 -0.00166756 -0.00448199 0.50839288] [ 0.00164424 0.99998512 -0.00520121 0.11289151] [ 0.0044906 0.00519378 0.99997643 0.02682589] [ 0. 0. 0. 1. ]] SLAMing on 36.603133365 meters 0.2797109384340267 Centerline is valid? [False, False] Translation: X:0.51, Y:0.12, Z:0.03 [[ 0.99999246 0.00124613 -0.00367726 0.50606339] [-0.00125773 0.99999423 -0.00315478 0.11765619] [ 0.00367331 0.00315938 0.99998826 0.02750762] [ 0. 0. 0. 1. ]] SLAMing on 36.66313336499999 meters 0.28215763313364406 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:0.03 [[ 9.99985920e-01 -4.70047117e-03 -2.46265843e-03 5.29008475e-01] [ 4.70095619e-03 9.99988932e-01 1.91197640e-04 1.18054293e-01] [ 2.46173245e-03 -2.02771797e-04 9.99996949e-01 2.62976654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723133364999995 meters 0.28129507620184374 Centerline is valid? [False, False] Translation: X:0.51, Y:0.13, Z:0.03 [[ 9.99975825e-01 4.75076857e-03 -5.07728177e-03 5.09139311e-01] [-4.75423583e-03 9.99988473e-01 -6.71045979e-04 1.25529299e-01] [ 5.07403526e-03 6.95168352e-04 9.99986885e-01 2.65632495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783133365 meters 0.2798184996644297 Centerline is valid? [False, False] Translation: X:0.51, Y:0.13, Z:0.03 [[ 0.9999769 0.0044485 -0.00513833 0.5093527 ] [-0.00445799 0.99998838 -0.0018372 0.12990174] [ 0.0051301 0.00186006 0.99998511 0.0264861 ] [ 0. 0. 0. 1. ]] SLAMing on 36.84313336499999 meters 0.28089164748726375 Centerline is valid? [False, False] Translation: X:0.51, Y:0.13, Z:0.03 [[ 0.99997786 0.00412976 -0.00521776 0.50948449] [-0.00414475 0.9999873 -0.00286621 0.13398014] [ 0.00520586 0.00288778 0.99998228 0.02671409] [ 0. 0. 0. 1. ]] SLAMing on 36.903133364999995 meters 0.2804570491970251 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.03 [[ 0.99997788 0.00401516 -0.00530348 0.50974884] [-0.00403191 0.9999869 -0.00315184 0.13518975] [ 0.00529076 0.00317316 0.99998097 0.02661402] [ 0. 0. 0. 1. ]] SLAMing on 36.963133365 meters 0.28079799251904747 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.03 [[ 0.99997904 0.00386831 -0.00519119 0.50931722] [-0.00388656 0.99998629 -0.00351002 0.13668025] [ 0.00517755 0.00353012 0.99998037 0.02696338] [ 0. 0. 0. 1. ]] SLAMing on 37.02313336499999 meters 0.28204368050426015 Centerline is valid? [False, False] Translation: X:0.53, Y:0.14, Z:0.03 [[ 0.99997075 -0.00518622 -0.00562214 0.53079951] [ 0.00517059 0.99998274 -0.00279181 0.13937491] [ 0.00563652 0.00276266 0.9999803 0.02757422] [ 0. 0. 0. 1. ]] SLAMing on 37.083133364999995 meters 0.28112050334955724 Centerline is valid? [False, False] Translation: X:0.53, Y:0.14, Z:0.03 [[ 0.99997208 -0.00513256 -0.00543073 0.53003277] [ 0.00511825 0.9999834 -0.00264688 0.13871579] [ 0.00544423 0.00261901 0.99998175 0.02827613] [ 0. 0. 0. 1. ]] SLAMing on 37.143133365 meters 0.2791143086889598 Centerline is valid? [False, False] Translation: X:0.51, Y:0.14, Z:0.03 [[ 0.99997854 0.00466753 -0.00459751 0.50640472] [-0.00467975 0.99998553 -0.00265157 0.13747694] [ 0.00458507 0.00267303 0.99998592 0.02871622] [ 0. 0. 0. 1. ]] SLAMing on 37.20313336499999 meters 0.27906174101125786 Centerline is valid? [False, False] Translation: X:0.53, Y:0.14, Z:0.03 [[ 9.99991690e-01 -2.15102384e-03 -3.46316007e-03 5.28904349e-01] [ 2.14979148e-03 9.99997625e-01 -3.59529222e-04 1.39485699e-01] [ 3.46392520e-03 3.52081162e-04 9.99993939e-01 2.83191824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.263133364999995 meters 0.27717078161506925 Centerline is valid? [False, False] Translation: X:0.50, Y:0.14, Z:0.03 [[ 0.99997563 0.00583875 -0.00382686 0.50441074] [-0.00584681 0.99998071 -0.00209648 0.14214089] [ 0.00381455 0.0021188 0.99999048 0.03039682] [ 0. 0. 0. 1. ]] SLAMing on 37.323133365 meters 0.27812832820905764 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:0.03 [[ 0.99999265 -0.00298256 -0.00240758 0.52424908] [ 0.00297881 0.99999435 -0.0015586 0.1462648 ] [ 0.00241222 0.00155141 0.99999589 0.03064644] [ 0. 0. 0. 1. ]] SLAMing on 37.38313336499999 meters 0.27788100299004537 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:0.03 [[ 0.99999264 -0.00301765 -0.00236925 0.52434667] [ 0.00301375 0.9999941 -0.00164569 0.1466379 ] [ 0.00237421 0.00163854 0.99999584 0.03023561] [ 0. 0. 0. 1. ]] SLAMing on 37.443133364999994 meters 0.2771534197960389 Centerline is valid? [False, False] Translation: X:0.52, Y:0.15, Z:0.03 [[ 0.99999212 -0.00318783 -0.00236491 0.52430902] [ 0.00318294 0.9999928 -0.00206565 0.1484049 ] [ 0.00237148 0.00205811 0.99999507 0.03028547] [ 0. 0. 0. 1. ]] SLAMing on 37.503133365 meters 0.2790564918079698 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:0.03 [[ 9.99991301e-01 -1.71361561e-03 -3.80281829e-03 5.29876536e-01] [ 1.71096456e-03 9.99998291e-01 -7.00273067e-04 1.47807718e-01] [ 3.80401179e-03 6.93760488e-04 9.99992524e-01 2.69651856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56313336499999 meters 0.2796916265886791 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:0.03 [[ 9.99990563e-01 -1.79043696e-03 -3.95839182e-03 5.30626484e-01] [ 1.78679844e-03 9.99997978e-01 -9.22536927e-04 1.48769241e-01] [ 3.96003556e-03 9.15455373e-04 9.99991740e-01 2.59923763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623133364999994 meters 0.27943964334237387 Centerline is valid? [False, False] Translation: X:0.53, Y:0.15, Z:0.03 [[ 0.999991 -0.00186906 -0.00380879 0.53020093] [ 0.00186465 0.99999759 -0.00115966 0.149757 ] [ 0.00381095 0.00115255 0.99999207 0.02615884] [ 0. 0. 0. 1. ]] SLAMing on 37.683133364999996 meters 0.28039396604343175 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.03 [[ 9.99995816e-01 -5.49518671e-04 -2.83997416e-03 5.72775513e-01] [ 5.49765975e-04 9.99999845e-01 8.62995652e-05 1.52622821e-01] [ 2.83992629e-03 -8.78605253e-05 9.99995964e-01 2.64126071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743133365 meters 0.2792367451822372 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:0.03 [[ 9.99945489e-01 9.27286527e-03 -4.79936878e-03 5.52323409e-01] [-9.27462124e-03 9.99956931e-01 -3.43749033e-04 1.57599024e-01] [ 4.79597453e-03 3.88242622e-04 9.99988424e-01 2.59987901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803133364999994 meters 0.2784113628238031 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995065e-01 9.31884658e-04 -3.00035591e-03 5.69808769e-01] [-9.30976061e-04 9.99999520e-01 3.04212355e-04 1.65877195e-01] [ 3.00063797e-03 -3.01417594e-04 9.99995453e-01 2.77622113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863133364999996 meters 0.28046407539677015 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995158e-01 8.60048408e-04 -2.99076095e-03 5.69721278e-01] [-8.59666580e-04 9.99999622e-01 1.28952563e-04 1.66612425e-01] [ 2.99087073e-03 -1.26380882e-04 9.99995519e-01 2.78976025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923133365 meters 0.2787143006914754 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995450e-01 8.74332335e-04 -2.88714148e-03 5.69091716e-01] [-8.73850511e-04 9.99999604e-01 1.68143464e-04 1.66456320e-01] [ 2.88728735e-03 -1.65619769e-04 9.99995818e-01 2.87660857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98313336499999 meters 0.27880407016236736 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995533e-01 1.01046239e-03 -2.81286028e-03 5.68897219e-01] [-1.00910325e-03 9.99999373e-01 4.84565209e-04 1.65090394e-01] [ 2.81334816e-03 -4.81724578e-04 9.99995926e-01 2.87862889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043133364999996 meters 0.27986116835141805 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.03 [[ 9.99995997e-01 1.06868547e-03 -2.61973611e-03 5.68462627e-01] [-1.06698961e-03 9.99999220e-01 6.48652549e-04 1.64427629e-01] [ 2.62042728e-03 -6.45854722e-04 9.99996358e-01 2.87517347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103133365 meters 0.2784643578245228 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995615e-01 1.00865401e-03 -2.78420836e-03 5.69076947e-01] [-1.00737487e-03 9.99999386e-01 4.60791996e-04 1.65108289e-01] [ 2.78467143e-03 -4.57985234e-04 9.99996018e-01 2.81740768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16313336499999 meters 0.2789582834616928 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995244e-01 9.61913747e-04 -2.93042008e-03 5.69647014e-01] [-9.61002356e-04 9.99999489e-01 3.12402533e-04 1.65697104e-01] [ 2.93071909e-03 -3.09584907e-04 9.99995658e-01 2.76113306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223133364999995 meters 0.2797279609302154 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995418e-01 8.84648578e-04 -2.89501274e-03 5.69912501e-01] [-8.84391222e-04 9.99999605e-01 9.01752118e-05 1.66622622e-01] [ 2.89509137e-03 -8.76144748e-05 9.99995805e-01 2.68014382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283133365 meters 0.27938558818891723 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995160e-01 7.61091987e-04 -3.01684312e-03 5.70574583e-01] [-7.61825836e-04 9.99999681e-01 -2.42109043e-04 1.68042800e-01] [ 3.01665789e-03 2.44406180e-04 9.99995420e-01 2.58587199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34313336499999 meters 0.2803289447799023 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995565e-01 6.10918110e-04 -2.91506964e-03 5.70358229e-01] [-6.12669243e-04 9.99999632e-01 -5.99862305e-04 1.69583827e-01] [ 2.91470210e-03 6.01645617e-04 9.99995571e-01 2.57522400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403133364999995 meters 0.2802091796600454 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99995279e-01 5.82734987e-04 -3.01694739e-03 5.70451219e-01] [-5.84755773e-04 9.99999605e-01 -6.68972871e-04 1.69882932e-01] [ 3.01655637e-03 6.70733890e-04 9.99995225e-01 2.60849351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463133365 meters 0.2808835206064386 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99994227e-01 6.41991621e-04 -3.33675082e-03 5.71329875e-01] [-6.43647548e-04 9.99999670e-01 -4.95219165e-04 1.69158983e-01] [ 3.33643179e-03 4.97363997e-04 9.99994310e-01 2.58108242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52313336499999 meters 0.28054869360931134 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99994672e-01 7.07665124e-04 -3.18667011e-03 5.70831007e-01] [-7.08742476e-04 9.99999692e-01 -3.36964306e-04 1.68466539e-01] [ 3.18643067e-03 3.39221039e-04 9.99994866e-01 2.61203154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583133364999995 meters 0.2790930652755877 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 9.99994809e-01 8.27772004e-04 -3.11408153e-03 5.70434044e-01] [-8.27911051e-04 9.99999656e-01 -4.33620568e-05 1.67192977e-01] [ 3.11404456e-03 4.59400142e-05 9.99995150e-01 2.66131857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643133365 meters 0.27836066665288617 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 0.99998987 -0.00334008 -0.00301878 0.5702491 ] [ 0.00332843 0.99998703 -0.00385615 0.16509843] [ 0.00303162 0.00384606 0.99998801 0.0265942 ] [ 0. 0. 0. 1. ]] SLAMing on 38.70313336499999 meters 0.2792428183098343 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.03 [[ 0.99999068 -0.0031658 -0.0029371 0.57021837] [ 0.00315569 0.99998911 -0.00343859 0.16333666] [ 0.00294796 0.00342929 0.99998977 0.02627006] [ 0. 0. 0. 1. ]] SLAMing on 38.763133364999995 meters 0.27907333941534523 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.03 [[ 0.99999199 -0.00300087 -0.00264704 0.56922739] [ 0.00299284 0.99999093 -0.0030312 0.16154155] [ 0.00265611 0.00302325 0.9999919 0.02697359] [ 0. 0. 0. 1. ]] SLAMing on 38.823133365 meters 0.28053018208231684 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.03 [[ 0.99999215 -0.00287265 -0.00272946 0.56964266] [ 0.00286531 0.99999228 -0.00268923 0.16013697] [ 0.00273716 0.00268139 0.99999266 0.02649826] [ 0. 0. 0. 1. ]] SLAMing on 38.88313336499999 meters 0.28042645517713377 Centerline is valid? [False, False] Translation: X:0.57, Y:0.16, Z:0.03 [[ 0.99999269 -0.00270463 -0.00270454 0.56945563] [ 0.00269839 0.9999937 -0.00230749 0.15846724] [ 0.00271076 0.00230017 0.99999368 0.02677081] [ 0. 0. 0. 1. ]] SLAMing on 38.943133364999994 meters 0.2796411610031825 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.03 [[ 0.99999314 -0.0023626 -0.00285392 0.56996519] [ 0.00235847 0.99999617 -0.00144983 0.15482197] [ 0.00285734 0.00144309 0.99999488 0.02656592] [ 0. 0. 0. 1. ]] SLAMing on 39.003133365 meters 0.27971047482257916 Centerline is valid? [False, False] Translation: X:0.57, Y:0.15, Z:0.03 [[ 9.99993352e-01 -1.91854524e-03 -3.10083196e-03 5.70877773e-01] [ 1.91811093e-03 9.99998150e-01 -1.43032043e-04 1.49445522e-01] [ 3.10110064e-03 1.37083353e-04 9.99995182e-01 2.60142020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06313336499999 meters 0.27891988573609294 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:0.03 [[ 0.9999845 0.00341619 -0.00439735 0.54847327] [-0.00343029 0.99998899 -0.00320344 0.14274657] [ 0.00438636 0.00321847 0.9999852 0.02682088] [ 0. 0. 0. 1. ]] SLAMing on 39.123133364999994 meters 0.27986110466488295 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.03 [[ 9.99993681e-01 -2.51979923e-03 -2.50786860e-03 5.70805178e-01] [ 2.52149094e-03 9.99996595e-01 6.71627502e-04 1.37184890e-01] [ 2.50616769e-03 -6.77946825e-04 9.99996630e-01 2.53703504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183133364999996 meters 0.278750245559941 Centerline is valid? [False, False] Translation: X:0.55, Y:0.13, Z:0.03 [[ 0.99998456 0.00407131 -0.00378252 0.54892228] [-0.00407823 0.99999002 -0.00182197 0.13218327] [ 0.00377507 0.00183737 0.99999119 0.02565192] [ 0. 0. 0. 1. ]] SLAMing on 39.243133365 meters 0.28148466447294745 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:0.02 [[ 0.99998796 0.00470223 -0.00140621 0.59214453] [-0.00470401 0.99998814 -0.0012615 0.13477221] [ 0.00140027 0.0012681 0.99999822 0.02486948] [ 0. 0. 0. 1. ]] SLAMing on 39.303133364999994 meters 0.28096292980515714 Centerline is valid? [False, False] Translation: X:0.59, Y:0.13, Z:0.02 [[ 0.9999882 0.00470891 -0.00119751 0.59174514] [-0.00471039 0.99998814 -0.00123915 0.13471777] [ 0.00119166 0.00124477 0.99999852 0.02465164] [ 0. 0. 0. 1. ]] SLAMing on 39.363133364999996 meters 0.2812820697029407 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:0.02 [[ 0.99998869 0.00461435 -0.00115436 0.59190071] [-0.00461606 0.99998825 -0.0014797 0.13568735] [ 0.00114752 0.00148501 0.99999824 0.02407441] [ 0. 0. 0. 1. ]] SLAMing on 39.423133365 meters 0.2816777610167133 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.02 [[ 9.99993436e-01 -3.62257491e-03 -7.18971477e-05 5.70205213e-01] [ 3.62254578e-03 9.99993358e-01 -4.01234578e-04 1.40556182e-01] [ 7.33501725e-05 4.00971493e-04 9.99999917e-01 2.29644940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48313336499999 meters 0.28099295257955065 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.02 [[ 9.99993277e-01 -3.66554423e-03 -9.71394372e-05 5.70261464e-01] [ 3.66549403e-03 9.99993151e-01 -5.12038937e-04 1.41005036e-01] [ 9.90156733e-05 5.11679430e-04 9.99999864e-01 2.29623441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543133364999996 meters 0.2816332562292559 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:0.02 [[ 9.99980314e-01 5.82413207e-03 -2.33467171e-03 5.94025477e-01] [-5.82570431e-03 9.99982808e-01 -6.67198710e-04 1.38328624e-01] [ 2.33074572e-03 6.80786682e-04 9.99997052e-01 2.28910226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603133365 meters 0.2802679028279123 Centerline is valid? [False, False] Translation: X:0.57, Y:0.14, Z:0.02 [[ 9.99985538e-01 -3.50307888e-03 -4.08061350e-03 5.73310809e-01] [ 3.50180250e-03 9.99993818e-01 -3.19894808e-04 1.37243779e-01] [ 4.08170888e-03 3.05600679e-04 9.99991623e-01 2.28584273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66313336499999 meters 0.2806584110365245 Centerline is valid? [False, False] Translation: X:0.59, Y:0.14, Z:0.02 [[ 9.99997206e-01 2.22380216e-03 -8.01928503e-04 5.94547408e-01] [-2.22601697e-03 9.99993681e-01 -2.77162193e-03 1.35175335e-01] [ 7.95759897e-04 2.77339929e-03 9.99995838e-01 2.18042755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723133364999995 meters 0.27921845057821326 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.02 [[ 9.99997080e-01 2.30540285e-03 7.25251729e-04 5.57098320e-01] [-2.30392501e-03 9.99995282e-01 -2.03197034e-03 1.31088534e-01] [-7.29932817e-04 2.03029348e-03 9.99997673e-01 1.69962573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783133365 meters 0.27950572807623064 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.02 [[ 9.99996934e-01 2.36774091e-03 7.25025286e-04 5.57082598e-01] [-2.36636797e-03 9.99995417e-01 -1.88869310e-03 1.30445807e-01] [-7.29493899e-04 1.88697164e-03 9.99997954e-01 1.70427155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84313336499999 meters 0.28028853125759773 Centerline is valid? [False, False] Translation: X:0.56, Y:0.13, Z:0.02 [[ 9.99996569e-01 2.52348539e-03 7.02601269e-04 5.57256650e-01] [-2.52242687e-03 9.99995689e-01 -1.50340748e-03 1.28827991e-01] [-7.06392066e-04 1.50163006e-03 9.99998623e-01 1.68021223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903133364999995 meters 0.2800062190382373 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:0.02 [[ 9.99995508e-01 2.90871078e-03 7.23725622e-04 5.57679548e-01] [-2.90823916e-03 9.99995559e-01 -6.51855291e-04 1.24955466e-01] [-7.25618466e-04 6.49747596e-04 9.99999526e-01 1.60147510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963133365 meters 0.28129936543209344 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.02 [[ 0.99998576 -0.00483654 0.00225762 0.57727253] [ 0.00483349 0.9999874 0.00135694 0.12471499] [-0.00226416 -0.00134601 0.99999653 0.01686807] [ 0. 0. 0. 1. ]] SLAMing on 40.02313336499999 meters 0.2808922805329483 Centerline is valid? [False, False] Translation: X:0.58, Y:0.12, Z:0.02 [[ 0.99998841 -0.0042972 0.00217315 0.57724027] [ 0.00429162 0.9999875 0.00256615 0.11945228] [-0.00218415 -0.0025568 0.99999435 0.01738832] [ 0. 0. 0. 1. ]] SLAMing on 40.083133364999995 meters 0.28155614470253243 Centerline is valid? [False, False] Translation: X:0.60, Y:0.11, Z:0.02 [[ 0.99998352 0.00380328 0.00430122 0.59610695] [-0.00381166 0.99999085 0.0019422 0.11178544] [-0.00429379 -0.00195856 0.99998886 0.01876346] [ 0. 0. 0. 1. ]] SLAMing on 40.143133365 meters 0.28161611446045665 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:0.02 [[ 0.99998831 -0.0044079 0.001989 0.57712139] [ 0.00440086 0.99998409 0.00352806 0.11028562] [-0.00200452 -0.00351926 0.9999918 0.01773249] [ 0. 0. 0. 1. ]] SLAMing on 40.20313336499999 meters 0.2809676789148667 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:0.02 [[ 0.99998959 -0.00415585 0.00188496 0.57767085] [ 0.00414801 0.99998281 0.00414405 0.1076448 ] [-0.00190215 -0.00413619 0.99998964 0.01717288] [ 0. 0. 0. 1. ]] SLAMing on 40.263133364999995 meters 0.2820924192365615 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:0.02 [[ 0.99999154 -0.00389581 0.00131892 0.57939084] [ 0.00388913 0.99997978 0.00503065 0.10374141] [-0.00133849 -0.00502548 0.99998648 0.01632507] [ 0. 0. 0. 1. ]] SLAMing on 40.323133365 meters 0.281919891563461 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:0.02 [[ 0.99999249 -0.00360668 0.0014157 0.57907555] [ 0.0035984 0.99997666 0.00580784 0.10049588] [-0.00143662 -0.0058027 0.99998213 0.01656964] [ 0. 0. 0. 1. ]] SLAMing on 40.38313336499999 meters 0.28209183952244093 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.02 [[ 0.99998961 0.00120193 0.00439719 0.59846681] [-0.00121117 0.99999706 0.00209951 0.09404035] [-0.00439465 -0.00210481 0.99998813 0.01684423] [ 0. 0. 0. 1. ]] SLAMing on 40.443133364999994 meters 0.28057326392431814 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 9.99976871e-01 5.89883690e-03 3.38556091e-03 5.76633453e-01] [-5.89564996e-03 9.99982169e-01 -9.50542674e-04 8.36515844e-02] [-3.39110764e-03 9.30560606e-04 9.99993817e-01 1.73388526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503133365 meters 0.28094833974386896 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 9.99975369e-01 6.27352887e-03 3.14715476e-03 5.77241505e-01] [-6.27387114e-03 9.99980314e-01 9.88967784e-05 7.93057986e-02] [-3.14647237e-03 -1.18639186e-04 9.99995043e-01 1.73346817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56313336499999 meters 0.2809965386280959 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.02 [[ 0.99999205 0.0024565 0.00314229 0.57673615] [-0.00244691 0.99999236 -0.00304964 0.07493463] [-0.00314976 0.00304193 0.99999041 0.01826358] [ 0. 0. 0. 1. ]] SLAMing on 40.623133364999994 meters 0.2821962094915848 Centerline is valid? [False, False] Translation: X:0.58, Y:0.07, Z:0.02 [[ 0.99999151 0.0026907 0.00312189 0.5766048 ] [-0.00268285 0.99999323 -0.0025182 0.07264025] [-0.00312864 0.00250981 0.99999196 0.01867969] [ 0. 0. 0. 1. ]] SLAMing on 40.683133364999996 meters 0.2827958569500001 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.02 [[ 9.99981313e-01 -4.90970025e-03 3.64259806e-03 5.95166443e-01] [ 4.91305942e-03 9.99987513e-01 -9.13816279e-04 7.80927906e-02] [-3.63806601e-03 9.31695503e-04 9.99992948e-01 1.99122706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743133365 meters 0.28237016105678525 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 0.99999577 0.00254917 0.00139705 0.57660241] [-0.0025457 0.99999369 -0.00247825 0.0757539 ] [-0.00140336 0.00247468 0.99999595 0.01789313] [ 0. 0. 0. 1. ]] SLAMing on 40.803133364999994 meters 0.2833094513001659 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 0.99999582 0.00253053 0.00139876 0.57670049] [-0.002527 0.99999363 -0.00252271 0.07593786] [-0.00140513 0.00251917 0.99999584 0.01767263] [ 0. 0. 0. 1. ]] SLAMing on 40.863133364999996 meters 0.28125218170921557 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 0.99999594 0.00247919 0.00140797 0.57669128] [-0.00247545 0.99999341 -0.00265729 0.07649941] [-0.00141455 0.00265379 0.99999548 0.01763789] [ 0. 0. 0. 1. ]] SLAMing on 40.923133365 meters 0.2827585797363848 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.02 [[ 9.99992259e-01 -2.92710289e-03 2.62942529e-03 5.98523519e-01] [ 2.92528004e-03 9.99995479e-01 6.96827372e-04 8.06315824e-02] [-2.63145308e-03 -6.89130172e-04 9.99996300e-01 1.67097654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98313336499999 meters 0.28166393541586526 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 9.99984204e-01 5.21573337e-03 2.09471539e-03 5.78022879e-01] [-5.21493437e-03 9.99986327e-01 -3.86716140e-04 7.76070832e-02] [-2.09670376e-03 3.75786228e-04 9.99997731e-01 1.62701451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043133364999996 meters 0.281334887789715 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.02 [[ 9.99985404e-01 5.03594081e-03 1.95752964e-03 5.78611712e-01] [-5.03431986e-03 9.99986982e-01 -8.32107024e-04 7.95295873e-02] [-1.96169460e-03 8.22240048e-04 9.99997738e-01 1.56624108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103133365 meters 0.2822079568404235 Centerline is valid? [False, False] Translation: X:0.58, Y:0.08, Z:0.01 [[ 0.99998706 0.00472874 0.00187448 0.57911062] [-0.00472544 0.99998729 -0.00176001 0.08342377] [-0.00188277 0.00175113 0.99999669 0.01498873] [ 0. 0. 0. 1. ]] SLAMing on 41.16313336499999 meters 0.28059167014501335 Centerline is valid? [False, False] Translation: X:0.58, Y:0.09, Z:0.02 [[ 0.99998757 0.00456915 0.0019975 0.57874624] [-0.00456479 0.9999872 -0.00218356 0.08522521] [-0.00200745 0.00217441 0.99999562 0.0151059 ] [ 0. 0. 0. 1. ]] SLAMing on 41.223133364999995 meters 0.282484845654561 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 9.99991601e-01 -5.12990914e-04 4.06623543e-03 6.00485652e-01] [ 5.10355504e-04 9.99999659e-01 6.49131439e-04 9.17351580e-02] [-4.06656705e-03 -6.47050762e-04 9.99991522e-01 1.44178579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283133365 meters 0.2828346340689299 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 9.99991589e-01 -6.35308020e-04 4.05204073e-03 6.00415321e-01] [ 6.33886796e-04 9.99999737e-01 3.52017285e-04 9.30174032e-02] [-4.05226331e-03 -3.49445788e-04 9.99991728e-01 1.46157272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34313336499999 meters 0.281505093919425 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.02 [[ 9.99991292e-01 -5.34752253e-04 4.13884133e-03 5.99964148e-01] [ 5.32116580e-04 9.99999655e-01 6.37889195e-04 9.19089017e-02] [-4.13918101e-03 -6.35681295e-04 9.99991232e-01 1.52161721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403133364999995 meters 0.2821069377343225 Centerline is valid? [False, False] Translation: X:0.62, Y:0.09, Z:0.01 [[ 0.999967 0.00538449 0.00608256 0.62166481] [-0.00536951 0.99998252 -0.00247681 0.08899918] [-0.00609579 0.00244407 0.99997843 0.0143068 ] [ 0. 0. 0. 1. ]] SLAMing on 41.463133365 meters 0.2809555381081495 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:0.01 [[ 9.99984811e-01 -3.16537268e-03 4.51194490e-03 6.02117491e-01] [ 3.16843740e-03 9.99994755e-01 -6.72260366e-04 8.51505285e-02] [-4.50979328e-03 6.86545970e-04 9.99989595e-01 1.32608863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52313336499999 meters 0.2810708178818783 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 9.99987265e-01 -3.02345582e-03 4.04094811e-03 6.03641347e-01] [ 3.02454026e-03 9.99995392e-01 -2.62279054e-04 8.32611682e-02] [-4.04013650e-03 2.74497724e-04 9.99991801e-01 1.20693286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583133364999995 meters 0.2813634930264601 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:0.01 [[ 9.99986122e-01 -3.03903667e-03 4.30359259e-03 6.03119505e-01] [ 3.04042440e-03 9.99995328e-01 -3.15951793e-04 8.34461374e-02] [-4.30261230e-03 3.29032156e-04 9.99990690e-01 1.18460017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643133365 meters 0.2835528761962566 Centerline is valid? [False, False] Translation: X:0.63, Y:0.09, Z:0.01 [[ 9.99962585e-01 6.78715853e-03 5.36304637e-03 6.25330659e-01] [-6.78258164e-03 9.99976619e-01 -8.71140408e-04 8.78134783e-02] [-5.36883354e-03 8.34732515e-04 9.99985239e-01 1.09438490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70313336499999 meters 0.2852402590654355 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99992272e-01 -9.52927674e-04 3.81409036e-03 6.08079269e-01] [ 9.50554478e-04 9.99999354e-01 6.23982329e-04 9.53523062e-02] [-3.81468250e-03 -6.20352007e-04 9.99992532e-01 7.97083622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763133364999995 meters 0.28316316711692757 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99992033e-01 -1.28295242e-03 3.77982814e-03 6.07805501e-01] [ 1.28368313e-03 9.99999158e-01 -1.90899736e-04 9.87923067e-02] [-3.77958004e-03 1.95750317e-04 9.99992838e-01 8.58194926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823133365 meters 0.28137008606146463 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99991801e-01 -1.36817166e-03 3.81142099e-03 6.07466259e-01] [ 1.36974092e-03 9.99998978e-01 -4.09147327e-04 9.97973632e-02] [-3.81085731e-03 4.14364632e-04 9.99992653e-01 9.10097272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88313336499999 meters 0.2814413920912279 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99990342e-01 -1.35578079e-03 4.18055263e-03 6.06304288e-01] [ 1.35729066e-03 9.99999015e-01 -3.58348863e-04 9.97310254e-02] [-4.18006266e-03 3.64019628e-04 9.99991197e-01 9.84329778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943133364999994 meters 0.2810199406269416 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99990687e-01 -1.35235529e-03 4.09841393e-03 6.06420461e-01] [ 1.35381243e-03 9.99999021e-01 -3.52784268e-04 9.97002028e-02] [-4.09793283e-03 3.58329466e-04 9.99991539e-01 1.00308202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003133365 meters 0.2817025309569217 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99991200e-01 -1.41914456e-03 3.94790776e-03 6.06999850e-01] [ 1.42120792e-03 9.99998855e-01 -5.19888429e-04 1.00402713e-01] [-3.94716544e-03 5.25494652e-04 9.99992072e-01 9.55107262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06313336499999 meters 0.2813499610678134 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99991187e-01 -1.42596040e-03 3.94877445e-03 6.06743905e-01] [ 1.42810007e-03 9.99998835e-01 -5.39090044e-04 1.00485291e-01] [-3.94800113e-03 5.44724538e-04 9.99992058e-01 1.00916362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123133364999994 meters 0.2825479548842735 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 9.99990623e-01 -1.45977548e-03 4.07712722e-03 6.06706128e-01] [ 1.46236584e-03 9.99998731e-01 -6.32428705e-04 1.00847189e-01] [-4.07619885e-03 6.38385026e-04 9.99991488e-01 9.47881071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183133364999996 meters 0.28148000655449246 Centerline is valid? [False, False] Translation: X:0.61, Y:0.10, Z:0.01 [[ 0.99999042 -0.00165717 0.00405054 0.60709886] [ 0.00166239 0.99999779 -0.00128435 0.10342776] [-0.0040484 0.00129107 0.99999097 0.00859262] [ 0. 0. 0. 1. ]] SLAMing on 42.24313336499999 meters 0.28332488749332385 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:0.01 [[ 0.99999005 -0.00188536 0.00404309 0.60723708] [ 0.00189358 0.99999615 -0.00203006 0.10646319] [-0.00403925 0.00203769 0.99998977 0.00825062] [ 0. 0. 0. 1. ]] SLAMing on 42.303133364999994 meters 0.2825805406703373 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:0.01 [[ 0.99998927 -0.00222147 0.00406402 0.60723826] [ 0.00223367 0.99999301 -0.00299962 0.11047004] [-0.00405733 0.00300866 0.99998724 0.00809639] [ 0. 0. 0. 1. ]] SLAMing on 42.363133364999996 meters 0.2834047470679012 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:0.01 [[ 0.99998894 -0.0023987 0.00404586 0.60729607] [ 0.00241257 0.99999122 -0.00342763 0.11226919] [-0.0040376 0.00343736 0.99998594 0.00800863] [ 0. 0. 0. 1. ]] SLAMing on 42.423133365 meters 0.2822356406884181 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:0.01 [[ 0.99998858 -0.00241189 0.00412533 0.60681789] [ 0.0024262 0.99999104 -0.00346815 0.11243628] [-0.00411693 0.00347812 0.99998548 0.00865413] [ 0. 0. 0. 1. ]] SLAMing on 42.48313336499999 meters 0.28270001932765954 Centerline is valid? [False, False] Translation: X:0.61, Y:0.12, Z:0.01 [[ 9.99995833e-01 6.07307481e-04 2.82233601e-03 6.11188650e-01] [-6.03925051e-04 9.99999099e-01 -1.19914817e-03 1.17123094e-01] [-2.82306172e-03 1.19743869e-03 9.99995298e-01 6.47860049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543133364999996 meters 0.28336732282984195 Centerline is valid? [False, False] Translation: X:0.62, Y:0.12, Z:0.00 [[ 9.99995466e-01 2.56535186e-03 1.57678376e-03 6.17254259e-01] [-2.56620730e-03 9.99996561e-01 5.40738661e-04 1.18196446e-01] [-1.57539116e-03 -5.44782564e-04 9.99998611e-01 2.30953432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603133365 meters 0.2832065630898654 Centerline is valid? [False, False] Translation: X:0.62, Y:0.12, Z:0.00 [[ 9.99996126e-01 2.20652252e-03 1.69675535e-03 6.16522967e-01] [-2.20563225e-03 9.99997429e-01 -5.26378195e-04 1.22784961e-01] [-1.69791245e-03 5.22633738e-04 9.99998422e-01 3.09766462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66313336499999 meters 0.2819198502733771 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:0.00 [[ 0.99999626 0.00183069 0.00203244 0.61545314] [-0.00182723 0.99999688 -0.00170416 0.12772655] [-0.00203556 0.00170044 0.99999648 0.00360626] [ 0. 0. 0. 1. ]] SLAMing on 42.723133364999995 meters 0.2831080676917785 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.99998565 -0.00368255 0.00388968 0.63728597] [ 0.00367647 0.99999201 0.00156996 0.13112094] [-0.00389543 -0.00155563 0.9999912 0.00271062] [ 0. 0. 0. 1. ]] SLAMing on 42.783133365 meters 0.28062952687264 Centerline is valid? [False, False] Translation: X:0.61, Y:0.13, Z:0.00 [[ 0.99996645 0.00549898 0.00607057 0.61365707] [-0.00550821 0.9999837 0.00150556 0.12635868] [-0.00606219 -0.00153895 0.99998044 0.00327572] [ 0. 0. 0. 1. ]] SLAMing on 42.84313336499999 meters 0.28172769160188266 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.99997836 -0.00315397 0.00577406 0.63512549] [ 0.00314234 0.99999302 0.0020222 0.13063799] [-0.0057804 -0.00200402 0.99998129 0.00378331] [ 0. 0. 0. 1. ]] SLAMing on 42.903133364999995 meters 0.2807111869320911 Centerline is valid? [False, False] Translation: X:0.61, Y:0.13, Z:0.00 [[ 0.99999272 0.00259674 0.00279763 0.61443732] [-0.00259301 0.99999574 -0.00133768 0.13155894] [-0.00280109 0.00133042 0.99999519 0.0048485 ] [ 0. 0. 0. 1. ]] SLAMing on 42.963133365 meters 0.28252217543019403 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.9999848 -0.00278963 0.00475597 0.63754655] [ 0.00278018 0.99999415 0.00199323 0.13258268] [-0.0047615 -0.00197997 0.9999867 0.00303157] [ 0. 0. 0. 1. ]] SLAMing on 43.02313336499999 meters 0.2817880525591594 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:0.00 [[ 9.99979444e-01 5.15829909e-03 3.80825231e-03 6.18051390e-01] [-5.16114927e-03 9.99986408e-01 7.38973626e-04 1.28383530e-01] [-3.80438870e-03 -7.58613394e-04 9.99992476e-01 1.76199815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083133364999995 meters 0.28386126142683726 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.99998567 -0.0035353 0.00401933 0.63878659] [ 0.00353009 0.99999292 0.00130236 0.13278273] [-0.0040239 -0.00128815 0.99999107 0.00203987] [ 0. 0. 0. 1. ]] SLAMing on 43.143133365 meters 0.28239235071085206 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.99998597 -0.00349623 0.00397943 0.63898331] [ 0.00349069 0.99999293 0.00139795 0.13235661] [-0.00398429 -0.00138404 0.9999911 0.00183574] [ 0. 0. 0. 1. ]] SLAMing on 43.20313336499999 meters 0.28405715812834603 Centerline is valid? [False, False] Translation: X:0.64, Y:0.13, Z:0.00 [[ 0.99998637 -0.00336005 0.00399646 0.63889817] [ 0.00335315 0.99999288 0.0017326 0.13092891] [-0.00400225 -0.00171917 0.99999051 0.00197169] [ 0. 0. 0. 1. ]] SLAMing on 43.263133364999995 meters 0.28339922500623865 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:0.00 [[ 0.99998928 0.00304012 0.00349354 0.6627439 ] [-0.00303633 0.9999948 -0.00108884 0.12788666] [-0.00349683 0.00107822 0.9999933 0.00123732] [ 0. 0. 0. 1. ]] SLAMing on 43.323133365 meters 0.2834062127790791 Centerline is valid? [False, False] Translation: X:0.64, Y:0.12, Z:0.00 [[ 0.99999197 -0.00372029 -0.00148912 0.64451072] [ 0.00372271 0.99999175 0.00162642 0.11650317] [ 0.00148306 -0.00163195 0.99999757 0.00168553] [ 0. 0. 0. 1. ]] SLAMing on 43.38313336499999 meters 0.281309519407411 Centerline is valid? [False, False] Translation: X:0.64, Y:0.11, Z:0.00 [[ 0.9999937 -0.00327231 -0.00137781 0.64381888] [ 0.0032765 0.99998998 0.00305012 0.11063153] [ 0.00136781 -0.00305461 0.9999944 0.00269856] [ 0. 0. 0. 1. ]] SLAMing on 43.443133364999994 meters 0.2827725810843618 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:0.00 [[ 9.99995232e-01 2.96677254e-03 -8.57396640e-04 6.66684368e-01] [-2.96654319e-03 9.99995564e-01 2.68644492e-04 1.06054870e-01] [ 8.58189844e-04 -2.66099707e-04 9.99999596e-01 1.84007794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503133365 meters 0.2828305103234542 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.00 [[ 9.99997364e-01 9.74320317e-04 -2.07920773e-03 6.72498057e-01] [-9.76888593e-04 9.99998761e-01 -1.23456073e-03 1.01439699e-01] [ 2.07800229e-03 1.23658863e-03 9.99997076e-01 -2.02877461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56313336499999 meters 0.28276275299010417 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.00 [[ 9.99965927e-01 -7.39797030e-03 -3.66275642e-03 6.52016663e-01] [ 7.39954594e-03 9.99972536e-01 4.16812203e-04 9.87405113e-02] [ 3.65957226e-03 -4.43900736e-04 9.99993205e-01 -2.16061340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623133364999994 meters 0.28251816582894945 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:0.00 [[ 9.99996331e-01 5.91714184e-04 -2.64362815e-03 6.69825253e-01] [-5.92763165e-04 9.99999746e-01 -3.96030162e-04 8.81177179e-02] [ 2.64339314e-03 3.97595754e-04 9.99996427e-01 5.30847858e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683133364999996 meters 0.28177058049882925 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.00 [[ 9.99995381e-01 1.06740949e-03 -2.84567613e-03 6.70373397e-01] [-1.06457795e-03 9.99998937e-01 9.96360449e-04 8.23755897e-02] [ 2.84673662e-03 -9.93326403e-04 9.99995455e-01 4.56436527e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74313336499999 meters 0.28256160474725484 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.00 [[ 9.99994686e-01 1.50148835e-03 -2.89380457e-03 6.70655766e-01] [-1.49581653e-03 9.99996958e-01 1.96115569e-03 7.82393398e-02] [ 2.89674042e-03 -1.95681667e-03 9.99993890e-01 2.34808413e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803133364999994 meters 0.28361048151377793 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:0.00 [[ 9.99994596e-01 1.54693412e-03 -2.90086089e-03 6.70764272e-01] [-1.54089333e-03 9.99996642e-01 2.08349380e-03 7.77264282e-02] [ 2.90407418e-03 -2.07901263e-03 9.99993622e-01 4.93775583e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863133364999996 meters 0.2838586928119019 Centerline is valid? [False, False] Translation: X:0.67, Y:0.08, Z:-0.00 [[ 0.99999319 0.00147083 -0.00338335 0.67246937] [-0.00146517 0.99999752 0.00167491 0.07945186] [ 0.00338581 -0.00166994 0.99999287 -0.00152428] [ 0. 0. 0. 1. ]] SLAMing on 43.923133365 meters 0.2878824454349584 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.00 [[ 0.99999192 -0.00385993 -0.0011198 0.694714 ] [ 0.00386491 0.99998249 0.00448085 0.08388236] [ 0.00110249 -0.00448514 0.99998933 -0.00302994] [ 0. 0. 0. 1. ]] SLAMing on 43.98313336499999 meters 0.28449371287364755 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.00 [[ 0.99998954 0.00416889 -0.00188024 0.67568855] [-0.00416282 0.99998615 0.0032191 0.07952685] [ 0.00189363 -0.00321124 0.99999305 -0.00385015] [ 0. 0. 0. 1. ]] SLAMing on 44.043133364999996 meters 0.2831208523671443 Centerline is valid? [False, False] Translation: X:0.66, Y:0.08, Z:-0.00 [[ 0.99998172 -0.00498376 -0.00342358 0.65526881] [ 0.00499677 0.99998028 0.00380391 0.08081975] [ 0.00340455 -0.00382095 0.9999869 -0.0043592 ] [ 0. 0. 0. 1. ]] SLAMing on 44.103133365 meters 0.2852681167172909 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999516e-01 7.65800079e-04 -6.17715530e-04 6.77840121e-01] [-7.65422309e-04 9.99999520e-01 6.11564703e-04 8.34379821e-02] [ 6.18183570e-04 -6.11091594e-04 9.99999622e-01 -6.08907457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16313336499999 meters 0.28211043893898113 Centerline is valid? [False, False] Translation: X:0.64, Y:0.08, Z:-0.01 [[ 9.99999525e-01 2.92541765e-04 9.30270104e-04 6.39234977e-01] [-2.93486608e-04 9.99999441e-01 1.01569183e-03 8.09955118e-02] [-9.29972452e-04 -1.01596437e-03 9.99999051e-01 -9.45826223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223133364999995 meters 0.28392186838560207 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999839e-01 -1.42624221e-05 -5.67507194e-04 6.79186548e-01] [ 1.43314127e-05 9.99999993e-01 1.21563954e-04 8.37937144e-02] [ 5.67505456e-04 -1.21572067e-04 9.99999832e-01 -6.89850424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283133365 meters 0.2823064717540213 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999863e-01 1.02577831e-04 -5.12944540e-04 6.78879895e-01] [-1.02353568e-04 9.99999899e-01 4.37214910e-04 8.24877080e-02] [ 5.12989337e-04 -4.37162348e-04 9.99999773e-01 -6.48293636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34313336499999 meters 0.2846160680201984 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999833e-01 1.76373993e-04 -5.49455417e-04 6.79034621e-01] [-1.76035825e-04 9.99999795e-01 6.15448793e-04 8.17122363e-02] [ 5.49563853e-04 -6.15351967e-04 9.99999660e-01 -6.60593121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403133364999995 meters 0.28381219152456294 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999809e-01 2.12092581e-04 -5.79687962e-04 6.79181262e-01] [-2.11685394e-04 9.99999731e-01 7.02395136e-04 8.13296488e-02] [ 5.79836779e-04 -7.02272291e-04 9.99999585e-01 -6.75691960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463133365 meters 0.2823815948851929 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999806e-01 3.85379450e-04 -4.89250252e-04 6.78730067e-01] [-3.84795781e-04 9.99999215e-01 1.19252129e-03 7.93498835e-02] [ 4.89709441e-04 -1.19233280e-03 9.99999169e-01 -6.15624333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52313336499999 meters 0.28231172590571346 Centerline is valid? [False, False] Translation: X:0.68, Y:0.08, Z:-0.01 [[ 9.99999725e-01 5.37442185e-04 -5.11755565e-04 6.78606113e-01] [-5.36565305e-04 9.99998390e-01 1.71207366e-03 7.72770435e-02] [ 5.12674882e-04 -1.71179860e-03 9.99998403e-01 -5.69886485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583133364999995 meters 0.2810541496224026 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.00 [[ 9.99999615e-01 8.65865099e-04 -1.44944101e-04 6.77487578e-01] [-8.65438499e-04 9.99995369e-01 2.91783644e-03 7.28386843e-02] [ 1.47469882e-04 -2.91770988e-03 9.99995733e-01 -4.95534956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643133365 meters 0.2811973919167694 Centerline is valid? [False, False] Translation: X:0.68, Y:0.07, Z:-0.00 [[ 9.99999413e-01 1.07174233e-03 -1.60584706e-04 6.77123950e-01] [-1.07111784e-03 9.99992055e-01 3.83974256e-03 6.90615945e-02] [ 1.64698645e-04 -3.83956830e-03 9.99992615e-01 -4.07686919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70313336499999 meters 0.2816530410994766 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 9.99998808e-01 1.41526528e-03 -6.17002306e-04 6.78504272e-01] [-1.41217983e-03 9.99986638e-01 4.97278618e-03 6.42702076e-02] [ 6.24031873e-04 -4.97190894e-03 9.99987445e-01 -4.82909622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763133364999995 meters 0.2809968547995808 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 9.99998519e-01 1.59301752e-03 -6.52066969e-04 6.78539938e-01] [-1.58948143e-03 9.99984222e-01 5.38795087e-03 6.25145976e-02] [ 6.60639780e-04 -5.38690644e-03 9.99985272e-01 -4.70852370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823133365 meters 0.28211300939320333 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 9.99998364e-01 1.66890031e-03 -6.98317467e-04 6.78525792e-01] [-1.66498321e-03 9.99983086e-01 5.57281250e-03 6.17387254e-02] [ 7.07606124e-04 -5.57164070e-03 9.99984228e-01 -4.42224009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88313336499999 meters 0.28080040842905224 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 9.99998232e-01 1.75533510e-03 -6.74594888e-04 6.78448550e-01] [-1.75139578e-03 9.99981667e-01 5.79642717e-03 6.08042845e-02] [ 6.84757193e-04 -5.79523544e-03 9.99982973e-01 -4.36909546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943133364999994 meters 0.281435218789351 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 9.99998131e-01 1.80636336e-03 -6.89032659e-04 6.78496877e-01] [-1.80225044e-03 9.99980830e-01 5.92375850e-03 6.02544509e-02] [ 6.99719911e-04 -5.92250562e-03 9.99982217e-01 -4.38950776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003133365 meters 0.28116983442271504 Centerline is valid? [False, False] Translation: X:0.68, Y:0.06, Z:-0.00 [[ 0.99999737 0.00188019 -0.0013149 0.68006824] [-0.0018718 0.99997804 0.00635704 0.0584213 ] [ 0.00132682 -0.00635456 0.99997893 -0.00484443] [ 0. 0. 0. 1. ]] SLAMing on 45.06313336499999 meters 0.28174319903906625 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.01 [[ 0.99996361 0.00845969 -0.00109699 0.70288625] [-0.00845548 0.99995705 0.00379387 0.0527136 ] [ 0.00112904 -0.00378446 0.9999922 -0.00572948] [ 0. 0. 0. 1. ]] SLAMing on 45.123133364999994 meters 0.2824382185212189 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.01 [[ 9.99989575e-01 4.46671794e-03 -9.47714863e-04 7.02094671e-01] [-4.46631290e-03 9.99989934e-01 4.29076118e-04 4.89951459e-02] [ 9.49621885e-04 -4.24838854e-04 9.99999459e-01 -5.03767306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183133364999996 meters 0.2815285387805694 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.00 [[ 9.99988692e-01 4.68257138e-03 -8.30825930e-04 7.01611056e-01] [-4.68174951e-03 9.99988552e-01 9.88416750e-04 4.66011919e-02] [ 8.35444751e-04 -9.84515853e-04 9.99999166e-01 -4.64663181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24313336499999 meters 0.28097919482649975 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99998876 -0.00392378 -0.00266044 0.68356436] [ 0.00392943 0.99999002 0.00212388 0.05024301] [ 0.00265208 -0.00213431 0.99999421 -0.00590771] [ 0. 0. 0. 1. ]] SLAMing on 45.303133364999994 meters 0.2826493442746551 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99998864 -0.00397917 -0.00262414 0.68338681] [ 0.00398439 0.99999009 0.00198817 0.05083755] [ 0.0026162 -0.0019986 0.99999458 -0.00571058] [ 0. 0. 0. 1. ]] SLAMing on 45.363133364999996 meters 0.28099063509841626 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99998865 -0.00390518 -0.00273074 0.68361406] [ 0.00391119 0.99998993 0.00220104 0.04997795] [ 0.00272211 -0.0022117 0.99999385 -0.00566715] [ 0. 0. 0. 1. ]] SLAMing on 45.423133365 meters 0.28161252086804317 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99998896 -0.00379086 -0.00277743 0.68374589] [ 0.00379799 0.99998949 0.00256644 0.04848508] [ 0.00276767 -0.00257696 0.99999285 -0.00570828] [ 0. 0. 0. 1. ]] SLAMing on 45.48313336499999 meters 0.2836462285984195 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99999043 -0.00359493 -0.00249405 0.68279917] [ 0.00360304 0.99998821 0.003254 0.04566799] [ 0.00248232 -0.00326296 0.9999916 -0.00504753] [ 0. 0. 0. 1. ]] SLAMing on 45.543133364999996 meters 0.28131176864229634 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 0.99999135 -0.00339245 -0.00240624 0.68241616] [ 0.00340159 0.99998697 0.00380751 0.04337738] [ 0.00239329 -0.00381566 0.99998986 -0.00469691] [ 0. 0. 0. 1. ]] SLAMing on 45.603133365 meters 0.2807248222064413 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 0.99999168 -0.00337647 -0.00228751 0.68182332] [ 0.00338527 0.99998684 0.00385425 0.04323435] [ 0.00227447 -0.00386196 0.99998996 -0.0039722 ] [ 0. 0. 0. 1. ]] SLAMing on 45.66313336499999 meters 0.28079080829838715 Centerline is valid? [False, False] Translation: X:0.68, Y:0.04, Z:-0.00 [[ 0.99999126 -0.0034694 -0.00233247 0.68186488] [ 0.00347781 0.99998743 0.00361274 0.0442599 ] [ 0.00231991 -0.00362082 0.99999075 -0.00381697] [ 0. 0. 0. 1. ]] SLAMing on 45.723133364999995 meters 0.2838645471281934 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.00 [[ 0.99997838 0.00635599 -0.00168603 0.70438657] [-0.00634997 0.99997353 0.00355313 0.04407026] [ 0.00170857 -0.00354235 0.99999227 -0.0049285 ] [ 0. 0. 0. 1. ]] SLAMing on 45.783133365 meters 0.2807180883807101 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99999518 -0.00261597 -0.00167118 0.68354923] [ 0.00262272 0.99998835 0.00405186 0.04924389] [ 0.00166056 -0.00405622 0.99999039 -0.00565381] [ 0. 0. 0. 1. ]] SLAMing on 45.84313336499999 meters 0.2817225994252385 Centerline is valid? [False, False] Translation: X:0.68, Y:0.05, Z:-0.01 [[ 0.99999418 -0.00289638 -0.00180058 0.68410036] [ 0.00290245 0.99999008 0.00337839 0.05213705] [ 0.00179078 -0.0033836 0.99999267 -0.00611315] [ 0. 0. 0. 1. ]] SLAMing on 45.903133364999995 meters 0.2812979915833495 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:-0.01 [[ 0.99997791 0.00430636 -0.00506223 0.66602029] [-0.00429967 0.99998987 0.00133065 0.05509796] [ 0.00506791 -0.00130885 0.9999863 -0.00748979] [ 0. 0. 0. 1. ]] SLAMing on 45.963133365 meters 0.2810506504081339 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:-0.01 [[ 9.99979666e-01 3.81896868e-03 -5.10721967e-03 6.66484577e-01] [-3.81929180e-03 9.99992705e-01 -5.35155841e-05 6.07803374e-02] [ 5.10697804e-03 7.30204581e-05 9.99986957e-01 -8.09580738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02313336499999 meters 0.281934171641578 Centerline is valid? [False, False] Translation: X:0.67, Y:0.06, Z:-0.01 [[ 9.99980511e-01 3.53029137e-03 -5.14921623e-03 6.66801126e-01] [-3.53432600e-03 9.99993454e-01 -7.74653974e-04 6.37984623e-02] [ 5.14644777e-03 7.92837886e-04 9.99986443e-01 -8.51406100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083133364999995 meters 0.28285156452215265 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:-0.01 [[ 0.99998056 0.0032052 -0.00534781 0.66746865] [-0.00321325 0.99999372 -0.00149708 0.06690608] [ 0.00534298 0.00151424 0.99998458 -0.00880771] [ 0. 0. 0. 1. ]] SLAMing on 46.143133365 meters 0.2809941246999036 Centerline is valid? [False, False] Translation: X:0.67, Y:0.07, Z:-0.01 [[ 0.99998225 0.00294339 -0.00518071 0.66693787] [-0.00295452 0.99999334 -0.00214202 0.06958408] [ 0.00517437 0.00215729 0.99998429 -0.00849107] [ 0. 0. 0. 1. ]] SLAMing on 46.20313336499999 meters 0.2834454311876843 Centerline is valid? [False, False] Translation: X:0.69, Y:0.07, Z:-0.01 [[ 9.99990637e-01 -2.74126615e-03 -3.34821128e-03 6.89223418e-01] [ 2.74359714e-03 9.99995997e-01 6.91794435e-04 7.34963622e-02] [ 3.34630148e-03 -7.00974101e-04 9.99994155e-01 -9.57080335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263133364999995 meters 0.2826570981776758 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.01 [[ 9.99990321e-01 -2.93125155e-03 -3.28104076e-03 6.88960628e-01] [ 2.93200984e-03 9.99995676e-01 2.26325622e-04 7.54647058e-02] [ 3.28036316e-03 -2.35943475e-04 9.99994592e-01 -9.34943345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323133365 meters 0.2807459095046617 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.01 [[ 9.99990024e-01 -3.11885235e-03 -3.19745828e-03 6.88449466e-01] [ 3.11818870e-03 9.99995116e-01 -2.12518927e-04 7.73861322e-02] [ 3.19810548e-03 2.02546529e-04 9.99994866e-01 -8.71211305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38313336499999 meters 0.2811563171331559 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.01 [[ 9.99989906e-01 -3.15828964e-03 -3.19573487e-03 6.88423317e-01] [ 3.15729060e-03 9.99994965e-01 -3.17612498e-04 7.78176253e-02] [ 3.19672189e-03 3.07519428e-04 9.99994843e-01 -8.66596854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.443133364999994 meters 0.282597179250492 Centerline is valid? [False, False] Translation: X:0.71, Y:0.07, Z:-0.01 [[ 0.99998479 0.00529424 -0.00154423 0.70746409] [-0.00529647 0.99998493 -0.00144424 0.07445481] [ 0.00153656 0.0014524 0.99999776 -0.00828378] [ 0. 0. 0. 1. ]] SLAMing on 46.503133365 meters 0.28187046195368715 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.01 [[ 9.99992897e-01 -2.87328373e-03 -2.43936967e-03 6.88191826e-01] [ 2.87299036e-03 9.99995865e-01 -1.23758410e-04 7.86847124e-02] [ 2.43971518e-03 1.16749246e-04 9.99997017e-01 -9.54918665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56313336499999 meters 0.28257071967120806 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:-0.01 [[ 9.99991507e-01 4.12099670e-03 -6.46499647e-05 7.09061562e-01] [-4.12115013e-03 9.99988163e-01 -2.58632006e-03 7.88039736e-02] [ 5.39909830e-05 2.58656453e-03 9.99996653e-01 -1.03725311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.623133364999994 meters 0.28218012923391633 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:-0.01 [[ 9.99992010e-01 3.99630914e-03 -9.99961825e-05 7.09003992e-01] [-3.99658696e-03 9.99987655e-01 -2.95232706e-03 8.02823494e-02] [ 8.81965365e-05 2.95270311e-03 9.99995637e-01 -1.00023251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683133364999996 meters 0.281799215902012 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.01 [[ 9.99998649e-01 -1.34498786e-03 -9.45466770e-04 6.87410365e-01] [ 1.34563599e-03 9.99998860e-01 6.85209280e-04 8.54180195e-02] [ 9.44544093e-04 -6.86480608e-04 9.99999318e-01 -9.63319958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74313336499999 meters 0.2799457963498796 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.01 [[ 9.99998561e-01 -1.42908297e-03 -9.14305447e-04 6.87331461e-01] [ 1.42951594e-03 9.99998866e-01 4.73078456e-04 8.63102559e-02] [ 9.13628342e-04 -4.74384790e-04 9.99999470e-01 -9.62262269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.803133364999994 meters 0.28185948471076866 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.01 [[ 9.99998024e-01 -1.68368764e-03 -1.05719358e-03 6.87601285e-01] [ 1.68356310e-03 9.99998576e-01 -1.18682089e-04 8.88283596e-02] [ 1.05739190e-03 1.16902002e-04 9.99999434e-01 -9.42170948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863133364999996 meters 0.28103759532594796 Centerline is valid? [False, False] Translation: X:0.69, Y:0.09, Z:-0.01 [[ 9.99997735e-01 -1.82275466e-03 -1.09867480e-03 6.87752766e-01] [ 1.82224350e-03 9.99998231e-01 -4.66075117e-04 9.02857740e-02] [ 1.09952239e-03 4.64072009e-04 9.99999288e-01 -9.51943230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923133365 meters 0.2796786519205993 Centerline is valid? [False, False] Translation: X:0.68, Y:0.10, Z:-0.01 [[ 9.99999963e-01 2.69612749e-04 3.25519647e-05 6.82932667e-01] [-2.69631518e-04 9.99999797e-01 5.77984597e-04 9.80601771e-02] [-3.23961261e-05 -5.77993352e-04 9.99999832e-01 -6.63377598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98313336499999 meters 0.28249831466739217 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.01 [[ 0.99998064 -0.00560281 0.00270578 0.70265862] [ 0.00559362 0.99997861 0.00339033 0.10404194] [-0.00272472 -0.00337513 0.99999059 -0.0062723 ] [ 0. 0. 0. 1. ]] SLAMing on 47.043133364999996 meters 0.2810757179168948 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.01 [[ 0.99997918 -0.00586179 0.00269936 0.70257234] [ 0.00585432 0.99997904 0.00276687 0.10665083] [-0.00271552 -0.00275101 0.99999253 -0.00600404] [ 0. 0. 0. 1. ]] SLAMing on 47.103133365 meters 0.28227771582685496 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.01 [[ 0.99999224 -0.00369494 0.00136714 0.7080803 ] [ 0.00368941 0.9999851 0.00402312 0.11403044] [-0.00138199 -0.00401805 0.99999097 -0.00950213] [ 0. 0. 0. 1. ]] SLAMing on 47.16313336499999 meters 0.28165637279568756 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.01 [[ 9.99999124e-01 -2.37501322e-05 1.32324627e-03 7.08245389e-01] [ 1.47369047e-05 9.99976804e-01 6.81104470e-03 1.20724495e-01] [-1.32337734e-03 -6.81101924e-03 9.99975929e-01 -9.64360529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223133364999995 meters 0.2811764040708858 Centerline is valid? [False, False] Translation: X:0.71, Y:0.13, Z:-0.01 [[ 9.99998741e-01 -4.42728870e-04 1.52373521e-03 7.07560045e-01] [ 4.34453709e-04 9.99985180e-01 5.42689225e-03 1.26355610e-01] [-1.52611527e-03 -5.42622343e-03 9.99984113e-01 -9.23159936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283133365 meters 0.2801898115389908 Centerline is valid? [False, False] Translation: X:0.71, Y:0.13, Z:-0.01 [[ 0.9999987 -0.00107569 0.00120168 0.70875285] [ 0.00107166 0.9999938 0.00335471 0.13473084] [-0.00120528 -0.00335342 0.99999365 -0.00997867] [ 0. 0. 0. 1. ]] SLAMing on 47.34313336499999 meters 0.2815749048189982 Centerline is valid? [False, False] Translation: X:0.71, Y:0.14, Z:-0.01 [[ 9.99998240e-01 -1.62289322e-03 9.41031468e-04 7.09777067e-01] [ 1.62091239e-03 9.99996477e-01 2.10191432e-03 1.40199043e-01] [-9.44439336e-04 -2.10038529e-03 9.99997348e-01 -1.07572640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403133364999995 meters 0.28133483438686097 Centerline is valid? [False, False] Translation: X:0.71, Y:0.14, Z:-0.01 [[ 0.99999737 -0.00186266 0.00133533 0.70863579] [ 0.00186077 0.99999726 0.0014215 0.14288107] [-0.00133797 -0.00141901 0.9999981 -0.01014122] [ 0. 0. 0. 1. ]] SLAMing on 47.463133365 meters 0.28258723850895096 Centerline is valid? [False, False] Translation: X:0.71, Y:0.14, Z:-0.01 [[ 0.99999743 -0.00193147 0.00118525 0.70927097] [ 0.00193 0.99999738 0.00123312 0.14367034] [-0.00118763 -0.00123083 0.99999854 -0.01078122] [ 0. 0. 0. 1. ]] SLAMing on 47.52313336499999 meters 0.2805621882654777 Centerline is valid? [False, False] Translation: X:0.69, Y:0.15, Z:-0.01 [[ 0.9999899 0.00437426 -0.00103717 0.68681241] [-0.00437631 0.99998844 -0.00199111 0.14738151] [ 0.00102844 0.00199563 0.99999748 -0.00893109] [ 0. 0. 0. 1. ]] SLAMing on 47.583133364999995 meters 0.2813372846019662 Centerline is valid? [False, False] Translation: X:0.70, Y:0.15, Z:-0.01 [[ 9.99993773e-01 -3.43969345e-03 7.89074110e-04 7.04050316e-01] [ 3.44017974e-03 9.99993893e-01 -6.15743331e-04 1.53136936e-01] [-7.86951323e-04 6.18454053e-04 9.99999499e-01 -5.98011038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643133365 meters 0.28277943569646113 Centerline is valid? [False, False] Translation: X:0.70, Y:0.15, Z:-0.01 [[ 9.99993401e-01 -3.56161030e-03 7.16497640e-04 7.04397353e-01] [ 3.56226824e-03 9.99993233e-01 -9.19104682e-04 1.54447812e-01] [-7.13219298e-04 9.21650974e-04 9.99999321e-01 -6.32731254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70313336499999 meters 0.28125859192101976 Centerline is valid? [False, False] Translation: X:0.70, Y:0.16, Z:-0.01 [[ 9.99992257e-01 -3.86359977e-03 7.47818311e-04 7.04093505e-01] [ 3.86489439e-03 9.99991022e-01 -1.73755584e-03 1.57874993e-01] [-7.41098376e-04 1.74043263e-03 9.99998211e-01 -5.85653279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763133364999995 meters 0.27963745370599274 Centerline is valid? [False, False] Translation: X:0.70, Y:0.17, Z:-0.00 [[ 9.99996658e-01 -1.73253577e-03 1.91875196e-03 6.98542575e-01] [ 1.73362917e-03 9.99998336e-01 -5.68331460e-04 1.65313952e-01] [-1.91776411e-03 5.71655965e-04 9.99997998e-01 -1.80806469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823133365 meters 0.28126548627137493 Centerline is valid? [False, False] Translation: X:0.70, Y:0.17, Z:-0.00 [[ 0.99999595 -0.00213773 0.00188016 0.69857641] [ 0.00214066 0.9999965 -0.00155763 0.16947053] [-0.00187683 0.00156165 0.99999702 -0.00165338] [ 0. 0. 0. 1. ]] SLAMing on 47.88313336499999 meters 0.281430093205699 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999404 -0.00295107 0.00179203 0.69877442] [ 0.00295713 0.99998988 -0.00339012 0.17751852] [-0.001782 0.0033954 0.99999265 -0.00144876] [ 0. 0. 0. 1. ]] SLAMing on 47.943133364999994 meters 0.2802369862626087 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 9.99998968e-01 6.74890995e-04 1.26804955e-03 7.00469789e-01] [-6.73772287e-04 9.99999384e-01 -8.82447290e-04 1.84100262e-01] [-1.26864432e-03 8.81592003e-04 9.99998807e-01 -2.43812341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003133365 meters 0.28155146521029917 Centerline is valid? [False, False] Translation: X:0.70, Y:0.19, Z:-0.00 [[ 9.99999457e-01 3.62771386e-04 9.76912716e-04 7.01578250e-01] [-3.61086856e-04 9.99998449e-01 -1.72396538e-03 1.87501548e-01] [-9.77536606e-04 1.72361169e-03 9.99998037e-01 -3.26879851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06313336499999 meters 0.2803861961834413 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.00 [[ 0.99998587 -0.00517171 -0.00123094 0.68000706] [ 0.00517328 0.99998581 0.00127071 0.1902883 ] [ 0.00122435 -0.00127706 0.99999844 -0.0025814 ] [ 0. 0. 0. 1. ]] SLAMing on 48.123133364999994 meters 0.28178610029395346 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 9.99993914e-01 3.15897183e-03 -1.48103694e-03 7.00893915e-01] [-3.15794224e-03 9.99994771e-01 6.97005212e-04 1.84995426e-01] [ 1.48323102e-03 -6.92323940e-04 9.99998660e-01 -2.73628348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183133364999996 meters 0.2823948878160049 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999332 0.00329138 -0.00159165 0.70134429] [-0.00328975 0.99999406 0.00102627 0.18361047] [ 0.00159502 -0.00102102 0.99999821 -0.00317612] [ 0. 0. 0. 1. ]] SLAMing on 48.24313336499999 meters 0.28251069509726706 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999265 0.00353436 -0.00148796 0.70092147] [-0.00353201 0.99999252 0.0015755 0.1812143 ] [ 0.00149351 -0.00157023 0.99999765 -0.00291169] [ 0. 0. 0. 1. ]] SLAMing on 48.303133364999994 meters 0.2816624353512936 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999223 0.00361842 -0.00156227 0.70092542] [-0.00361562 0.99999187 0.00178773 0.18030947] [ 0.00156873 -0.00178207 0.99999718 -0.00255615] [ 0. 0. 0. 1. ]] SLAMing on 48.363133364999996 meters 0.282061894106144 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999135 0.00377754 -0.0017385 0.70129479] [-0.00377376 0.99999052 0.00217382 0.17870903] [ 0.00174669 -0.00216724 0.99999613 -0.00248092] [ 0. 0. 0. 1. ]] SLAMing on 48.423133365 meters 0.2804387954814976 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999173 0.0037895 -0.00147774 0.70021112] [-0.00378621 0.99999036 0.0022226 0.17846936] [ 0.00148615 -0.00221699 0.99999644 -0.0012923 ] [ 0. 0. 0. 1. ]] SLAMing on 48.48313336499999 meters 0.2806305060866148 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 9.99992124e-01 3.73872164e-03 -1.33197136e-03 6.99723613e-01] [-3.73591105e-03 9.99990803e-01 2.10637137e-03 1.78962171e-01] [ 1.33983425e-03 -2.10137865e-03 9.99996895e-01 -9.99197114e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543133364999996 meters 0.28256566369680153 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 0.99999195 0.00373112 -0.00147655 0.7002207 ] [-0.00372805 0.99999088 0.00208281 0.1790689 ] [ 0.00148431 -0.00207729 0.99999674 -0.00132823] [ 0. 0. 0. 1. ]] SLAMing on 48.603133365 meters 0.28077735437493406 Centerline is valid? [False, False] Translation: X:0.70, Y:0.18, Z:-0.00 [[ 9.99992791e-01 3.47392855e-03 -1.53310745e-03 7.00173853e-01] [-3.47167509e-03 9.99992893e-01 1.47008760e-03 1.81688201e-01] [ 1.53820354e-03 -1.46475455e-03 9.99997744e-01 -9.18412507e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66313336499999 meters 0.2813008778569408 Centerline is valid? [False, False] Translation: X:0.72, Y:0.19, Z:0.00 [[ 9.99990225e-01 -4.32135078e-03 9.35936717e-04 7.17338224e-01] [ 4.31904976e-03 9.99987680e-01 2.44674370e-03 1.90623961e-01] [-9.46498423e-04 -2.44267742e-03 9.99996569e-01 1.39839956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723133364999995 meters 0.2811452032155852 Centerline is valid? [False, False] Translation: X:0.70, Y:0.20, Z:0.00 [[ 9.99987761e-01 4.94621808e-03 -1.14623936e-04 6.96709520e-01] [-4.94609291e-03 9.99987198e-01 1.06766558e-03 1.95761734e-01] [ 1.19903375e-04 -1.06708557e-03 9.99999423e-01 5.68163372e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783133365 meters 0.2809839395120734 Centerline is valid? [False, False] Translation: X:0.70, Y:0.20, Z:-0.00 [[ 9.99988871e-01 4.71187347e-03 -2.35642139e-04 6.97413745e-01] [-4.71176026e-03 9.99988785e-01 4.78694572e-04 1.98395209e-01] [ 2.37895045e-04 -4.77578956e-04 9.99999858e-01 -3.02153016e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84313336499999 meters 0.27973139938919545 Centerline is valid? [False, False] Translation: X:0.68, Y:0.20, Z:-0.00 [[ 0.99999416 -0.0028869 -0.00183155 0.67892135] [ 0.00288978 0.99999459 0.00157214 0.20484357] [ 0.001827 -0.00157742 0.99999709 -0.00201599] [ 0. 0. 0. 1. ]] SLAMing on 48.903133364999995 meters 0.28293699602024464 Centerline is valid? [False, False] Translation: X:0.71, Y:0.20, Z:-0.00 [[ 0.99998454 0.00328494 -0.00448638 0.70563223] [-0.00329024 0.9999939 -0.00117356 0.20372673] [ 0.0044825 0.0011883 0.99998925 -0.00355591] [ 0. 0. 0. 1. ]] SLAMing on 48.963133365 meters 0.2797834985415351 Centerline is valid? [False, False] Translation: X:0.70, Y:0.21, Z:-0.00 [[ 0.99998613 0.00306563 -0.00428226 0.70450079] [-0.00307364 0.99999353 -0.00186662 0.20675456] [ 0.00427651 0.00187976 0.99998909 -0.00207629] [ 0. 0. 0. 1. ]] SLAMing on 49.02313336499999 meters 0.2815424901656618 Centerline is valid? [False, False] Translation: X:0.70, Y:0.21, Z:-0.00 [[ 0.99998627 0.00275224 -0.00446024 0.70465242] [-0.00276572 0.99999162 -0.00301953 0.21112481] [ 0.00445189 0.00303183 0.99998549 -0.00144009] [ 0. 0. 0. 1. ]] SLAMing on 49.083133364999995 meters 0.28362021553867695 Centerline is valid? [False, False] Translation: X:0.73, Y:0.22, Z:-0.00 [[ 9.99977409e-01 -3.84345442e-03 -5.51451992e-03 7.27394331e-01] [ 3.84210000e-03 9.99992586e-01 -2.56183684e-04 2.17393942e-01] [ 5.51546367e-03 2.34990560e-04 9.99984762e-01 -1.26078829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143133365 meters 0.27989719464405693 Centerline is valid? [False, False] Translation: X:0.71, Y:0.23, Z:0.00 [[ 9.99958520e-01 4.79367945e-03 -7.74458936e-03 7.05430784e-01] [-4.81094771e-03 9.99985979e-01 -2.21263011e-03 2.26150595e-01] [ 7.73387414e-03 2.24979714e-03 9.99967562e-01 6.15568930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20313336499999 meters 0.2814821473367774 Centerline is valid? [False, False] Translation: X:0.72, Y:0.23, Z:0.00 [[ 0.99998155 -0.00344291 -0.00500526 0.72324744] [ 0.00343686 0.99999335 -0.00121637 0.23154553] [ 0.00500941 0.00119915 0.99998673 0.0021927 ] [ 0. 0. 0. 1. ]] SLAMing on 49.263133364999995 meters 0.27965887149034 Centerline is valid? [False, False] Translation: X:0.72, Y:0.23, Z:0.00 [[ 0.99998162 -0.00361568 -0.00486615 0.7226582 ] [ 0.00360777 0.99999216 -0.0016328 0.23325091] [ 0.00487202 0.00161521 0.99998683 0.00271259] [ 0. 0. 0. 1. ]] SLAMing on 49.323133365 meters 0.28289346125887044 Centerline is valid? [False, False] Translation: X:0.74, Y:0.23, Z:0.00 [[ 0.99999185 0.0037818 -0.00141495 0.74120249] [-0.00378601 0.99998838 -0.00298416 0.23465152] [ 0.00140365 0.00298949 0.99999455 0.00343961] [ 0. 0. 0. 1. ]] SLAMing on 49.38313336499999 meters 0.28082388231078964 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.00 [[ 0.99999247 0.00355472 -0.00155492 0.7416657 ] [-0.00356018 0.99998745 -0.00352572 0.23698068] [ 0.00154237 0.00353123 0.99999258 0.00321683] [ 0. 0. 0. 1. ]] SLAMing on 49.443133364999994 meters 0.2815682699993504 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.00 [[ 0.99999275 0.0033879 -0.00174092 0.74226202] [-0.0033947 0.99998655 -0.00392122 0.23873712] [ 0.00172761 0.00392711 0.9999908 0.00297185] [ 0. 0. 0. 1. ]] SLAMing on 49.503133365 meters 0.2817367136354001 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.00 [[ 0.99999331 0.00300558 -0.00208324 0.74317791] [-0.00301597 0.99998293 -0.00500488 0.24332959] [ 0.00206817 0.00501112 0.99998531 0.00284133] [ 0. 0. 0. 1. ]] SLAMing on 49.56313336499999 meters 0.28271204374527215 Centerline is valid? [False, False] Translation: X:0.74, Y:0.25, Z:0.00 [[ 0.99999399 0.0026821 -0.00219781 0.7429901 ] [-0.0026958 0.99997681 -0.00625429 0.24844806] [ 0.00218098 0.00626017 0.99997803 0.0037999 ] [ 0. 0. 0. 1. ]] SLAMing on 49.623133364999994 meters 0.28151646296058763 Centerline is valid? [False, False] Translation: X:0.74, Y:0.25, Z:0.00 [[ 0.99999496 0.0023023 -0.00218786 0.74281769] [-0.00231863 0.99996926 -0.00749084 0.25332845] [ 0.00217055 0.00749587 0.99996955 0.00418938] [ 0. 0. 0. 1. ]] SLAMing on 49.683133364999996 meters 0.2811720697574267 Centerline is valid? [False, False] Translation: X:0.74, Y:0.26, Z:0.01 [[ 0.99999556 0.00194801 -0.00225693 0.74240644] [-0.00196808 0.99995825 -0.0089235 0.25882662] [ 0.00223945 0.0089279 0.99995764 0.00544007] [ 0. 0. 0. 1. ]] SLAMing on 49.74313336499999 meters 0.28145624987699097 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:0.01 [[ 0.99998555 -0.00443735 -0.00303317 0.76388646] [ 0.00441898 0.99997202 -0.00603514 0.26808293] [ 0.00305987 0.00602165 0.99997719 0.00595144] [ 0. 0. 0. 1. ]] SLAMing on 49.803133364999994 meters 0.27949740356629055 Centerline is valid? [False, False] Translation: X:0.73, Y:0.28, Z:0.00 [[ 9.99999505e-01 -6.80506362e-04 -7.25898022e-04 7.25719306e-01] [ 6.75603042e-04 9.99977099e-01 -6.73382452e-03 2.81945066e-01] [ 7.30463809e-04 6.73333077e-03 9.99977064e-01 3.10517713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863133364999996 meters 0.2816314242619632 Centerline is valid? [False, False] Translation: X:0.75, Y:0.29, Z:0.00 [[ 9.99976192e-01 -6.87781770e-03 -5.58059237e-04 7.47759199e-01] [ 6.87563236e-03 9.99969037e-01 -3.82767661e-03 2.90882926e-01] [ 5.84368020e-04 3.82374847e-03 9.99992519e-01 2.93806357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923133365 meters 0.2809090607834349 Centerline is valid? [False, False] Translation: X:0.75, Y:0.29, Z:0.00 [[ 9.99996106e-01 -2.73170182e-03 -5.70341757e-04 7.47987314e-01] [ 2.73171328e-03 9.99996269e-01 1.93273832e-05 2.92685552e-01] [ 5.70286833e-04 -2.08853181e-05 9.99999837e-01 2.47645314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98313336499999 meters 0.2790947140250653 Centerline is valid? [False, False] Translation: X:0.73, Y:0.29, Z:0.00 [[ 9.99973790e-01 6.96961397e-03 -1.96080202e-03 7.28045471e-01] [-6.97147170e-03 9.99975255e-01 -9.42198392e-04 2.94181238e-01] [ 1.95418674e-03 9.55843373e-04 9.99997634e-01 1.92657354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043133364999996 meters 0.2797589585987299 Centerline is valid? [False, False] Translation: X:0.75, Y:0.30, Z:0.00 [[ 9.99997900e-01 -2.04448590e-03 -1.39410844e-04 7.45306807e-01] [ 2.04449989e-03 9.99997905e-01 1.00236835e-04 2.99109724e-01] [ 1.39205619e-04 -1.00521650e-04 9.99999985e-01 3.64666179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103133365 meters 0.27877582631152314 Centerline is valid? [False, False] Translation: X:0.75, Y:0.30, Z:0.00 [[ 9.99997920e-01 -2.03845079e-03 -6.72422539e-05 7.45270311e-01] [ 2.03845862e-03 9.99997916e-01 1.16669963e-04 2.99017190e-01] [ 6.70042877e-05 -1.16806791e-04 9.99999991e-01 3.32771560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16313336499999 meters 0.2802251401415587 Centerline is valid? [False, False] Translation: X:0.77, Y:0.29, Z:0.00 [[ 9.99983347e-01 5.75488577e-03 4.32245317e-04 7.65477905e-01] [-5.75468096e-03 9.99983330e-01 -4.73591187e-04 2.92077391e-01] [-4.34963575e-04 4.71095867e-04 9.99999794e-01 4.21162216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223133364999995 meters 0.2789521810839653 Centerline is valid? [False, False] Translation: X:0.76, Y:0.29, Z:0.01 [[ 9.99993780e-01 3.39111206e-03 9.69357849e-04 7.62348804e-01] [-3.38913919e-03 9.99992197e-01 -2.02968067e-03 2.86661506e-01] [-9.76233160e-04 2.02638276e-03 9.99997470e-01 6.34962437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283133365 meters 0.27920474177330296 Centerline is valid? [False, False] Translation: X:0.76, Y:0.28, Z:0.01 [[ 9.99993244e-01 3.66119738e-03 3.26531941e-04 7.64253550e-01] [-3.66072087e-03 9.99992251e-01 -1.44816956e-03 2.84546156e-01] [-3.31831445e-04 1.44696443e-03 9.99998898e-01 5.29046628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34313336499999 meters 0.27863581175156565 Centerline is valid? [False, False] Translation: X:0.76, Y:0.28, Z:0.01 [[ 9.99998918e-01 1.40821910e-03 4.26410219e-04 7.62438142e-01] [-1.40723847e-03 9.99996385e-01 -2.29136240e-03 2.76761459e-01] [-4.29635418e-04 2.29075986e-03 9.99997284e-01 7.05990050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403133364999995 meters 0.27886499537183196 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:0.01 [[ 9.99998577e-01 1.61470174e-03 4.89333606e-04 7.62380276e-01] [-1.61381995e-03 9.99997083e-01 -1.79709047e-03 2.74650172e-01] [-4.92233943e-04 1.79629822e-03 9.99998266e-01 6.88688124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463133365 meters 0.2787250914094935 Centerline is valid? [False, False] Translation: X:0.76, Y:0.27, Z:0.01 [[ 9.99997685e-01 2.05618415e-03 6.34277614e-04 7.62107472e-01] [-2.05593783e-03 9.99997811e-01 -3.88769786e-04 2.68982354e-01] [-6.35075608e-04 3.87464850e-04 9.99999723e-01 6.86132018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52313336499999 meters 0.2790007958187409 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:0.01 [[ 9.99996153e-01 2.21541348e-03 1.66900929e-03 7.59267204e-01] [-2.21684978e-03 9.99997174e-01 8.59211763e-04 2.61560207e-01] [-1.66710107e-03 -8.62908400e-04 9.99998238e-01 7.76953515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583133364999995 meters 0.2791569716918241 Centerline is valid? [False, False] Translation: X:0.76, Y:0.26, Z:0.01 [[ 0.9999954 0.00258766 0.00158124 0.75933638] [-0.00259041 0.99999514 0.00173724 0.25777889] [-0.00157673 -0.00174133 0.99999724 0.00816782] [ 0. 0. 0. 1. ]] SLAMing on 50.643133365 meters 0.27853986993008956 Centerline is valid? [False, False] Translation: X:0.76, Y:0.25, Z:0.01 [[ 0.9999938 0.00301551 0.00181578 0.75895551] [-0.0030206 0.99999151 0.00280419 0.25347997] [-0.00180731 -0.00280966 0.99999442 0.00795132] [ 0. 0. 0. 1. ]] SLAMing on 50.70313336499999 meters 0.2797852110999771 Centerline is valid? [False, False] Translation: X:0.76, Y:0.25, Z:0.01 [[ 0.99999383 0.00310471 0.00164424 0.75939779] [-0.00310964 0.99999066 0.00300332 0.25260331] [-0.0016349 -0.00300842 0.99999414 0.00789886] [ 0. 0. 0. 1. ]] SLAMing on 50.763133364999995 meters 0.2803626988384823 Centerline is valid? [False, False] Translation: X:0.76, Y:0.25, Z:0.00 [[ 9.99999680e-01 6.54339970e-04 4.59231311e-04 7.64280995e-01] [-6.54898507e-04 9.99999045e-01 1.21715002e-03 2.48855247e-01] [-4.58434443e-04 -1.21745038e-03 9.99999154e-01 4.73189487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823133365 meters 0.281429224829268 Centerline is valid? [False, False] Translation: X:0.76, Y:0.25, Z:0.00 [[ 9.99999464e-01 9.36111970e-04 4.41366126e-04 7.64573338e-01] [-9.36921321e-04 9.99997874e-01 1.83711294e-03 2.46289424e-01] [-4.39645444e-04 -1.83752549e-03 9.99998215e-01 4.33793678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88313336499999 meters 0.2806554497064286 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99997907e-01 -1.18679101e-03 1.66679854e-03 7.59480675e-01] [ 1.18581311e-03 9.99999124e-01 5.87558578e-04 2.39628740e-01] [-1.66749439e-03 -5.85580836e-04 9.99998438e-01 7.25497909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.943133364999994 meters 0.2811168306141962 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998541e-01 -8.42796132e-04 1.48579494e-03 7.60319493e-01] [ 8.40726857e-04 9.99998677e-01 1.39278095e-03 2.36168008e-01] [-1.48696680e-03 -1.39152977e-03 9.99997926e-01 6.57082219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003133365 meters 0.28144727968850747 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998889e-01 -7.41522787e-04 1.29303702e-03 7.60964996e-01] [ 7.39391414e-04 9.99998369e-01 1.64804634e-03 2.35096056e-01] [-1.29425697e-03 -1.64708845e-03 9.99997806e-01 6.20207895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06313336499999 meters 0.28223376181407944 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:0.01 [[ 9.99998882e-01 -7.12759729e-04 1.31426857e-03 7.60781892e-01] [ 7.10491928e-04 9.99998259e-01 1.72518369e-03 2.34744721e-01] [-1.31549592e-03 -1.72424798e-03 9.99997648e-01 6.50090001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.123133364999994 meters 0.2835211012896381 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998747e-01 -7.97677990e-04 1.36737040e-03 7.60726861e-01] [ 7.95627661e-04 9.99998559e-01 1.49935754e-03 2.35714343e-01] [-1.36856443e-03 -1.49826775e-03 9.99997941e-01 6.29415908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183133364999996 meters 0.2827867000159014 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998549e-01 -8.27009425e-04 1.48962818e-03 7.60073204e-01] [ 8.24892455e-04 9.99998650e-01 1.42119425e-03 2.36064940e-01] [-1.49080151e-03 -1.41996341e-03 9.99997881e-01 7.10398787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24313336499999 meters 0.2818189334569868 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998447e-01 -9.64891562e-04 1.47502475e-03 7.60252259e-01] [ 9.63270926e-04 9.99998932e-01 1.09903371e-03 2.37486602e-01] [-1.47608362e-03 -1.09761116e-03 9.99998308e-01 6.75834763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.303133364999994 meters 0.2831310667119565 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99998354e-01 -1.13388191e-03 1.41670996e-03 7.60432939e-01] [ 1.13290432e-03 9.99999120e-01 6.90650223e-04 2.39230975e-01] [-1.41749183e-03 -6.89044089e-04 9.99998758e-01 6.62823349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363133364999996 meters 0.2812193209599389 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99997835e-01 -1.33453400e-03 1.59656202e-03 7.59868932e-01] [ 1.33423217e-03 9.99999092e-01 1.90101084e-04 2.41359782e-01] [-1.59681427e-03 -1.87970488e-04 9.99998707e-01 6.83342057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42313336499999 meters 0.2826955214310008 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99997765e-01 -1.46584368e-03 1.52387238e-03 7.60077768e-01] [ 1.46605633e-03 9.99998916e-01 -1.38436877e-04 2.42745642e-01] [-1.52366780e-03 1.40670650e-04 9.99998829e-01 6.71324908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48313336499999 meters 0.2819096162499457 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:0.01 [[ 9.99997777e-01 -1.44366338e-03 1.53712293e-03 7.59996653e-01] [ 1.44379910e-03 9.99998954e-01 -8.71873176e-05 2.42514887e-01] [-1.53699545e-03 8.94064204e-05 9.99998815e-01 6.82972133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543133364999996 meters 0.28106572593253254 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.01 [[ 0.99998548 0.00505021 0.00188197 0.73781417] [-0.00504427 0.99998232 -0.00314754 0.23781842] [-0.00189783 0.003138 0.99999328 0.00746693] [ 0. 0. 0. 1. ]] SLAMing on 51.603133365 meters 0.281159967523377 Centerline is valid? [False, False] Translation: X:0.74, Y:0.24, Z:0.01 [[ 0.99998466 0.00527526 0.00168734 0.73836463] [-0.00527083 0.99998268 -0.00261894 0.23552989] [-0.00170113 0.00261001 0.99999515 0.00740401] [ 0. 0. 0. 1. ]] SLAMing on 51.66313336499999 meters 0.2827517662342014 Centerline is valid? [False, False] Translation: X:0.75, Y:0.24, Z:0.01 [[ 9.99998901e-01 -8.85328198e-05 -1.48018152e-03 7.52476351e-01] [ 8.90665220e-05 9.99999931e-01 3.60503346e-04 2.35072115e-01] [ 1.48014951e-03 -3.60634784e-04 9.99998840e-01 1.25429344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723133364999995 meters 0.28299379525422746 Centerline is valid? [False, False] Translation: X:0.75, Y:0.23, Z:0.01 [[ 9.99998600e-01 1.76124782e-04 -1.66411849e-03 7.53370842e-01] [-1.74393391e-04 9.99999443e-01 1.04051313e-03 2.32133735e-01] [ 1.66430083e-03 -1.04022146e-03 9.99998074e-01 1.17474029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783133365 meters 0.28005833523426416 Centerline is valid? [False, False] Translation: X:0.73, Y:0.22, Z:0.01 [[ 9.99979524e-01 6.36953726e-03 -6.17197305e-04 7.30564649e-01] [-6.37028252e-03 9.99978974e-01 -1.21312828e-03 2.20930243e-01] [ 6.09457262e-04 1.21703516e-03 9.99999074e-01 1.27928293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84313336499999 meters 0.28161037883176043 Centerline is valid? [False, False] Translation: X:0.75, Y:0.21, Z:0.01 [[ 9.99994060e-01 -2.99933665e-03 1.69832436e-03 7.50663964e-01] [ 2.99934002e-03 9.99995502e-01 5.66016829e-07 2.13163031e-01] [-1.69831842e-03 4.52783876e-06 9.99998558e-01 1.28248823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903133364999995 meters 0.28071391710767785 Centerline is valid? [False, False] Translation: X:0.73, Y:0.21, Z:0.01 [[ 0.9999931 0.00307484 0.00208691 0.72769279] [-0.00306881 0.99999113 -0.00288315 0.20573049] [-0.00209576 0.00287673 0.99999367 0.01367491] [ 0. 0. 0. 1. ]] SLAMing on 51.963133365 meters 0.2827462663421542 Centerline is valid? [False, False] Translation: X:0.75, Y:0.21, Z:0.01 [[ 0.99997835 -0.00575852 0.00318277 0.74736216] [ 0.00576313 0.99998236 -0.00144052 0.2059623 ] [-0.00317442 0.00145883 0.9999939 0.01407012] [ 0. 0. 0. 1. ]] SLAMing on 52.02313336499999 meters 0.28162752826729615 Centerline is valid? [False, False] Translation: X:0.73, Y:0.20, Z:0.01 [[ 0.99999455 0.00219321 0.00246603 0.73014781] [-0.00218669 0.99999412 -0.00264222 0.19577125] [-0.00247181 0.00263681 0.99999347 0.011573 ] [ 0. 0. 0. 1. ]] SLAMing on 52.083133364999995 meters 0.281479013883068 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:0.01 [[ 0.99995755 -0.00698729 0.00600598 0.74804562] [ 0.00699658 0.99997436 -0.00152638 0.18856198] [-0.00599516 0.00156834 0.9999808 0.01261798] [ 0. 0. 0. 1. ]] SLAMing on 52.143133365 meters 0.28021488816538387 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 0.99997482 0.00123722 0.00698842 0.7294372 ] [-0.00122537 0.99999781 -0.001699 0.17488911] [-0.0069905 0.0016904 0.99997414 0.01056059] [ 0. 0. 0. 1. ]] SLAMing on 52.20313336499999 meters 0.28165649504310963 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99975853e-01 1.56393235e-03 6.77102110e-03 7.30299420e-01] [-1.55782511e-03 9.99998375e-01 -9.07148147e-04 1.71473084e-01] [-6.77242881e-03 8.96578176e-04 9.99976665e-01 9.97907223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.263133364999995 meters 0.28092665342521944 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99976192e-01 1.98965034e-03 6.60733220e-03 7.31173465e-01] [-1.99005892e-03 9.99998018e-01 5.52644020e-05 1.67338563e-01] [-6.60720915e-03 -6.84120666e-05 9.99978170e-01 9.16631211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323133365 meters 0.28185747263225736 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99975813e-01 2.15103480e-03 6.61405781e-03 7.31537898e-01] [-2.15455202e-03 9.99997541e-01 5.24700166e-04 1.65452998e-01] [-6.61291290e-03 -5.38937807e-04 9.99977989e-01 8.38297084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38313336499999 meters 0.2819637371248364 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99976441e-01 2.11371393e-03 6.53063984e-03 7.31917755e-01] [-2.11643376e-03 9.99997676e-01 4.09589089e-04 1.65934652e-01] [-6.52975891e-03 -4.23401106e-04 9.99978591e-01 7.88168988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443133364999994 meters 0.2828805687267456 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99975632e-01 1.95912648e-03 6.70059642e-03 7.31524555e-01] [-1.95898565e-03 9.99998081e-01 -2.75810647e-05 1.67785024e-01] [-6.70063759e-03 1.44540203e-05 9.99977550e-01 7.80835872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503133365 meters 0.2842089362738238 Centerline is valid? [False, False] Translation: X:0.71, Y:0.17, Z:0.01 [[ 0.99998657 -0.0042553 0.00295915 0.71017455] [ 0.00424866 0.99998845 0.00224491 0.16617984] [-0.00296867 -0.00223231 0.9999931 0.01023394] [ 0. 0. 0. 1. ]] SLAMing on 52.56313336499999 meters 0.28137038600520714 Centerline is valid? [False, False] Translation: X:0.69, Y:0.17, Z:0.01 [[ 9.99980187e-01 2.23126459e-03 5.88614963e-03 6.93896618e-01] [-2.22940083e-03 9.99997463e-01 -3.23176122e-04 1.67064926e-01] [-5.88685579e-03 3.10047132e-04 9.99982624e-01 5.86517058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.623133364999994 meters 0.2833699885371131 Centerline is valid? [False, False] Translation: X:0.71, Y:0.17, Z:0.01 [[ 0.99995866 -0.00364755 0.00832863 0.71395034] [ 0.00362404 0.99998941 0.00283693 0.17135088] [-0.00833889 -0.00280663 0.99996129 0.00626217] [ 0. 0. 0. 1. ]] SLAMing on 52.683133364999996 meters 0.2863026545933489 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:0.01 [[ 0.99997182 -0.00381571 0.00646584 0.75380149] [ 0.00379729 0.9999887 0.00285991 0.17480186] [-0.00647668 -0.00283528 0.99997501 0.00942288] [ 0. 0. 0. 1. ]] SLAMing on 52.74313336499999 meters 0.28250064640411476 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99980665e-01 2.13872576e-03 5.83905291e-03 7.31179530e-01] [-2.13770013e-03 9.99997699e-01 -1.81886246e-04 1.69897523e-01] [-5.83942847e-03 1.69400585e-04 9.99982936e-01 1.09680659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803133364999994 meters 0.2824387998487521 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99980325e-01 2.23848663e-03 5.85992411e-03 7.30950200e-01] [-2.23887325e-03 9.99997492e-01 5.94171284e-05 1.68876142e-01] [-5.85977641e-03 -7.25355866e-05 9.99982829e-01 1.13546534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863133364999996 meters 0.28165154986750235 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99980845e-01 2.22983728e-03 5.77380102e-03 7.31599908e-01] [-2.23008801e-03 9.99997513e-01 3.69877809e-05 1.68942519e-01] [-5.77370418e-03 -4.98631569e-05 9.99983331e-01 1.02509590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92313336499999 meters 0.2833039559679062 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99980546e-01 2.13998753e-03 5.85909792e-03 7.31665862e-01] [-2.13871926e-03 9.99997688e-01 -2.22719376e-04 1.70023317e-01] [-5.85956100e-03 2.10184077e-04 9.99982811e-01 9.60671844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98313336499999 meters 0.284505644192269 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99981343e-01 2.07712154e-03 5.74445694e-03 7.32307465e-01] [-2.07491652e-03 9.99997771e-01 -3.89784516e-04 1.70744881e-01] [-5.74525377e-03 3.77857976e-04 9.99983425e-01 8.69530263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043133364999996 meters 0.28187907433184783 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99982191e-01 1.96827026e-03 5.63419593e-03 7.32879544e-01] [-1.96460545e-03 9.99997855e-01 -6.55917839e-04 1.71895411e-01] [-5.63547487e-03 6.44837186e-04 9.99983913e-01 7.97009109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103133365 meters 0.282290508113837 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 9.99981546e-01 1.94296026e-03 5.75603433e-03 7.32384346e-01] [-1.93885133e-03 9.99997862e-01 -7.19341151e-04 1.72210615e-01] [-5.75741967e-03 7.08167782e-04 9.99983175e-01 8.43024393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16313336499999 meters 0.2829365578894691 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:0.01 [[ 9.99945945e-01 -7.07917662e-03 7.61532360e-03 7.51764661e-01] [ 7.08082686e-03 9.99974913e-01 -1.89759150e-04 1.74542902e-01] [-7.61378922e-03 2.43671680e-04 9.99970985e-01 9.69708302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223133364999995 meters 0.2828818834841984 Centerline is valid? [False, False] Translation: X:0.75, Y:0.17, Z:0.01 [[ 9.99945883e-01 -7.11522390e-03 7.58975226e-03 7.51718150e-01] [ 7.11755087e-03 9.99974631e-01 -2.79626799e-04 1.74926691e-01] [-7.58757011e-03 3.33632114e-04 9.99971158e-01 9.93548206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283133365 meters 0.2814011794227578 Centerline is valid? [False, False] Translation: X:0.73, Y:0.17, Z:0.01 [[ 0.99996615 0.00176399 0.00803604 0.7302119 ] [-0.00175586 0.99999794 -0.00101859 0.17152262] [-0.00803782 0.00100445 0.99996719 0.00933496] [ 0. 0. 0. 1. ]] SLAMing on 53.34313336499999 meters 0.27905812596066676 Centerline is valid? [False, False] Translation: X:0.71, Y:0.17, Z:0.01 [[ 0.99997725 -0.00326984 0.00589993 0.7070305 ] [ 0.00325731 0.99999242 0.00213313 0.17273533] [-0.00590686 -0.00211387 0.99998032 0.01075197] [ 0. 0. 0. 1. ]] SLAMing on 53.403133364999995 meters 0.28378660897061414 Centerline is valid? [False, False] Translation: X:0.75, Y:0.18, Z:0.01 [[ 0.99996888 -0.00227895 0.00755222 0.74860879] [ 0.0022575 0.9999934 0.00284758 0.18222598] [-0.00755866 -0.00283044 0.99996743 0.01115271] [ 0. 0. 0. 1. ]] SLAMing on 53.463133365 meters 0.2833925353903478 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:0.01 [[ 0.99996917 -0.00260323 0.00740878 0.74954901] [ 0.00258956 0.99999493 0.00185477 0.18660344] [-0.00741357 -0.00183553 0.99997083 0.00965002] [ 0. 0. 0. 1. ]] SLAMing on 53.52313336499999 meters 0.28139994381920885 Centerline is valid? [False, False] Translation: X:0.73, Y:0.19, Z:0.01 [[ 9.99963247e-01 6.09076313e-03 6.03390702e-03 7.29167347e-01] [-6.09496243e-03 9.99981196e-01 6.77806898e-04 1.86323315e-01] [-6.02966520e-03 -7.14558423e-04 9.99981566e-01 9.58867425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583133364999995 meters 0.283598644021036 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:0.01 [[ 0.99997132 -0.00223511 0.0072366 0.74825793] [ 0.00222375 0.99999628 0.00157741 0.19273672] [-0.0072401 -0.00156127 0.99997257 0.01096059] [ 0. 0. 0. 1. ]] SLAMing on 53.643133365 meters 0.2814878265348292 Centerline is valid? [False, False] Translation: X:0.73, Y:0.19, Z:0.01 [[ 0.9999805 0.00384475 0.0049213 0.72700083] [-0.00383619 0.99999111 -0.00174857 0.19319461] [-0.00492798 0.00172965 0.99998636 0.01219268] [ 0. 0. 0. 1. ]] SLAMing on 53.70313336499999 meters 0.2815116290018368 Centerline is valid? [False, False] Translation: X:0.75, Y:0.20, Z:0.01 [[ 0.99997701 -0.00176846 0.00654596 0.74727117] [ 0.0017557 0.99999655 0.00195449 0.19699727] [-0.00654939 -0.00194295 0.99997666 0.01211656] [ 0. 0. 0. 1. ]] SLAMing on 53.763133364999995 meters 0.28292226379978347 Centerline is valid? [False, False] Translation: X:0.75, Y:0.20, Z:0.01 [[ 0.99997534 -0.00195397 0.00674503 0.74676702] [ 0.00194448 0.99999711 0.00141389 0.1992205 ] [-0.00674777 -0.00140073 0.99997625 0.01210859] [ 0. 0. 0. 1. ]] SLAMing on 53.823133365 meters 0.2837285277178487 Centerline is valid? [False, False] Translation: X:0.75, Y:0.20, Z:0.01 [[ 9.99978834e-01 -2.02508142e-03 6.18302505e-03 7.48488499e-01] [ 2.01915759e-03 9.99997497e-01 9.64171924e-04 2.01526603e-01] [-6.18496209e-03 -9.51667015e-04 9.99980420e-01 1.06825408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88313336499999 meters 0.28283218807906585 Centerline is valid? [False, False] Translation: X:0.75, Y:0.20, Z:0.01 [[ 9.99978906e-01 -2.09372901e-03 6.14856045e-03 7.48629703e-01] [ 2.08886882e-03 9.99997501e-01 7.96774600e-04 2.02233222e-01] [-6.15021332e-03 -7.83914256e-04 9.99980780e-01 1.05273462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943133364999994 meters 0.2823958633998181 Centerline is valid? [False, False] Translation: X:0.75, Y:0.20, Z:0.01 [[ 9.99978502e-01 -2.10138963e-03 6.21122607e-03 7.48303454e-01] [ 2.09662533e-03 9.99997503e-01 7.73457995e-04 2.02334942e-01] [-6.21283590e-03 -7.60418754e-04 9.99980411e-01 1.09131800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003133365 meters 0.2849110994919591 Centerline is valid? [False, False] Translation: X:0.77, Y:0.21, Z:0.01 [[ 9.99937909e-01 6.00101043e-03 9.38962523e-03 7.67522124e-01] [-5.99782283e-03 9.99981945e-01 -3.67604384e-04 2.06615202e-01] [-9.39166170e-03 3.11264251e-04 9.99955849e-01 1.12146458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06313336499999 meters 0.2813756919013741 Centerline is valid? [False, False] Translation: X:0.78, Y:0.22, Z:0.01 [[ 9.99953815e-01 -1.91104402e-03 9.41891164e-03 7.84857962e-01] [ 1.90249057e-03 9.99997770e-01 9.16990784e-04 2.16151196e-01] [-9.42064304e-03 -8.99029042e-04 9.99955221e-01 1.36288343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.123133364999994 meters 0.27908497875855337 Centerline is valid? [False, False] Translation: X:0.78, Y:0.22, Z:0.01 [[ 9.99953627e-01 -1.94895769e-03 9.43104304e-03 7.84581033e-01] [ 1.94137971e-03 9.99997785e-01 8.12602488e-04 2.16584701e-01] [-9.43260588e-03 -7.94255570e-04 9.99955197e-01 1.41716506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183133364999996 meters 0.28101189448082026 Centerline is valid? [False, False] Translation: X:0.78, Y:0.22, Z:0.02 [[ 9.99946237e-01 -2.02628775e-03 1.01694473e-02 7.82392922e-01] [ 2.01698192e-03 9.99997538e-01 9.25250139e-04 2.15749166e-01] [-1.01712971e-02 -9.04688803e-04 9.99947862e-01 1.56610485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24313336499999 meters 0.2791437775400986 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.01 [[ 0.99994852 -0.00182294 0.00998133 0.78322734] [ 0.00180678 0.99999704 0.00162711 0.21302842] [-0.00998427 -0.00160899 0.99994886 0.01482543] [ 0. 0. 0. 1. ]] SLAMing on 54.303133364999994 meters 0.2792755462506718 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.01 [[ 0.99994975 -0.00152374 0.00990836 0.78359194] [ 0.00149861 0.99999564 0.00254343 0.2093196 ] [-0.00991219 -0.00252845 0.99994768 0.01446906] [ 0. 0. 0. 1. ]] SLAMing on 54.363133364999996 meters 0.27945017660131644 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.01 [[ 0.99995066 -0.00132114 0.00984557 0.78388142] [ 0.00129117 0.99999451 0.0030502 0.20719321] [-0.00984954 -0.00303733 0.99994688 0.01424024] [ 0. 0. 0. 1. ]] SLAMing on 54.42313336499999 meters 0.2807058026019599 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.01 [[ 0.99995257 -0.00115453 0.00967125 0.78493248] [ 0.00112113 0.99999339 0.00345807 0.20528402] [-0.00967518 -0.00344706 0.99994725 0.01287806] [ 0. 0. 0. 1. ]] SLAMing on 54.48313336499999 meters 0.27987895819251596 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:0.01 [[ 0.9999537 -0.00110058 0.00955926 0.78551069] [ 0.00106623 0.99999296 0.00359834 0.20467091] [-0.00956315 -0.00358798 0.99994783 0.01215061] [ 0. 0. 0. 1. ]] SLAMing on 54.543133364999996 meters 0.28127972479512664 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:0.01 [[ 0.99995426 -0.00109153 0.00950226 0.78572671] [ 0.00105712 0.99999287 0.00362547 0.204564 ] [-0.00950615 -0.00361526 0.99994828 0.01198183] [ 0. 0. 0. 1. ]] SLAMing on 54.603133365 meters 0.2799363173674292 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:0.01 [[ 0.99995441 -0.00104175 0.00949154 0.7856783 ] [ 0.00100626 0.99999249 0.00374303 0.20404554] [-0.00949536 -0.00373331 0.99994795 0.01216065] [ 0. 0. 0. 1. ]] SLAMing on 54.66313336499999 meters 0.27993309495235075 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:0.02 [[ 9.99944916e-01 6.43303296e-04 1.04762636e-02 7.80560970e-01] [-7.02557404e-04 9.99983773e-01 5.65333679e-03 2.02523062e-01] [-1.04724568e-02 -5.66038555e-03 9.99929141e-01 1.59990305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723133364999995 meters 0.28012396114170013 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:0.02 [[ 9.99943411e-01 4.90983124e-04 1.06270157e-02 7.80199215e-01] [-5.46966137e-04 9.99985986e-01 5.26572491e-03 2.04173791e-01] [-1.06242814e-02 -5.27123955e-03 9.99929667e-01 1.59171072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783133365 meters 0.2793647968521896 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99942337e-01 3.73522524e-04 1.07322984e-02 7.79584454e-01] [-4.26741090e-04 9.99987624e-01 4.95686759e-03 2.05563716e-01] [-1.07303141e-02 -4.96116167e-03 9.99930121e-01 1.67289284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84313336499999 meters 0.2784689867880766 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99942545e-01 2.60388158e-04 1.07163235e-02 7.79765804e-01] [-3.10453308e-04 9.99989045e-01 4.67046047e-03 2.06785586e-01] [-1.07149899e-02 -4.67351905e-03 9.99931671e-01 1.63574991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903133364999995 meters 0.27899782603334455 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99943701e-01 1.58830515e-04 1.06098604e-02 7.79984383e-01] [-2.05641264e-04 9.99990250e-01 4.41105903e-03 2.07874129e-01] [-1.06090564e-02 -4.41299251e-03 9.99933985e-01 1.64123351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963133365 meters 0.2782037291550912 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99943027e-01 9.81965209e-05 1.06739309e-02 7.79599573e-01] [-1.43767838e-04 9.99990879e-01 4.26871995e-03 2.08536753e-01] [-1.06734144e-02 -4.27001131e-03 9.99933920e-01 1.68913520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02313336499999 meters 0.28032079028774803 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99943130e-01 9.75212422e-05 1.06642789e-02 7.79584876e-01] [-1.43082557e-04 9.99990866e-01 4.27165015e-03 2.08543793e-01] [-1.06637649e-02 -4.27293310e-03 9.99934011e-01 1.69756536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083133364999995 meters 0.2800077139042253 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99945786e-01 9.69629310e-05 1.04122784e-02 7.80223013e-01] [-1.41485317e-04 9.99990851e-01 4.27529896e-03 2.08517656e-01] [-1.04117686e-02 -4.27654037e-03 9.99936651e-01 1.69144250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143133365 meters 0.2800301143645307 Centerline is valid? [False, False] Translation: X:0.78, Y:0.21, Z:0.02 [[ 9.99946049e-01 3.11563710e-05 1.03874439e-02 7.80053560e-01] [-7.38744177e-05 9.99991543e-01 4.11211121e-03 2.09224439e-01] [-1.03872280e-02 -4.11265672e-03 9.99937594e-01 1.73965711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20313336499999 meters 0.2785802487775192 Centerline is valid? [False, False] Translation: X:0.76, Y:0.20, Z:0.02 [[ 9.99944057e-01 5.54075320e-03 9.01010585e-03 7.58212030e-01] [-5.54782371e-03 9.99984322e-01 7.59926308e-04 2.04160509e-01] [-9.00575402e-03 -8.09870275e-04 9.99959119e-01 1.83964516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263133364999995 meters 0.2779790128310296 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:0.02 [[ 0.99993059 -0.00439971 0.01092972 0.77781325] [ 0.00438616 0.99998958 0.00126372 0.19905241] [-0.01093516 -0.0012157 0.99993947 0.0188302 ] [ 0. 0. 0. 1. ]] SLAMing on 55.323133365 meters 0.2783596392512373 Centerline is valid? [False, False] Translation: X:0.78, Y:0.20, Z:0.02 [[ 0.9999361 -0.00408843 0.01053935 0.77896043] [ 0.00406531 0.99998928 0.00221439 0.19509148] [-0.01054829 -0.00217141 0.99994201 0.01843195] [ 0. 0. 0. 1. ]] SLAMing on 55.38313336499999 meters 0.27829423908457057 Centerline is valid? [False, False] Translation: X:0.78, Y:0.19, Z:0.02 [[ 0.9999387 -0.00375914 0.01041453 0.77962953] [ 0.00372856 0.99998868 0.00295437 0.19191617] [-0.01042552 -0.00291535 0.9999414 0.01784012] [ 0. 0. 0. 1. ]] SLAMing on 55.443133364999994 meters 0.2788818224155487 Centerline is valid? [False, False] Translation: X:0.76, Y:0.19, Z:0.02 [[ 9.99958526e-01 3.18993201e-03 8.53059998e-03 7.57803170e-01] [-3.19467418e-03 9.99994750e-01 5.42332267e-04 1.89508710e-01] [-8.52882519e-03 -5.69562262e-04 9.99963467e-01 1.93256072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503133365 meters 0.2800185926244908 Centerline is valid? [False, False] Translation: X:0.80, Y:0.19, Z:0.02 [[ 9.99932829e-01 2.85538715e-03 1.12331829e-02 8.01393681e-01] [-2.86340058e-03 9.99995657e-01 6.97353363e-04 1.92361452e-01] [-1.12311429e-02 -7.29471623e-04 9.99936663e-01 1.75064136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56313336499999 meters 0.27871376396733294 Centerline is valid? [False, False] Translation: X:0.80, Y:0.19, Z:0.02 [[ 9.99925299e-01 7.90186124e-04 1.21972346e-02 7.95906555e-01] [-7.78544678e-04 9.99999237e-01 -9.59151917e-04 1.90026190e-01] [-1.21979832e-02 9.49584175e-04 9.99925151e-01 2.17055891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.623133364999994 meters 0.2783308651703702 Centerline is valid? [False, False] Translation: X:0.77, Y:0.19, Z:0.02 [[ 0.99993488 -0.00556089 0.0099656 0.77321121] [ 0.00554022 0.99998245 0.00210047 0.18579772] [-0.0099771 -0.00204512 0.99994814 0.02478476] [ 0. 0. 0. 1. ]] SLAMing on 55.683133364999996 meters 0.2790976361414671 Centerline is valid? [False, False] Translation: X:0.77, Y:0.18, Z:0.02 [[ 0.9999361 -0.00543819 0.0099108 0.77332655] [ 0.00541454 0.99998243 0.00241108 0.18446642] [-0.00992374 -0.00235727 0.99994798 0.02488015] [ 0. 0. 0. 1. ]] SLAMing on 55.74313336499999 meters 0.2786902754530276 Centerline is valid? [False, False] Translation: X:0.79, Y:0.18, Z:0.03 [[ 0.99992943 0.00256552 0.01159936 0.79166145] [-0.002585 0.99999527 0.00166444 0.17791217] [-0.01159503 -0.00169431 0.99993134 0.02653573] [ 0. 0. 0. 1. ]] SLAMing on 55.803133364999994 meters 0.2785968007108172 Centerline is valid? [False, False] Translation: X:0.77, Y:0.17, Z:0.03 [[ 0.99996596 -0.00371886 0.00736578 0.77145668] [ 0.00368765 0.99998419 0.00424519 0.17072348] [-0.00738145 -0.00421788 0.99996386 0.02830742] [ 0. 0. 0. 1. ]] SLAMing on 55.863133364999996 meters 0.2795931814517663 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.03 [[ 0.99996426 0.00245296 0.00809038 0.79481459] [-0.00246622 0.99999563 0.00162963 0.16695811] [-0.00808634 -0.00164953 0.99996594 0.02697944] [ 0. 0. 0. 1. ]] SLAMing on 55.92313336499999 meters 0.278886093525389 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.03 [[ 0.99996281 0.00259303 0.0082255 0.7944636 ] [-0.00260958 0.99999459 0.00200135 0.16541 ] [-0.00822027 -0.00202274 0.99996417 0.02709607] [ 0. 0. 0. 1. ]] SLAMing on 55.98313336499999 meters 0.27881900965260487 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 0.9999629 0.0026883 0.00818302 0.794773 ] [-0.00270662 0.99999385 0.0022294 0.16441408] [-0.00817697 -0.00225147 0.99996403 0.0266822 ] [ 0. 0. 0. 1. ]] SLAMing on 56.043133364999996 meters 0.27961798311927466 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.03 [[ 0.99996386 0.00284968 0.00800979 0.79560974] [-0.00287118 0.9999923 0.00267438 0.16235241] [-0.00800211 -0.00269728 0.99996434 0.02571985] [ 0. 0. 0. 1. ]] SLAMing on 56.103133365 meters 0.28048829644090434 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.03 [[ 0.99996355 0.0030034 0.00799206 0.79547505] [-0.00302901 0.99999031 0.00319427 0.16026327] [-0.00798239 -0.00321836 0.99996296 0.02621702] [ 0. 0. 0. 1. ]] SLAMing on 56.16313336499999 meters 0.2806849752034361 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.03 [[ 0.99996632 0.00319519 0.00755918 0.79670263] [-0.00322455 0.99998729 0.00387546 0.15752129] [-0.0075467 -0.00389971 0.99996392 0.02570851] [ 0. 0. 0. 1. ]] SLAMing on 56.223133364999995 meters 0.279696413586487 Centerline is valid? [False, False] Translation: X:0.80, Y:0.16, Z:0.03 [[ 0.99996594 0.00336023 0.00753855 0.79670277] [-0.00339283 0.99998493 0.00431596 0.15568555] [-0.00752393 -0.00434139 0.99996227 0.02585773] [ 0. 0. 0. 1. ]] SLAMing on 56.283133365 meters 0.2789932255301894 Centerline is valid? [False, False] Translation: X:0.80, Y:0.15, Z:0.03 [[ 9.99971874e-01 -7.56480328e-04 7.46178062e-03 7.96839225e-01] [ 7.53157311e-04 9.99999616e-01 4.48138359e-04 1.53729564e-01] [-7.46211677e-03 -4.42505860e-04 9.99972060e-01 2.59138248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34313336499999 meters 0.27878240083820965 Centerline is valid? [False, False] Translation: X:0.80, Y:0.15, Z:0.03 [[ 9.99971215e-01 -6.11765268e-04 7.56267726e-03 7.96361685e-01] [ 6.05430060e-04 9.99999464e-01 8.39954870e-04 1.52062370e-01] [-7.56318706e-03 -8.35352020e-04 9.99971050e-01 2.65190032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403133364999995 meters 0.2793426566403746 Centerline is valid? [False, False] Translation: X:0.80, Y:0.15, Z:0.03 [[ 9.99970640e-01 -5.79578751e-04 7.64091057e-03 7.96123605e-01] [ 5.72590742e-04 9.99999416e-01 9.16707645e-04 1.51726345e-01] [-7.64143741e-03 -9.12305616e-04 9.99970388e-01 2.66321310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463133365 meters 0.2808519584664161 Centerline is valid? [False, False] Translation: X:0.80, Y:0.15, Z:0.03 [[ 9.99969915e-01 -5.29540458e-04 7.73872744e-03 7.95876496e-01] [ 5.21486818e-04 9.99999320e-01 1.04267380e-03 1.51191937e-01] [-7.73927432e-03 -1.03860679e-03 9.99969512e-01 2.66653772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52313336499999 meters 0.27922954822335044 Centerline is valid? [False, False] Translation: X:0.78, Y:0.15, Z:0.03 [[ 0.99997267 0.00534469 0.00510727 0.77505397] [-0.00533279 0.99998304 -0.00234076 0.15156803] [-0.0051197 0.00231346 0.99998422 0.02741656] [ 0. 0. 0. 1. ]] SLAMing on 56.583133364999995 meters 0.2806497023504211 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 0.99997675 -0.00332387 0.00595425 0.79317035] [ 0.00333375 0.99999308 -0.00164999 0.15796798] [-0.00594873 0.0016698 0.99998091 0.02868073] [ 0. 0. 0. 1. ]] SLAMing on 56.643133365 meters 0.2817707597435116 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 0.99997624 -0.00339935 0.00599652 0.79297758] [ 0.00341047 0.99999248 -0.00184477 0.15878997] [-0.0059902 0.00186518 0.99998032 0.02885767] [ 0. 0. 0. 1. ]] SLAMing on 56.70313336499999 meters 0.2799501676397578 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 9.99973991e-01 -1.78872438e-03 6.98691220e-03 7.87916910e-01] [ 1.78844261e-03 9.99998400e-01 4.65759501e-05 1.56515794e-01] [-6.98698433e-03 -3.40790472e-05 9.99975590e-01 3.27283407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.763133364999995 meters 0.2806344028232958 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 9.99973783e-01 -1.96429485e-03 6.96958832e-03 7.88019818e-01] [ 1.96724138e-03 9.99997978e-01 -4.15939042e-04 1.58454680e-01] [-6.96875720e-03 4.29639000e-04 9.99975626e-01 3.25327057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823133365 meters 0.2808329243636268 Centerline is valid? [False, False] Translation: X:0.79, Y:0.16, Z:0.03 [[ 9.99973951e-01 -2.16084896e-03 6.88679954e-03 7.88432243e-01] [ 2.16748157e-03 9.99997194e-01 -9.55772634e-04 1.60711497e-01] [-6.88471493e-03 9.70674748e-04 9.99975829e-01 3.19937097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88313336499999 meters 0.27931082868943535 Centerline is valid? [False, False] Translation: X:0.79, Y:0.17, Z:0.03 [[ 0.99997139 -0.00254357 0.00712389 0.7875553 ] [ 0.00255902 0.99999439 -0.00216067 0.1656553 ] [-0.00711835 0.00217884 0.99997229 0.0325504 ] [ 0. 0. 0. 1. ]] SLAMing on 56.943133364999994 meters 0.2819534826842976 Centerline is valid? [False, False] Translation: X:0.83, Y:0.18, Z:0.04 [[ 9.99987588e-01 -1.12257257e-04 4.98111958e-03 8.27625956e-01] [ 1.18090518e-04 9.99999308e-01 -1.17079555e-03 1.78359140e-01] [-4.98098470e-03 1.17136924e-03 9.99986909e-01 3.51117215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003133365 meters 0.28064792073287953 Centerline is valid? [False, False] Translation: X:0.81, Y:0.18, Z:0.04 [[ 0.99998185 0.00567261 0.00202775 0.80667365] [-0.00566198 0.99997042 -0.00520617 0.1849111 ] [-0.00205722 0.00519459 0.99998439 0.03681971] [ 0. 0. 0. 1. ]] SLAMing on 57.06313336499999 meters 0.28125137274256945 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:0.04 [[ 0.99999038 -0.0011201 0.00424141 0.82562789] [ 0.0011315 0.99999575 -0.0026862 0.19077485] [-0.00423839 0.00269098 0.9999874 0.03751834] [ 0. 0. 0. 1. ]] SLAMing on 57.123133364999994 meters 0.28134640969821506 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:0.04 [[ 0.99999169 -0.00116484 0.00390614 0.82638414] [ 0.00117591 0.9999953 -0.00283284 0.19125065] [-0.00390282 0.00283741 0.99998836 0.03752621] [ 0. 0. 0. 1. ]] SLAMing on 57.183133364999996 meters 0.2795855913110059 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:0.04 [[ 0.99999179 -0.00100561 0.00392467 0.82600872] [ 0.001015 0.99999663 -0.00238974 0.18950273] [-0.00392225 0.00239371 0.99998944 0.03827618] [ 0. 0. 0. 1. ]] SLAMing on 57.24313336499999 meters 0.2813586941905845 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99992578e-01 -4.64780929e-04 3.82457829e-03 8.60946648e-01] [ 4.74548084e-04 9.99996628e-01 -2.55327513e-03 1.95330899e-01] [-3.82337868e-03 2.55507112e-03 9.99989427e-01 4.30908436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.303133364999994 meters 0.27845743212931223 Centerline is valid? [False, False] Translation: X:0.84, Y:0.20, Z:0.04 [[ 9.99976015e-01 -6.36477882e-03 2.73120254e-03 8.37756224e-01] [ 6.36475733e-03 9.99979745e-01 1.65601458e-05 1.99011774e-01] [-2.73125262e-03 8.23692842e-07 9.99996270e-01 4.46002025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363133364999996 meters 0.2804544027896765 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99993059e-01 3.05048925e-03 2.13928506e-03 8.62126644e-01] [-3.04923608e-03 9.99995178e-01 -5.88809896e-04 2.03187384e-01] [-2.14107090e-03 5.82282624e-04 9.99997538e-01 4.33924235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42313336499999 meters 0.281477973159085 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99993061e-01 2.97428705e-03 2.24333452e-03 8.61708393e-01] [-2.97255928e-03 9.99995283e-01 -7.73121631e-04 2.04000466e-01] [-2.24562343e-03 7.66447821e-04 9.99997185e-01 4.37250045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48313336499999 meters 0.2815668551510873 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99992803e-01 2.94545527e-03 2.39108168e-03 8.61215912e-01] [-2.94345138e-03 9.99995314e-01 -8.41154152e-04 2.04344454e-01] [-2.39354806e-03 8.34110066e-04 9.99996788e-01 4.40176346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543133364999996 meters 0.2822630156655407 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99993303e-01 2.90782179e-03 2.22219018e-03 8.61971472e-01] [-2.90574082e-03 9.99995337e-01 -9.39102686e-04 2.04833800e-01] [-2.22491056e-03 9.32639288e-04 9.99997090e-01 4.30916738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60313336499999 meters 0.2825560596037696 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99993387e-01 3.06734196e-03 1.95400459e-03 8.62763229e-01] [-3.06633749e-03 9.99995165e-01 -5.16846345e-04 2.03006766e-01] [-1.95558048e-03 5.10851290e-04 9.99997957e-01 4.28587693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66313336499999 meters 0.28250885532745995 Centerline is valid? [False, False] Translation: X:0.86, Y:0.20, Z:0.04 [[ 9.99992685e-01 3.38885744e-03 1.77349741e-03 8.63059587e-01] [-3.39005763e-03 9.99994026e-01 6.74170172e-04 1.98376487e-01] [-1.77120214e-03 -6.80177499e-04 9.99998200e-01 4.32215698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723133364999995 meters 0.28156990320097713 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:0.05 [[ 0.99998936 0.00329633 0.00322744 0.85930141] [-0.003302 0.99999301 0.00175125 0.19256359] [-0.00322165 -0.00176189 0.99999326 0.04506499] [ 0. 0. 0. 1. ]] SLAMing on 57.783133365 meters 0.2808431085864282 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:0.05 [[ 9.99994496e-01 -5.22842303e-04 3.27637572e-03 8.58883648e-01] [ 5.26836803e-04 9.99999119e-01 -1.21843798e-03 1.86809241e-01] [-3.27573578e-03 1.22015739e-03 9.99993890e-01 4.57776066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84313336499999 meters 0.28024878608231657 Centerline is valid? [False, False] Translation: X:0.84, Y:0.18, Z:0.05 [[ 9.99978987e-01 -6.42535863e-03 -8.60884729e-04 8.39446130e-01] [ 6.42704036e-03 9.99977415e-01 1.96518248e-03 1.79637218e-01] [ 8.48238284e-04 -1.97067412e-03 9.99997698e-01 4.64486763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903133364999995 meters 0.27997876355870505 Centerline is valid? [False, False] Translation: X:0.82, Y:0.17, Z:0.04 [[ 0.99999813 0.0013878 -0.00134382 0.82242387] [-0.00138639 0.99999848 0.001056 0.16766125] [ 0.00134528 -0.00105414 0.99999854 0.04404103] [ 0. 0. 0. 1. ]] SLAMing on 57.963133365 meters 0.28133161776654586 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.04 [[ 0.9999977 0.00172249 -0.00127916 0.82205237] [-0.00172004 0.99999668 0.00191914 0.16393009] [ 0.00128246 -0.00191693 0.99999734 0.0445534 ] [ 0. 0. 0. 1. ]] SLAMing on 58.02313336499999 meters 0.28053681410443254 Centerline is valid? [False, False] Translation: X:0.82, Y:0.16, Z:0.04 [[ 0.99999787 0.00173586 -0.00111526 0.82178274] [-0.00173367 0.99999658 0.0019564 0.16379663] [ 0.00111865 -0.00195446 0.99999746 0.04428385] [ 0. 0. 0. 1. ]] SLAMing on 58.083133364999995 meters 0.28248443631815773 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99995261e-01 3.02747854e-03 -5.58688164e-04 8.66264992e-01] [-3.02583915e-03 9.99991182e-01 2.91223977e-03 1.67740549e-01] [ 5.67499981e-04 -2.91053547e-03 9.99995603e-01 4.29241203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143133365 meters 0.28135481163939985 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99995360e-01 2.96254421e-03 -7.10053727e-04 8.66597960e-01] [-2.96057429e-03 9.99991810e-01 2.75950581e-03 1.68396087e-01] [ 7.18223070e-04 -2.75739084e-03 9.99995940e-01 4.29930362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20313336499999 meters 0.2827003553486009 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99995711e-01 2.83000267e-03 -7.53781830e-04 8.66805508e-01] [-2.82816770e-03 9.99993062e-01 2.42439450e-03 1.69820311e-01] [ 7.60637643e-04 -2.42225228e-03 9.99996777e-01 4.27337067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.263133364999995 meters 0.2828446599838763 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99996439e-01 2.62310350e-03 -4.91905352e-04 8.66056905e-01] [-2.62218533e-03 9.99994836e-01 1.85800315e-03 1.72266787e-01] [ 4.96776547e-04 -1.85670666e-03 9.99998153e-01 4.29006591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323133365 meters 0.28177007653071034 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99996767e-01 2.50264988e-03 -4.51273487e-04 8.65874817e-01] [-2.50194163e-03 9.99995648e-01 1.56325288e-03 1.73550728e-01] [ 4.55183798e-04 -1.56211877e-03 9.99998676e-01 4.30331253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38313336499999 meters 0.2815158332049417 Centerline is valid? [False, False] Translation: X:0.87, Y:0.18, Z:0.04 [[ 9.99997569e-01 2.19885596e-03 -1.63727752e-04 8.65122926e-01] [-2.19876987e-03 9.99997445e-01 5.24110741e-04 1.77712874e-01] [ 1.64879778e-04 -5.23749468e-04 9.99999849e-01 4.31276521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.443133364999994 meters 0.2827338775360661 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:0.04 [[ 9.99989599e-01 -4.52420564e-03 -5.76693026e-04 8.85062013e-01] [ 4.52531580e-03 9.99987882e-01 1.93848736e-03 1.90480002e-01] [ 5.67915922e-04 -1.94107692e-03 9.99997955e-01 4.47623643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503133365 meters 0.2828054883652123 Centerline is valid? [False, False] Translation: X:0.88, Y:0.19, Z:0.05 [[ 9.99988279e-01 -4.82827919e-03 -3.60940077e-04 8.84020349e-01] [ 4.82868142e-03 9.99987712e-01 1.12195873e-03 1.94173915e-01] [ 3.55518512e-04 -1.12368845e-03 9.99999305e-01 4.57403592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56313336499999 meters 0.28078709656293444 Centerline is valid? [False, False] Translation: X:0.86, Y:0.19, Z:0.04 [[ 9.99993847e-01 3.50768191e-03 -3.97342892e-05 8.64087357e-01] [-3.50770356e-03 9.99993692e-01 -5.58618413e-04 1.91514935e-01] [ 3.77745829e-05 5.58754352e-04 9.99999843e-01 4.48953777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.623133364999994 meters 0.2807685927011492 Centerline is valid? [False, False] Translation: X:0.87, Y:0.19, Z:0.04 [[ 9.99993944e-01 3.45644569e-03 -4.05183610e-04 8.65220416e-01] [-3.45672487e-03 9.99993787e-01 -6.90360108e-04 1.92005771e-01] [ 4.02794900e-04 6.91756536e-04 9.99999680e-01 4.41658528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683133364999996 meters 0.2820618747804878 Centerline is valid? [False, False] Translation: X:0.89, Y:0.20, Z:0.04 [[ 9.99986068e-01 -5.27123556e-03 -2.77636828e-04 8.85980047e-01] [ 5.27119181e-03 9.99986095e-01 -1.58096027e-04 1.97272385e-01] [ 2.78466329e-04 1.56630347e-04 9.99999949e-01 4.44821916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74313336499999 meters 0.28040816420470155 Centerline is valid? [False, False] Translation: X:0.87, Y:0.19, Z:0.04 [[ 9.99991607e-01 3.42705196e-03 -2.24516925e-03 8.67022786e-01] [-3.42848054e-03 9.99993923e-01 -6.32750857e-04 1.92131743e-01] [ 2.24298713e-03 6.40443066e-04 9.99997279e-01 4.43744976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.803133364999994 meters 0.28372561418437814 Centerline is valid? [False, False] Translation: X:0.89, Y:0.19, Z:0.04 [[ 9.99995118e-01 -3.11835066e-03 1.97437873e-04 8.89039258e-01] [ 3.11790901e-03 9.99992721e-01 2.19908107e-03 1.89756126e-01] [-2.04293942e-04 -2.19845474e-03 9.99997563e-01 4.27531510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863133364999996 meters 0.2821644052101503 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.04 [[ 9.99995948e-01 -2.80595330e-03 4.79895074e-04 8.88166526e-01] [ 2.80430961e-03 9.99990315e-01 3.39214451e-03 1.84773657e-01] [-4.89408625e-04 -3.39078499e-03 9.99994132e-01 4.32550166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92313336499999 meters 0.2802711112561491 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99996602e-01 2.56191693e-03 -4.82816275e-04 8.66708311e-01] [-2.56147724e-03 9.99996306e-01 9.09092468e-04 1.72915420e-01] [ 4.85143511e-04 -9.07852656e-04 9.99999470e-01 4.34982672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98313336499999 meters 0.2825059620444313 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99995727e-01 2.84760669e-03 -6.61008032e-04 8.67521705e-01] [-2.84657034e-03 9.99994726e-01 1.56351092e-03 1.70215319e-01] [ 6.65456810e-04 -1.56162263e-03 9.99998559e-01 4.28566072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043133364999996 meters 0.283995791791779 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.04 [[ 0.99999114 0.00408014 0.0010386 0.91033334] [-0.00408306 0.99998768 0.00282431 0.16990142] [-0.00102706 -0.00282853 0.99999547 0.04165692] [ 0. 0. 0. 1. ]] SLAMing on 59.10313336499999 meters 0.2828625590775311 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.04 [[ 0.99999069 0.00414186 0.00120777 0.90981829] [-0.00414544 0.99998696 0.00298158 0.16926828] [-0.00119541 -0.00298655 0.99999483 0.04189653] [ 0. 0. 0. 1. ]] SLAMing on 59.16313336499999 meters 0.2823998433864907 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.04 [[ 0.99999095 0.00403714 0.00134364 0.90955831] [-0.00404078 0.99998814 0.00272015 0.17038981] [-0.00133264 -0.00272556 0.9999954 0.04169787] [ 0. 0. 0. 1. ]] SLAMing on 59.223133364999995 meters 0.28316751172372556 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.04 [[ 0.99999167 0.00384991 0.00135512 0.90936001] [-0.00385298 0.99999001 0.00226578 0.17233337] [-0.00134638 -0.00227099 0.99999651 0.04200313] [ 0. 0. 0. 1. ]] SLAMing on 59.283133365 meters 0.27989516602758546 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 0.99999352 0.0026868 -0.00239479 0.86862715] [-0.00268389 0.99999566 0.00121866 0.17081689] [ 0.00239805 -0.00121222 0.99999639 0.04247368] [ 0. 0. 0. 1. ]] SLAMing on 59.34313336499999 meters 0.2817000434749836 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 0.99999376 0.00264065 -0.00234597 0.8683645 ] [-0.00263811 0.99999593 0.00108235 0.17138787] [ 0.00234882 -0.00107616 0.99999666 0.04283726] [ 0. 0. 0. 1. ]] SLAMing on 59.403133364999995 meters 0.28216656780685057 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:0.04 [[ 9.99993019e-01 -3.70392948e-03 -4.92918588e-04 8.89796256e-01] [ 3.70584758e-03 9.99985336e-01 3.94900935e-03 1.74130750e-01] [ 4.78284508e-04 -3.95080847e-03 9.99992081e-01 4.20371425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463133365 meters 0.2805034185292081 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 0.99998776 0.00452875 -0.00199299 0.87088431] [-0.00452375 0.99998662 0.00250822 0.17148141] [ 0.00200432 -0.00249917 0.99999487 0.04136307] [ 0. 0. 0. 1. ]] SLAMing on 59.52313336499999 meters 0.2820874882555192 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.04 [[ 9.99992717e-01 -3.76210146e-03 -6.42910990e-04 8.89756145e-01] [ 3.76415858e-03 9.99987702e-01 3.22902162e-03 1.78563294e-01] [ 6.30755177e-04 -3.23141812e-03 9.99994580e-01 4.23823983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583133364999995 meters 0.28213650652309963 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.04 [[ 9.99993004e-01 -3.67190034e-03 -7.13897778e-04 8.89926471e-01] [ 3.67434978e-03 9.99987262e-01 3.46059378e-03 1.77597643e-01] [ 7.01181729e-04 -3.46319268e-03 9.99993757e-01 4.24239766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643133365 meters 0.2809430371982791 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 0.99998879 0.00437791 -0.00180328 0.87145001] [-0.00437371 0.99998773 0.00232784 0.17080816] [ 0.00181345 -0.00231993 0.99999566 0.04174677] [ 0. 0. 0. 1. ]] SLAMing on 59.70313336499999 meters 0.2818857929195206 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99998556e-01 1.90041684e-04 -1.68887023e-03 8.70962462e-01] [-1.92670602e-04 9.99998770e-01 -1.55658724e-03 1.69174027e-01] [ 1.68857234e-03 1.55691038e-03 9.99997362e-01 4.21802713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.763133364999995 meters 0.28165115547723213 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.04 [[ 9.99998483e-01 5.01315609e-04 -1.66805441e-03 8.70821055e-01] [-5.02583834e-04 9.99999585e-01 -7.59970151e-04 1.65817500e-01] [ 1.66767273e-03 7.60807336e-04 9.99998320e-01 4.24598255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823133365 meters 0.2803623329505612 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:0.05 [[ 9.99998089e-01 -1.84363578e-03 -6.50788024e-04 8.66120974e-01] [ 1.84232309e-03 9.99996279e-01 -2.01194377e-03 1.58381527e-01] [ 6.54494894e-04 2.01074096e-03 9.99997764e-01 4.60218004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88313336499999 meters 0.2793876746202963 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:0.05 [[ 9.99998698e-01 -1.40505976e-03 -7.92986928e-04 8.66317000e-01] [ 1.40454300e-03 9.99998801e-01 -6.51843208e-04 1.52894048e-01] [ 7.93901856e-04 6.50728575e-04 9.99999473e-01 4.63387186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943133364999994 meters 0.27904955716898905 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:0.05 [[ 9.99999045e-01 -1.08725349e-03 -8.53246399e-04 8.66332857e-01] [ 1.08742277e-03 9.99999389e-01 1.97948556e-04 1.49358133e-01] [ 8.53030658e-04 -1.98876206e-04 9.99999616e-01 4.66636978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003133365 meters 0.27990944077039515 Centerline is valid? [False, False] Translation: X:0.87, Y:0.14, Z:0.05 [[ 9.99998619e-01 -7.00848439e-04 -1.50663134e-03 8.68461397e-01] [ 7.03287870e-04 9.99998442e-01 1.61920951e-03 1.43041981e-01] [ 1.50549417e-03 -1.62026687e-03 9.99997554e-01 4.54324829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06313336499999 meters 0.2809984108380665 Centerline is valid? [False, False] Translation: X:0.87, Y:0.14, Z:0.05 [[ 9.99998420e-01 -2.80332238e-04 -1.75552972e-03 8.69084013e-01] [ 2.85585161e-04 9.99995481e-01 2.99268012e-03 1.37344063e-01] [ 1.75468284e-03 -2.99317675e-03 9.99993981e-01 4.54471528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.123133364999994 meters 0.2801419181352343 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:0.04 [[ 9.99997578e-01 4.34644317e-05 -2.20051093e-03 8.70307455e-01] [-3.46505739e-05 9.99991978e-01 4.00524849e-03 1.33104983e-01] [ 2.20066736e-03 -4.00516254e-03 9.99989558e-01 4.49477446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183133364999996 meters 0.2790115014783017 Centerline is valid? [False, False] Translation: X:0.85, Y:0.13, Z:0.05 [[ 9.99976820e-01 5.57406112e-03 -3.91004381e-03 8.49059259e-01] [-5.57214487e-03 9.99984350e-01 5.00805318e-04 1.31502241e-01] [ 3.91277414e-03 -4.79006379e-04 9.99992230e-01 4.55008569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24313336499999 meters 0.28059364916711665 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:0.05 [[ 0.99999514 -0.00279489 -0.00137849 0.86795451] [ 0.00279699 0.99999493 0.00152426 0.13080943] [ 0.00137422 -0.0015281 0.99999789 0.04716479] [ 0. 0. 0. 1. ]] SLAMing on 60.303133364999994 meters 0.2800948148893748 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:0.05 [[ 0.99999514 -0.00265915 -0.00162629 0.86837718] [ 0.00266242 0.99999443 0.00201075 0.12893936] [ 0.00162093 -0.00201507 0.99999666 0.04752833] [ 0. 0. 0. 1. ]] SLAMing on 60.363133364999996 meters 0.2790341826754206 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:0.05 [[ 0.99999569 -0.00255274 -0.00144994 0.86761677] [ 0.00255622 0.99999385 0.00240258 0.12737139] [ 0.00144379 -0.00240627 0.99999606 0.04839786] [ 0. 0. 0. 1. ]] SLAMing on 60.42313336499999 meters 0.27884498572626437 Centerline is valid? [False, False] Translation: X:0.87, Y:0.12, Z:0.05 [[ 9.99996893e-01 -2.35818340e-03 -8.07800241e-04 8.65876329e-01] [ 2.36078321e-03 9.99991988e-01 3.23269147e-03 1.24230943e-01] [ 8.00170490e-04 -3.23458846e-03 9.99994449e-01 4.92112074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48313336499999 meters 0.2777768418174315 Centerline is valid? [False, False] Translation: X:0.85, Y:0.12, Z:0.05 [[ 9.99991457e-01 2.73040711e-03 -3.10329691e-03 8.45070145e-01] [-2.72920175e-03 9.99996199e-01 3.92579503e-04 1.17313207e-01] [ 3.10435701e-03 -3.84106626e-04 9.99995108e-01 4.95023398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543133364999996 meters 0.2787917369500758 Centerline is valid? [False, False] Translation: X:0.87, Y:0.11, Z:0.05 [[ 0.99998072 -0.00608083 -0.00125487 0.86559159] [ 0.00608282 0.99998024 0.00158624 0.11133259] [ 0.0012452 -0.00159384 0.99999795 0.04988856] [ 0. 0. 0. 1. ]] SLAMing on 60.60313336499999 meters 0.2771720547313006 Centerline is valid? [False, False] Translation: X:0.85, Y:0.11, Z:0.05 [[ 9.99992846e-01 8.59727219e-04 -3.68352166e-03 8.45207202e-01] [-8.60741501e-04 9.99999592e-01 -2.73780389e-04 1.07793379e-01] [ 3.68328478e-03 2.76948990e-04 9.99993178e-01 5.06901442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66313336499999 meters 0.27832404830515217 Centerline is valid? [False, False] Translation: X:0.87, Y:0.11, Z:0.05 [[ 0.99998517 -0.00490565 -0.00236429 0.86741164] [ 0.00491234 0.99998393 0.00283052 0.10969166] [ 0.00235037 -0.0028421 0.9999932 0.04994924] [ 0. 0. 0. 1. ]] SLAMing on 60.723133364999995 meters 0.2797948595887342 Centerline is valid? [False, False] Translation: X:0.87, Y:0.11, Z:0.05 [[ 0.99998457 -0.00510688 -0.00218679 0.86675194] [ 0.00511188 0.99998431 0.00228927 0.11200138] [ 0.00217506 -0.00230042 0.99999499 0.05047129] [ 0. 0. 0. 1. ]] SLAMing on 60.783133365 meters 0.2792139753656396 Centerline is valid? [False, False] Translation: X:0.87, Y:0.11, Z:0.05 [[ 0.99998268 -0.00539577 -0.00235165 0.8670994 ] [ 0.00539959 0.99998411 0.0016201 0.11479347] [ 0.00234287 -0.00163277 0.99999592 0.0505701 ] [ 0. 0. 0. 1. ]] SLAMing on 60.84313336499999 meters 0.2787075951414231 Centerline is valid? [False, False] Translation: X:0.86, Y:0.12, Z:0.05 [[ 0.99999362 -0.0032554 -0.0014733 0.8634003 ] [ 0.00325872 0.99999213 0.00226134 0.1230319 ] [ 0.00146593 -0.00226612 0.99999636 0.0527929 ] [ 0. 0. 0. 1. ]] SLAMing on 60.903133364999995 meters 0.27752076905443845 Centerline is valid? [False, False] Translation: X:0.86, Y:0.13, Z:0.05 [[ 0.9999919 -0.00356942 -0.00186039 0.86420712] [ 0.00357224 0.99999248 0.00151177 0.12607796] [ 0.00185498 -0.0015184 0.99999713 0.05303416] [ 0. 0. 0. 1. ]] SLAMing on 60.963133365 meters 0.27926803781971893 Centerline is valid? [False, False] Translation: X:0.89, Y:0.13, Z:0.05 [[ 9.99982610e-01 5.53175390e-03 -2.04440277e-03 8.87063731e-01] [-5.53057774e-03 9.99984538e-01 5.80516158e-04 1.28136859e-01] [ 2.04758243e-03 -5.69199335e-04 9.99997742e-01 5.20662183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02313336499999 meters 0.27779190210922833 Centerline is valid? [False, False] Translation: X:0.86, Y:0.14, Z:0.05 [[ 9.99999913e-01 -9.03017162e-05 4.06415087e-04 8.63496186e-01] [ 8.94015971e-05 9.99997545e-01 2.21425129e-03 1.42901111e-01] [-4.06614040e-04 -2.21421477e-03 9.99997466e-01 5.27979317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083133364999995 meters 0.2797026215330518 Centerline is valid? [False, False] Translation: X:0.86, Y:0.15, Z:0.05 [[ 9.99999776e-01 -6.67418145e-04 -5.33215501e-05 8.64928468e-01] [ 6.67433384e-04 9.99999736e-01 2.86289782e-04 1.50710304e-01] [ 5.31304611e-05 -2.86325307e-04 9.99999958e-01 5.22326983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143133365 meters 0.2796058791779133 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:0.05 [[ 9.99999354e-01 -1.08981804e-03 -3.22519849e-04 8.65701968e-01] [ 1.08951902e-03 9.99998978e-01 -9.25850849e-04 1.55623856e-01] [ 3.23528529e-04 9.25498860e-04 9.99999519e-01 5.20490497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20313336499999 meters 0.2786649357686478 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:0.05 [[ 9.99998351e-01 -1.73619972e-03 -5.33458243e-04 8.65957087e-01] [ 1.73465393e-03 9.99994335e-01 -2.88460135e-03 1.63462099e-01] [ 5.38463465e-04 2.88367122e-03 9.99995697e-01 5.26117181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263133364999995 meters 0.2800506195865007 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.05 [[ 9.99997983e-01 1.95493877e-03 -4.59577339e-04 8.65667648e-01] [-1.95500112e-03 9.99998080e-01 -1.35265577e-04 1.69937538e-01] [ 4.59312021e-04 1.36163778e-04 9.99999885e-01 5.29514515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323133365 meters 0.2792757183301458 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.05 [[ 9.99998476e-01 1.71642968e-03 -3.18511319e-04 8.65238892e-01] [-1.71667776e-03 9.99998222e-01 -7.80250810e-04 1.72474141e-01] [ 3.17171507e-04 7.80796402e-04 9.99999645e-01 5.31694685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38313336499999 meters 0.2782761521522625 Centerline is valid? [False, False] Translation: X:0.86, Y:0.17, Z:0.05 [[ 9.99998671e-01 1.55923806e-03 4.76665674e-04 8.63133041e-01] [-1.55870594e-03 9.99998164e-01 -1.11467954e-03 1.73600882e-01] [-4.78402849e-04 1.11393508e-03 9.99999265e-01 5.41346712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.443133364999994 meters 0.27739758657807995 Centerline is valid? [False, False] Translation: X:0.86, Y:0.17, Z:0.05 [[ 9.99998611e-01 1.56589382e-03 5.71344154e-04 8.62722539e-01] [-1.56526686e-03 9.99998174e-01 -1.09615687e-03 1.73492486e-01] [-5.73059576e-04 1.09526104e-03 9.99999236e-01 5.45920343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503133365 meters 0.27779094041846003 Centerline is valid? [False, False] Translation: X:0.86, Y:0.17, Z:0.05 [[ 9.99998833e-01 1.43589129e-03 5.22098913e-04 8.62893049e-01] [-1.43513761e-03 9.99997932e-01 -1.44107383e-03 1.74897396e-01] [-5.24167058e-04 1.44032287e-03 9.99998825e-01 5.44862062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56313336499999 meters 0.27774477722595 Centerline is valid? [False, False] Translation: X:0.86, Y:0.18, Z:0.05 [[ 9.99999232e-01 1.15968304e-03 4.37480627e-04 8.63030711e-01] [-1.15867389e-03 9.99996684e-01 -2.29998100e-03 1.78279799e-01] [-4.40146425e-04 2.29947233e-03 9.99997259e-01 5.46837591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.623133364999994 meters 0.27936510856922764 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.05 [[ 9.99981969e-01 -5.94855023e-03 -8.22928556e-04 8.87925274e-01] [ 5.94835279e-03 9.99982279e-01 -2.42172730e-04 1.82553685e-01] [ 8.24354549e-04 2.37273294e-04 9.99999632e-01 5.31021193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683133364999996 meters 0.27946956191803146 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.05 [[ 9.99982114e-01 -5.92336218e-03 -8.27590964e-04 8.88053596e-01] [ 5.92322476e-03 9.99982443e-01 -1.68398222e-04 1.82247831e-01] [ 8.28573918e-04 1.63493203e-04 9.99999643e-01 5.28068568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74313336499999 meters 0.27840855287518007 Centerline is valid? [False, False] Translation: X:0.87, Y:0.18, Z:0.05 [[ 9.99991381e-01 3.27978429e-03 -2.54571544e-03 8.70013492e-01] [-3.28102721e-03 9.99994500e-01 -4.84215826e-04 1.77299858e-01] [ 2.54411332e-03 4.92564214e-04 9.99996642e-01 5.18774409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.803133364999994 meters 0.27973053562316263 Centerline is valid? [False, False] Translation: X:0.87, Y:0.17, Z:0.05 [[ 9.99989487e-01 3.44506394e-03 -3.02615443e-03 8.71452181e-01] [-3.44441881e-03 9.99994044e-01 2.18370231e-04 1.74665511e-01] [ 3.02688870e-03 -2.07944592e-04 9.99995397e-01 5.07576808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863133364999996 meters 0.28054671202891834 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:0.05 [[ 9.99983161e-01 -5.77754320e-03 -5.45463148e-04 8.91622870e-01] [ 5.77826652e-03 9.99982416e-01 1.33393287e-03 1.66515597e-01] [ 5.37746702e-04 -1.33706223e-03 9.99998962e-01 5.03386087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92313336499999 meters 0.2799699596965154 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:0.05 [[ 9.99985224e-01 -5.39929291e-03 -6.31614455e-04 8.91844995e-01] [ 5.40066299e-03 9.99983023e-01 2.18796929e-03 1.62976893e-01] [ 6.19790245e-04 -2.19134809e-03 9.99997407e-01 5.02822313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98313336499999 meters 0.2791320157801726 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:0.05 [[ 9.99985947e-01 -5.27991390e-03 -4.77120152e-04 8.91292037e-01] [ 5.28110306e-03 9.99982863e-01 2.52644665e-03 1.61582837e-01] [ 4.63772555e-04 -2.52893087e-03 9.99996695e-01 5.07542037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043133364999996 meters 0.2795034928959702 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996139e-01 2.72380878e-03 5.49588712e-04 9.10440282e-01] [-2.72453618e-03 9.99995408e-01 1.32716383e-03 1.58081105e-01] [-5.45971247e-04 -1.32865608e-03 9.99998968e-01 5.26211095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10313336499999 meters 0.27837605533996534 Centerline is valid? [False, False] Translation: X:0.89, Y:0.16, Z:0.05 [[ 9.99984910e-01 -5.40578638e-03 -9.78135847e-04 8.91157876e-01] [ 5.40785237e-03 9.99983126e-01 2.12199786e-03 1.62230642e-01] [ 9.66648275e-04 -2.12725546e-03 9.99997270e-01 5.20101401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16313336499999 meters 0.2796456149263719 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996084e-01 2.79800642e-03 -5.32735827e-05 9.10946373e-01] [-2.79793755e-03 9.99995302e-01 1.25182321e-03 1.58203332e-01] [ 5.67759418e-05 -1.25166925e-03 9.99999215e-01 5.25163490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223133364999995 meters 0.27976564613080857 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995968e-01 2.83767785e-03 -1.08562314e-04 9.11016378e-01] [-2.83752787e-03 9.99995053e-01 1.35761874e-03 1.57780380e-01] [ 1.12414262e-04 -1.35730521e-03 9.99999073e-01 5.26519834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283133365 meters 0.27932911736484617 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995795e-01 2.89986068e-03 -5.53751955e-06 9.10590924e-01] [-2.89984888e-03 9.99994635e-01 1.52373501e-03 1.57083674e-01] [ 9.95610908e-06 -1.52371254e-03 9.99998839e-01 5.30414148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34313336499999 meters 0.27976718028832365 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995813e-01 2.89216971e-03 9.25379348e-05 9.10277663e-01] [-2.89230580e-03 9.99994683e-01 1.50593166e-03 1.57151529e-01] [-8.81820329e-05 -1.50619301e-03 9.99998862e-01 5.32116513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403133364999995 meters 0.2781506443267168 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995834e-01 2.88548637e-03 -7.57039038e-05 9.10678655e-01] [-2.88537012e-03 9.99994722e-01 1.49327815e-03 1.57248599e-01] [ 8.00123380e-05 -1.49305349e-03 9.99998882e-01 5.31615012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463133365 meters 0.2793102287320236 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995990e-01 2.83027854e-03 -9.27778960e-05 9.10709572e-01] [-2.83015211e-03 9.99995103e-01 1.33560332e-03 1.57882581e-01] [ 9.65575711e-05 -1.33533539e-03 9.99999104e-01 5.31887300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52313336499999 meters 0.27738439453099445 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996105e-01 2.77230080e-03 3.24316937e-04 9.09582181e-01] [-2.77267747e-03 9.99995475e-01 1.16680032e-03 1.58567066e-01] [-3.21080749e-04 -1.16769500e-03 9.99999267e-01 5.36682133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583133364999995 meters 0.2773669764719454 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996386e-01 2.68117654e-03 1.98924525e-04 9.09988826e-01] [-2.68135358e-03 9.99996005e-01 8.95144339e-04 1.59695923e-01] [-1.96523690e-04 -8.95674491e-04 9.99999580e-01 5.33813042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643133365 meters 0.2772285285743478 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996725e-01 2.55921528e-03 -3.02292659e-05 9.10574798e-01] [-2.55919945e-03 9.99996594e-01 5.12701346e-04 1.61224824e-01] [ 3.15412761e-05 -5.12622304e-04 9.99999868e-01 5.32518343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70313336499999 meters 0.27508082333355277 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996991e-01 2.37627155e-03 6.10172412e-04 9.08761934e-01] [-2.37613905e-03 9.99997153e-01 -2.17786964e-04 1.64201153e-01] [-6.10688196e-04 2.16336455e-04 9.99999790e-01 5.41877299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763133364999995 meters 0.2761583146499537 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.05 [[ 9.99997693e-01 2.13288336e-03 2.52619967e-04 9.09722662e-01] [-2.13261443e-03 9.99997164e-01 -1.06007023e-03 1.67537834e-01] [-2.54880256e-04 1.05952905e-03 9.99999406e-01 5.38113164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823133365 meters 0.2759991600406425 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.05 [[ 9.99998211e-01 1.89143934e-03 -3.46272555e-05 9.10417825e-01] [-1.89150008e-03 9.99996505e-01 -1.84719178e-03 1.70667265e-01] [ 3.11332833e-05 1.84725397e-03 9.99998293e-01 5.37784137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88313336499999 meters 0.2765772396902402 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.05 [[ 9.99998666e-01 1.63122766e-03 8.15870567e-05 9.09867393e-01] [-1.63100102e-03 9.99995012e-01 -2.70480489e-03 1.74045361e-01] [-8.59988023e-05 2.70466822e-03 9.99996339e-01 5.45083705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943133364999994 meters 0.27666599104497636 Centerline is valid? [False, False] Translation: X:0.91, Y:0.18, Z:0.05 [[ 9.99998896e-01 1.44558309e-03 3.44392615e-04 9.09104635e-01] [-1.44444764e-03 9.99993595e-01 -3.27471481e-03 1.76336438e-01] [-3.49124282e-04 3.27421374e-03 9.99994579e-01 5.48715596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003133365 meters 0.2751582888860327 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.05 [[ 0.99997318 -0.00723002 0.00116708 0.88706729] [ 0.00723347 0.9999694 -0.00298059 0.18092273] [-0.00114549 0.00298895 0.99999488 0.05469372] [ 0. 0. 0. 1. ]] SLAMing on 63.06313336499999 meters 0.2756839993767387 Centerline is valid? [False, False] Translation: X:0.89, Y:0.18, Z:0.05 [[ 0.9999734 -0.00721202 0.00108986 0.88738672] [ 0.00721519 0.99996967 -0.00293183 0.18072894] [-0.00106868 0.00293961 0.99999511 0.05438952] [ 0. 0. 0. 1. ]] SLAMing on 63.123133364999994 meters 0.27598110163711015 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:0.05 [[ 9.99992568e-01 -3.69291486e-03 1.10779435e-03 8.87522856e-01] [ 3.69181275e-03 9.99992690e-01 9.95265287e-04 1.73472430e-01] [-1.11146169e-03 -9.91168120e-04 9.99998891e-01 5.41169067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183133364999996 meters 0.27550495197332847 Centerline is valid? [False, False] Translation: X:0.89, Y:0.17, Z:0.05 [[ 0.99999289 -0.00360285 0.00111153 0.88751584] [ 0.00360142 0.99999269 0.00128396 0.17233427] [-0.00111615 -0.00127995 0.99999856 0.05412486] [ 0. 0. 0. 1. ]] SLAMing on 63.24313336499999 meters 0.2775603841060429 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.05 [[ 0.99998351 0.00557636 0.00136997 0.91003327] [-0.00557821 0.99998354 0.00134569 0.16909818] [-0.00136244 -0.00135331 0.99999816 0.05349898] [ 0. 0. 0. 1. ]] SLAMing on 63.303133364999994 meters 0.2783536434744745 Centerline is valid? [False, False] Translation: X:0.91, Y:0.17, Z:0.05 [[ 0.99999695 0.0018111 0.00168168 0.90897988] [-0.0018083 0.99999698 -0.00166548 0.16561118] [-0.00168469 0.00166243 0.9999972 0.05404326] [ 0. 0. 0. 1. ]] SLAMing on 63.363133364999996 meters 0.27733895837421896 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 0.9999968 0.00195581 0.00160647 0.90920806] [-0.00195369 0.99999722 -0.00132339 0.16418811] [-0.00160906 0.00132025 0.99999783 0.05396973] [ 0. 0. 0. 1. ]] SLAMing on 63.42313336499999 meters 0.2792598630190556 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99996549e-01 2.18886547e-03 1.45305924e-03 9.10155460e-01] [-2.18778428e-03 9.99997329e-01 -7.45251756e-04 1.61770948e-01] [-1.45468662e-03 7.42070204e-04 9.99998667e-01 5.27351381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48313336499999 meters 0.2783108239081871 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995677e-01 2.29203442e-03 1.84211661e-03 9.09309526e-01] [-2.29114848e-03 9.99997259e-01 -4.82899985e-04 1.60707259e-01] [-1.84321839e-03 4.78677335e-04 9.99998187e-01 5.25980507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543133364999996 meters 0.2771435304907147 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.05 [[ 9.99995489e-01 2.34875861e-03 1.87227732e-03 9.09077713e-01] [-2.34812727e-03 9.99997186e-01 -3.39327936e-04 1.60120089e-01] [-1.87306905e-03 3.34930059e-04 9.99998190e-01 5.29561165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60313336499999 meters 0.27823344325628047 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:0.05 [[ 9.99975247e-01 -6.67979016e-03 2.21021379e-03 9.30547095e-01] [ 6.67897509e-03 9.99977625e-01 3.75949499e-04 1.60767212e-01] [-2.21267560e-03 -3.61178231e-04 9.99997487e-01 5.32712734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66313336499999 meters 0.27712553940612217 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:0.05 [[ 0.99997486 -0.00642676 0.0029972 0.92821142] [ 0.00642174 0.99997796 0.00168272 0.155294 ] [-0.00300795 -0.00166343 0.99999409 0.0548835 ] [ 0. 0. 0. 1. ]] SLAMing on 63.723133364999995 meters 0.2776562426368554 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 9.99999015e-01 1.25069224e-03 6.36529323e-04 9.12845552e-01] [-1.25127952e-03 9.99998791e-01 9.23072801e-04 1.42931952e-01] [-6.35374073e-04 -9.23868368e-04 9.99999371e-01 5.19341379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.783133365 meters 0.27723568584424224 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 9.99998793e-01 1.40348348e-03 6.65975754e-04 9.12748269e-01] [-1.40433922e-03 9.99998187e-01 1.28622115e-03 1.41454822e-01] [-6.64169356e-04 -1.28715485e-03 9.99998951e-01 5.20357011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84313336499999 meters 0.2774462153556549 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 9.99998244e-01 1.61707958e-03 9.47383372e-04 9.12095642e-01] [-1.61893976e-03 9.99996757e-01 1.96602990e-03 1.38870049e-01] [-9.44201073e-04 -1.96756020e-03 9.99997619e-01 5.21458364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903133364999995 meters 0.27915026792175873 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 0.99999658 -0.00240485 0.0010325 0.9121523 ] [ 0.00240628 0.99999615 -0.00138263 0.13541865] [-0.00102917 0.00138511 0.99999851 0.05174424] [ 0. 0. 0. 1. ]] SLAMing on 63.963133365 meters 0.2785636970144015 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 0.99999677 -0.00226875 0.0011453 0.91182026] [ 0.00226993 0.99999689 -0.00103565 0.13399916] [-0.00114295 0.00103825 0.99999881 0.05192169] [ 0. 0. 0. 1. ]] SLAMing on 64.02313336499999 meters 0.27985423157106937 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99996894e-01 -2.19364547e-03 1.18299109e-03 9.11754049e-01] [ 2.19464667e-03 9.99997234e-01 -8.45694833e-04 1.33218218e-01] [-1.18113266e-03 8.48288454e-04 9.99998943e-01 5.18773087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.083133365 meters 0.2800343119091892 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.05 [[ 0.99997892 0.0062287 0.00183266 0.93187857] [-0.00622587 0.99997942 -0.00154625 0.12801047] [-0.00184226 0.00153481 0.99999713 0.05289049] [ 0. 0. 0. 1. ]] SLAMing on 64.143133365 meters 0.2791765645321091 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998118e-01 -1.79134741e-03 -7.44715693e-04 9.13443848e-01] [ 1.79120611e-03 9.99998378e-01 -1.90360804e-04 1.27796013e-01] [ 7.45055487e-04 1.89026506e-04 9.99999705e-01 5.15039858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.203133365 meters 0.278199676902092 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998350e-01 -1.65344496e-03 -7.52971382e-04 9.13298785e-01] [ 1.65356193e-03 9.99998621e-01 1.54744655e-04 1.26370721e-01] [ 7.52714482e-04 -1.55989484e-04 9.99999705e-01 5.18965552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26313336499999 meters 0.278744055610836 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99998482e-01 -1.52050028e-03 -8.51237801e-04 9.13569612e-01] [ 1.52094421e-03 9.99998708e-01 5.21115344e-04 1.24880246e-01] [ 8.50444344e-04 -5.22409238e-04 9.99999502e-01 5.18468969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32313336499999 meters 0.2795986551310481 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99998462e-01 -1.49243933e-03 -9.20831272e-04 9.13751827e-01] [ 1.49298578e-03 9.99998710e-01 5.93032659e-04 1.24578362e-01] [ 9.19945019e-04 -5.94406535e-04 9.99999400e-01 5.18328530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38313336499999 meters 0.27950055854322897 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998123e-01 -1.67434827e-03 -9.75431508e-04 9.14121229e-01] [ 1.67437028e-03 9.99998598e-01 2.17548177e-05 1.26787364e-01] [ 9.75393715e-04 -2.33880104e-05 9.99999524e-01 5.11303025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.443133365 meters 0.28189178831835815 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99997938e-01 -1.85515089e-03 -8.25944771e-04 9.13986514e-01] [ 1.85453892e-03 9.99998006e-01 -7.41086630e-04 1.29933000e-01] [ 8.27317951e-04 7.39553355e-04 9.99999384e-01 5.06699744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.503133365 meters 0.2779211481899419 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:0.05 [[ 0.99999111 -0.00272299 -0.00321945 0.87126387] [ 0.0027161 0.99999402 -0.00214143 0.13195817] [ 0.00322526 0.00213267 0.99999252 0.0507192 ] [ 0. 0. 0. 1. ]] SLAMing on 64.563133365 meters 0.28026439364813466 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.06 [[ 0.99999261 -0.00149145 -0.00354261 0.90727501] [ 0.00148704 0.99999812 -0.00124572 0.13659284] [ 0.00354446 0.00124044 0.99999295 0.05519254] [ 0. 0. 0. 1. ]] SLAMing on 64.623133365 meters 0.27865257263214643 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.06 [[ 0.99999318 -0.001413 -0.00341096 0.90675485] [ 0.00140947 0.99999847 -0.00103827 0.1357374 ] [ 0.00341243 0.00103345 0.99999364 0.05571503] [ 0. 0. 0. 1. ]] SLAMing on 64.68313336499999 meters 0.28067219078342953 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.06 [[ 9.99992887e-01 -1.12790647e-03 -3.59914788e-03 9.07312391e-01] [ 1.12695245e-03 9.99999329e-01 -2.67084701e-04 1.32561551e-01] [ 3.59944672e-03 2.63026733e-04 9.99993487e-01 5.55446584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74313336499999 meters 0.27964001179377435 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:0.05 [[ 0.99996554 0.00637076 -0.00532245 0.8907311 ] [-0.00637874 0.99997855 -0.00148423 0.12247112] [ 0.00531288 0.00151813 0.99998473 0.05256924] [ 0. 0. 0. 1. ]] SLAMing on 64.803133365 meters 0.2809359435094258 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99993583e-01 -1.67950043e-03 -3.16425599e-03 9.08659840e-01] [ 1.68020551e-03 9.99998564e-01 2.20181772e-04 1.23639606e-01] [ 3.16388165e-03 -2.25496960e-04 9.99994969e-01 5.35043292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.863133365 meters 0.2817915867831243 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99993083e-01 -1.67031118e-03 -3.32322909e-03 9.09408471e-01] [ 1.67114293e-03 9.99998573e-01 2.47523764e-04 1.23498326e-01] [ 3.32281091e-03 -2.53075643e-04 9.99994447e-01 5.26008965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.923133365 meters 0.281857542954894 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99992896e-01 -1.70612546e-03 -3.36105118e-03 9.09749970e-01] [ 1.70662830e-03 9.99998533e-01 1.46743440e-04 1.23892388e-01] [ 3.36079588e-03 -1.52478463e-04 9.99994341e-01 5.19738775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.983133365 meters 0.28209233428156244 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99993128e-01 -1.79410180e-03 -3.24418525e-03 9.09351966e-01] [ 1.79385858e-03 9.99998388e-01 -7.78777655e-05 1.24839909e-01] [ 3.24431974e-03 7.20576208e-05 9.99994735e-01 5.21820821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04313336499999 meters 0.28129627767274834 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99993073e-01 -1.90858367e-03 -3.19566049e-03 9.09485401e-01] [ 1.90743963e-03 9.99998116e-01 -3.61007917e-04 1.25999754e-01] [ 3.19634348e-03 3.54909887e-04 9.99994829e-01 5.16037911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10313336499999 meters 0.2815861428028538 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99993619e-01 -1.92747277e-03 -3.00794756e-03 9.08866030e-01] [ 1.92624552e-03 9.99998060e-01 -4.10844078e-04 1.26234023e-01] [ 3.00873362e-03 4.05047411e-04 9.99995392e-01 5.20397602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.163133365 meters 0.28073853843383967 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99993405e-01 -1.92296382e-03 -3.08091483e-03 9.09103446e-01] [ 1.92171826e-03 9.99998071e-01 -4.07192197e-04 1.26165236e-01] [ 3.08169190e-03 4.01268861e-04 9.99995171e-01 5.18938447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223133365 meters 0.28039887954601894 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99993288e-01 -1.84179995e-03 -3.16739032e-03 9.09449415e-01] [ 1.84120915e-03 9.99998287e-01 -1.89431547e-04 1.25264497e-01] [ 3.16773378e-03 1.83598447e-04 9.99994966e-01 5.15966576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283133365 meters 0.280675523299968 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99993498e-01 -1.74393191e-03 -3.15625209e-03 9.09373194e-01] [ 1.74410104e-03 9.99998478e-01 5.08332471e-05 1.24271927e-01] [ 3.15615863e-03 -5.63377392e-05 9.99995018e-01 5.17258127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.343133365 meters 0.28012445801139857 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99994205e-01 -1.46158335e-03 -3.07463619e-03 9.09369435e-01] [ 1.46377849e-03 9.99998675e-01 7.11819466e-04 1.21495179e-01] [ 3.07359173e-03 -7.16315928e-04 9.99995020e-01 5.14142283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40313336499999 meters 0.2806309639103192 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99994375e-01 -1.43852514e-03 -3.03008000e-03 9.09333905e-01] [ 1.44089026e-03 9.99998659e-01 7.78510564e-04 1.21226574e-01] [ 3.02895602e-03 -7.82872197e-04 9.99995106e-01 5.12587894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46313336499999 meters 0.2803103535227799 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99994973e-01 -1.46079597e-03 -2.81439876e-03 9.08801730e-01] [ 1.46276461e-03 9.99998687e-01 6.97557318e-04 1.21565201e-01] [ 2.81337607e-03 -7.01670614e-04 9.99995796e-01 5.13090852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52313336499999 meters 0.28218114822019 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:0.05 [[ 9.99993899e-01 -1.65214517e-03 -3.07777790e-03 9.09802126e-01] [ 1.65217867e-03 9.99998635e-01 8.34150836e-06 1.24335926e-01] [ 3.07775992e-03 -1.34264965e-05 9.99995264e-01 5.02696409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.583133365 meters 0.2821098906114936 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99994047e-01 -1.78421590e-03 -2.95354980e-03 9.09313293e-01] [ 1.78327379e-03 9.99998358e-01 -3.21577539e-04 1.25741771e-01] [ 2.95411871e-03 3.16308637e-04 9.99995587e-01 5.06377821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.643133365 meters 0.28247756212532943 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99995100e-01 -1.82552138e-03 -2.54298115e-03 9.07874498e-01] [ 1.82442051e-03 9.99998241e-01 -4.35157763e-04 1.26315621e-01] [ 2.54377107e-03 4.30516164e-04 9.99996672e-01 5.19797256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.703133365 meters 0.2814686379357128 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99992864e-01 -1.80861971e-03 -3.31689965e-03 9.10169411e-01] [ 1.80772580e-03 9.99998329e-01 -2.72478529e-04 1.25370503e-01] [ 3.31738692e-03 2.66480539e-04 9.99994462e-01 5.06731102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76313336499999 meters 0.28078059314983045 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:0.05 [[ 0.99998966 0.00428442 -0.00152406 0.88739103] [-0.00428855 0.99998712 -0.00271576 0.11765521] [ 0.00151241 0.00272227 0.99999515 0.05082611] [ 0. 0. 0. 1. ]] SLAMing on 65.82313336499999 meters 0.28031083509133875 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:0.05 [[ 0.99998858 0.00456214 -0.00142185 0.88670009] [-0.00456484 0.99998778 -0.00190047 0.1141904 ] [ 0.00141316 0.00190694 0.99999718 0.05181255] [ 0. 0. 0. 1. ]] SLAMing on 65.88313336499999 meters 0.2811164426736254 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:0.05 [[ 9.99990720e-01 -4.08323966e-03 -1.37384833e-03 9.08972703e-01] [ 4.08234793e-03 9.99991455e-01 -6.51250493e-04 1.13268665e-01] [ 1.37649580e-03 6.45635922e-04 9.99998844e-01 5.05799236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.943133365 meters 0.28181981913257365 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:0.05 [[ 0.99998948 0.00377886 -0.00260007 0.88977405] [-0.00378356 0.99999121 -0.0018056 0.10879644] [ 0.00259322 0.00181542 0.99999499 0.04884264] [ 0. 0. 0. 1. ]] SLAMing on 66.003133365 meters 0.2809284527851619 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:0.05 [[ 0.99998831 0.00376997 -0.00302852 0.89105525] [-0.00377561 0.99999115 -0.00185738 0.10896338] [ 0.00302149 0.00186879 0.99999369 0.04802467] [ 0. 0. 0. 1. ]] SLAMing on 66.063133365 meters 0.28442281923346807 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:0.05 [[ 0.9999879 0.00355908 -0.00339595 0.89262784] [-0.00356816 0.99999006 -0.00267217 0.11199224] [ 0.0033864 0.00268426 0.99999066 0.04613021] [ 0. 0. 0. 1. ]] SLAMing on 66.123133365 meters 0.28134033816032006 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:0.05 [[ 0.99998844 0.00327099 -0.00352437 0.89317295] [-0.00328388 0.99998792 -0.00365726 0.11609996] [ 0.00351236 0.00366879 0.9999871 0.04560324] [ 0. 0. 0. 1. ]] SLAMing on 66.18313336499999 meters 0.2820400301405269 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 0.99998559 -0.00470889 -0.00257722 0.91188528] [ 0.00470096 0.99998423 -0.00307383 0.12505267] [ 0.00259165 0.00306167 0.99999195 0.04778287] [ 0. 0. 0. 1. ]] SLAMing on 66.24313336499999 meters 0.2841400863941782 Centerline is valid? [False, False] Translation: X:0.89, Y:0.12, Z:0.05 [[ 0.99998709 0.00486192 -0.00147363 0.88976429] [-0.00486639 0.99998353 -0.00304398 0.12232073] [ 0.00145881 0.00305111 0.99999428 0.04753392] [ 0. 0. 0. 1. ]] SLAMing on 66.303133365 meters 0.2815413483538717 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99992191e-01 -3.95096379e-03 8.44183393e-05 9.08908043e-01] [ 3.95118394e-03 9.99988302e-01 -2.78991494e-03 1.28746782e-01] [-7.33944989e-05 2.79022671e-03 9.99996105e-01 4.91276128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.363133365 meters 0.2808752968607634 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99992148e-01 -3.95511289e-03 -2.48325540e-04 9.09589335e-01] [ 3.95440344e-03 9.99988275e-01 -2.79521366e-03 1.28758208e-01] [ 2.59378014e-04 2.79420973e-03 9.99996063e-01 4.93463578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.423133365 meters 0.2811893882891422 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998470e-01 -1.48219182e-03 -9.28865726e-04 9.12893650e-01] [ 1.48127918e-03 9.99998420e-01 -9.82455102e-04 1.32101563e-01] [ 9.30320446e-04 9.81077689e-04 9.99999086e-01 4.71676429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483133365 meters 0.27950845387690654 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998978e-01 -1.28348906e-03 -6.30258125e-04 9.12033772e-01] [ 1.28329699e-03 9.99999130e-01 -3.05065382e-04 1.29373932e-01] [ 6.30649125e-04 3.04256262e-04 9.99999755e-01 4.76577671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54313336499999 meters 0.28047538839606023 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998986e-01 -1.22125798e-03 -7.32588674e-04 9.12495265e-01] [ 1.22114562e-03 9.99999243e-01 -1.53800354e-04 1.28708766e-01] [ 7.32775949e-04 1.52905601e-04 9.99999720e-01 4.72303433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60313336499999 meters 0.28108929302997715 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998636e-01 -1.33215734e-03 -9.76292410e-04 9.13312259e-01] [ 1.33168208e-03 9.99998995e-01 -4.87291106e-04 1.30068600e-01] [ 9.76940577e-04 4.85990330e-04 9.99999405e-01 4.65482067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.663133365 meters 0.28294851691261513 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998566e-01 -1.44848566e-03 -8.77372901e-04 9.12971518e-01] [ 1.44775338e-03 9.99998604e-01 -8.34693327e-04 1.31480372e-01] [ 8.78580718e-04 8.33421911e-04 9.99999267e-01 4.67746186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.723133365 meters 0.28089978729405624 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998717e-01 -1.40725703e-03 -7.64908336e-04 9.12766894e-01] [ 1.40669231e-03 9.99998738e-01 -7.38321516e-04 1.31068276e-01] [ 7.65946379e-04 7.37244578e-04 9.99999435e-01 4.66257483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.783133365 meters 0.2816786308974472 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998694e-01 -1.38397390e-03 -8.34080508e-04 9.13186132e-01] [ 1.38340548e-03 9.99998811e-01 -6.81683869e-04 1.30801253e-01] [ 8.35022949e-04 6.80529107e-04 9.99999420e-01 4.60955583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.843133365 meters 0.28293203132557 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998677e-01 -1.39399621e-03 -8.38666577e-04 9.13210743e-01] [ 1.39340436e-03 9.99998780e-01 -7.05866990e-04 1.30896159e-01] [ 8.39649530e-04 7.04697454e-04 9.99999399e-01 4.60586479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90313336499999 meters 0.28214104195127143 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998750e-01 -1.40741992e-03 -7.20216157e-04 9.13142534e-01] [ 1.40688450e-03 9.99998734e-01 -7.43383879e-04 1.31043331e-01] [ 7.21261498e-04 7.42369689e-04 9.99999464e-01 4.55437235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96313336499999 meters 0.2826312711123428 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998805e-01 -1.41292907e-03 -6.27453865e-04 9.12917496e-01] [ 1.41245227e-03 9.99998714e-01 -7.59682112e-04 1.31110620e-01] [ 6.28526435e-04 7.58794955e-04 9.99999515e-01 4.55316441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02313336499999 meters 0.2821543212526458 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998927e-01 -1.35918850e-03 -5.46251310e-04 9.12706436e-01] [ 1.35884245e-03 9.99998876e-01 -6.33375584e-04 1.30569406e-01] [ 5.47111573e-04 6.32632635e-04 9.99999650e-01 4.55613391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.083133365 meters 0.2822620866972611 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998936e-01 -1.25639377e-03 -7.41582665e-04 9.13096389e-01] [ 1.25613656e-03 9.99999151e-01 -3.47203049e-04 1.29398545e-01] [ 7.42018259e-04 3.46271150e-04 9.99999665e-01 4.57788671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.143133365 meters 0.2819063382821917 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99998919e-01 -1.19857769e-03 -8.51913943e-04 9.13438953e-01] [ 1.19840913e-03 9.99999262e-01 -1.98349667e-04 1.28758420e-01] [ 8.52151052e-04 1.97328511e-04 9.99999617e-01 4.56340891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.203133365 meters 0.28123381815659876 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:0.05 [[ 9.99999249e-01 -1.20955324e-03 -1.96016286e-04 9.11692454e-01] [ 1.20949163e-03 9.99999219e-01 -3.14112016e-04 1.29354371e-01] [ 1.96396068e-04 3.13874700e-04 9.99999931e-01 4.63518463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26313336499999 meters 0.2834768677285269 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.05 [[ 9.99968074e-01 7.95356390e-03 7.69869151e-04 9.33609684e-01] [-7.95286351e-03 9.99967963e-01 -9.08572831e-04 1.31256695e-01] [-7.77070879e-04 9.02421159e-04 9.99999291e-01 4.63203910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32313336499999 meters 0.283750207699671 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:0.05 [[ 9.99969196e-01 7.82961067e-03 5.51758120e-04 9.34380168e-01] [-7.82889638e-03 9.99968528e-01 -1.28505450e-03 1.32804679e-01] [-5.61802231e-04 1.28069526e-03 9.99999022e-01 4.55934847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38313336499999 meters 0.2839276396237737 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99999578e-01 -2.12107035e-04 -8.93682648e-04 9.15277353e-01] [ 2.12104099e-04 9.99999978e-01 -3.37945918e-06 1.35948368e-01] [ 8.93683345e-04 3.18990400e-06 9.99999601e-01 4.40387015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.443133365 meters 0.2847179700240085 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.04 [[ 9.99999627e-01 -4.36152734e-04 -7.45123873e-04 9.14919082e-01] [ 4.35762748e-04 9.99999768e-01 -5.23465692e-04 1.38148231e-01] [ 7.45352012e-04 5.23140800e-04 9.99999585e-01 4.39429300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.503133365 meters 0.2839762233179935 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99999455e-01 -6.15838643e-04 -8.43249843e-04 9.15106982e-01] [ 6.15032032e-04 9.99999353e-01 -9.56475914e-04 1.39951727e-01] [ 8.43838333e-04 9.55956767e-04 9.99999187e-01 4.40021979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.563133365 meters 0.2836723826861508 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99999183e-01 -8.21845788e-04 -9.78804409e-04 9.15441488e-01] [ 8.20443516e-04 9.99998638e-01 -1.43217784e-03 1.41902715e-01] [ 9.79980105e-04 1.43137362e-03 9.99998495e-01 4.39363228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.623133365 meters 0.2830932247518588 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99999040e-01 -9.68704242e-04 -9.90663041e-04 9.15189958e-01] [ 9.66935552e-04 9.99997941e-01 -1.78428301e-03 1.43373555e-01] [ 9.92389444e-04 1.78332339e-03 9.99997917e-01 4.44598702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68313336499999 meters 0.2826236267355919 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 9.99999036e-01 -1.00237383e-03 -9.60905843e-04 9.14843071e-01] [ 1.00056707e-03 9.99997734e-01 -1.87890354e-03 1.43763606e-01] [ 9.62787030e-04 1.87794028e-03 9.99997773e-01 4.51046455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74313336499999 meters 0.28310734100043317 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.05 [[ 9.99999039e-01 -9.45028750e-04 -1.01392033e-03 9.14885500e-01] [ 9.43279954e-04 9.99998069e-01 -1.72388047e-03 1.43109988e-01] [ 1.01554749e-03 1.72292240e-03 9.99998000e-01 4.53089804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.803133365 meters 0.2823271245472884 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.05 [[ 9.99999068e-01 -8.90997678e-04 -1.03404652e-03 9.15019293e-01] [ 8.89351615e-04 9.99998339e-01 -1.59123511e-03 1.42543112e-01] [ 1.03546259e-03 1.59031399e-03 9.99998199e-01 4.51345067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.863133365 meters 0.2839482248374346 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99999049e-01 -9.30556074e-04 -1.01787158e-03 9.15089483e-01] [ 9.28831553e-04 9.99998135e-01 -1.69340488e-03 1.42949592e-01] [ 1.01944549e-03 1.69245784e-03 9.99998048e-01 4.48839716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.923133365 meters 0.2830039452191633 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.04 [[ 9.99998983e-01 -1.05654188e-03 -9.58209531e-04 9.15036179e-01] [ 1.05458632e-03 9.99997365e-01 -2.03905986e-03 1.44359822e-01] [ 9.60361358e-04 2.03804727e-03 9.99997462e-01 4.46408398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.983133365 meters 0.28359698755830787 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.04 [[ 9.99999023e-01 -1.10543230e-03 -8.55672878e-04 9.14849274e-01] [ 1.10357486e-03 9.99997041e-01 -2.16816606e-03 1.44893337e-01] [ 8.58067106e-04 2.16721964e-03 9.99997283e-01 4.44848036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04313336499999 meters 0.2819934470752497 Centerline is valid? [False, False] Translation: X:0.91, Y:0.14, Z:0.04 [[ 9.99999192e-01 -1.09898025e-03 -6.38353476e-04 9.14226002e-01] [ 1.09759744e-03 9.99997059e-01 -2.16253998e-03 1.44872426e-01] [ 6.40728188e-04 2.16183757e-03 9.99997458e-01 4.46896719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10313336499999 meters 0.28347406083435955 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:0.04 [[ 9.99998970e-01 -1.23588834e-03 -7.30029444e-04 9.14616114e-01] [ 1.23404131e-03 9.99996050e-01 -2.52512487e-03 1.46369743e-01] [ 7.33147333e-04 2.52422138e-03 9.99996545e-01 4.42551677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.163133365 meters 0.2852409730853879 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.04 [[ 9.99998013e-01 1.16674455e-03 -1.61644830e-03 9.19560587e-01] [-1.16790607e-03 9.99999060e-01 -7.17808592e-04 1.50227859e-01] [ 1.61560928e-03 7.19695025e-04 9.99998436e-01 4.06232203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.223133365 meters 0.28509939675560275 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.04 [[ 9.99997894e-01 1.10295150e-03 -1.73065362e-03 9.19995174e-01] [-1.10447726e-03 9.99999002e-01 -8.80902812e-04 1.50894262e-01] [ 1.72968030e-03 8.82812425e-04 9.99998114e-01 4.02552303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.283133365 meters 0.28245808488282975 Centerline is valid? [False, False] Translation: X:0.88, Y:0.15, Z:0.04 [[ 9.99989853e-01 1.45383903e-03 -4.26372060e-03 8.76993632e-01] [-1.45793722e-03 9.99998478e-01 -9.58225561e-04 1.50687855e-01] [ 4.26232100e-03 9.64432076e-04 9.99990451e-01 4.06235725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.343133365 meters 0.28532853284157256 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99995667e-01 2.78084472e-03 -9.65685117e-04 9.18008931e-01] [-2.78053783e-03 9.99996083e-01 3.18988966e-04 1.57075094e-01] [ 9.66568394e-04 -3.16302460e-04 9.99999483e-01 4.10474728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40313336499999 meters 0.28270465426305785 Centerline is valid? [False, False] Translation: X:0.90, Y:0.16, Z:0.04 [[ 0.99998265 -0.00540585 -0.0023415 0.89786999] [ 0.00540911 0.99998441 0.00138721 0.15870736] [ 0.00233396 -0.00139985 0.9999963 0.04013629] [ 0. 0. 0. 1. ]] SLAMing on 68.46313336499999 meters 0.28417038683860746 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99992498e-01 3.34747898e-03 -1.94913419e-03 9.18740818e-01] [-3.34596752e-03 9.99994099e-01 7.78200835e-04 1.55560272e-01] [ 1.95172770e-03 -7.71673257e-04 9.99997798e-01 4.04893270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52313336499999 meters 0.284263029409421 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99992618e-01 3.32569229e-03 -1.92435841e-03 9.18582251e-01] [-3.32430582e-03 9.99994213e-01 7.23231369e-04 1.55804600e-01] [ 1.92675252e-03 -7.16828875e-04 9.99997887e-01 4.06980544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.583133365 meters 0.283815935541658 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99992763e-01 3.25645060e-03 -1.96727956e-03 9.18873902e-01] [-3.25538375e-03 9.99994553e-01 5.45257641e-04 1.56531875e-01] [ 1.96904445e-03 -5.38849445e-04 9.99997916e-01 4.02436873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.643133365 meters 0.28433552282207936 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99993247e-01 3.15638765e-03 -1.88225766e-03 9.18760768e-01] [-3.15585255e-03 9.99994979e-01 2.87187110e-04 1.57616370e-01] [ 1.88315468e-03 -2.81245043e-04 9.99998187e-01 4.00010047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.703133365 meters 0.28390598394463384 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99994142e-01 2.96194486e-03 -1.71525061e-03 9.18372063e-01] [-2.96232141e-03 9.99995589e-01 -2.17028784e-04 1.59731456e-01] [ 1.71460021e-03 2.22108636e-04 9.99998505e-01 3.99104911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76313336499999 meters 0.28349290038645547 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:0.04 [[ 9.99995138e-01 2.66468100e-03 -1.62000723e-03 9.18185197e-01] [-2.66623224e-03 9.99995988e-01 -9.56145265e-04 1.62811637e-01] [ 1.61745291e-03 9.60459931e-04 9.99998231e-01 3.97283440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82313336499999 meters 0.28436374101268547 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999622 0.00222732 -0.00161155 0.91803698] [-0.00223057 0.99999547 -0.00201924 0.16727476] [ 0.00160704 0.00202283 0.99999666 0.03988314] [ 0. 0. 0. 1. ]] SLAMing on 68.88313336499999 meters 0.28604756914317686 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999669 0.00189669 -0.00173658 0.91849142] [-0.00190154 0.99999428 -0.00279582 0.17054488] [ 0.00173127 0.00279911 0.99999458 0.03954664] [ 0. 0. 0. 1. ]] SLAMing on 68.943133365 meters 0.28391493455701755 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 0.99997857 -0.00628395 -0.00183352 0.89757378] [ 0.00627955 0.99997742 -0.00239192 0.17841665] [ 0.00184851 0.00238035 0.99999546 0.03886301] [ 0. 0. 0. 1. ]] SLAMing on 69.003133365 meters 0.2844018302788785 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 9.99994727e-01 -2.42735624e-03 -2.15720068e-03 8.98045528e-01] [ 2.42912666e-03 9.99996715e-01 8.18462538e-04 1.81423426e-01] [ 2.15520689e-03 -8.23698336e-04 9.99997338e-01 3.92949733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.063133365 meters 0.2849367584401332 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 0.99999481 -0.00230703 -0.00224988 0.8982734 ] [ 0.00230975 0.99999661 0.00120411 0.17989007] [ 0.00224709 -0.0012093 0.99999674 0.03930551] [ 0. 0. 0. 1. ]] SLAMing on 69.123133365 meters 0.28336192050465075 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 0.99999605 -0.00208252 -0.00188738 0.8969929 ] [ 0.0020863 0.99999582 0.00200347 0.17654289] [ 0.0018832 -0.0020074 0.99999621 0.04057715] [ 0. 0. 0. 1. ]] SLAMing on 69.18313336499999 meters 0.2836227200018873 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99998259 0.00581193 -0.00102183 0.91625201] [-0.00581068 0.99998237 0.00122022 0.16886469] [ 0.0010289 -0.00121426 0.99999873 0.0418507 ] [ 0. 0. 0. 1. ]] SLAMing on 69.24313336499999 meters 0.2846861986905327 Centerline is valid? [False, False] Translation: X:0.90, Y:0.17, Z:0.04 [[ 0.99998749 -0.00276953 -0.00416523 0.89854156] [ 0.00277717 0.99999447 0.00183087 0.16933706] [ 0.00416014 -0.00184242 0.99998965 0.0406766 ] [ 0. 0. 0. 1. ]] SLAMing on 69.303133365 meters 0.28476327792423567 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99997369 0.00648194 -0.00325778 0.92027068] [-0.00647712 0.99997792 0.00148875 0.16961726] [ 0.00326735 -0.00146761 0.99999359 0.04048025] [ 0. 0. 0. 1. ]] SLAMing on 69.363133365 meters 0.2862499947371219 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999218 0.00246651 -0.00309219 0.92012363] [-0.00247363 0.9999943 -0.00229907 0.16891825] [ 0.0030865 0.0023067 0.99999258 0.039995 ] [ 0. 0. 0. 1. ]] SLAMing on 69.423133365 meters 0.2848390052517359 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999198 0.0026132 -0.0030352 0.91993205] [-0.00261905 0.99999472 -0.00192623 0.16738439] [ 0.00303015 0.00193417 0.99999354 0.04015945] [ 0. 0. 0. 1. ]] SLAMing on 69.483133365 meters 0.28341598116864053 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999195 0.00278398 -0.00288847 0.91955605] [-0.00278804 0.99999513 -0.00140152 0.16528933] [ 0.00288455 0.00140956 0.99999485 0.04024662] [ 0. 0. 0. 1. ]] SLAMing on 69.54313336499999 meters 0.28477251072037607 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999152 0.00276113 -0.00305637 0.92019957] [-0.00276557 0.99999512 -0.00145183 0.16550176] [ 0.00305234 0.00146027 0.99999428 0.03966236] [ 0. 0. 0. 1. ]] SLAMing on 69.60313336499999 meters 0.28313567618961727 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999173 0.00272479 -0.00301979 0.9203197 ] [-0.00272948 0.99999507 -0.00155091 0.16589988] [ 0.00301555 0.00155914 0.99999424 0.03916007] [ 0. 0. 0. 1. ]] SLAMing on 69.663133365 meters 0.28421430202768955 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999186 0.00268858 -0.00301 0.92036376] [-0.00269353 0.99999503 -0.00164092 0.16627672] [ 0.00300558 0.00164902 0.99999412 0.03900048] [ 0. 0. 0. 1. ]] SLAMing on 69.723133365 meters 0.28436254673886435 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99999191 0.00264554 -0.00302852 0.92044018] [-0.00265083 0.99999497 -0.00174381 0.1667056 ] [ 0.00302389 0.00175182 0.99999389 0.03892069] [ 0. 0. 0. 1. ]] SLAMing on 69.783133365 meters 0.28701300300756116 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:0.04 [[ 9.99991518e-01 -3.92995117e-03 -1.23248749e-03 9.41172314e-01] [ 3.93093388e-03 9.99991957e-01 7.95932768e-04 1.70229806e-01] [ 1.22934960e-03 -8.00770844e-04 9.99998924e-01 3.82485718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.843133365 meters 0.2851103799223933 Centerline is valid? [False, False] Translation: X:0.94, Y:0.17, Z:0.04 [[ 9.99991190e-01 -4.01821384e-03 -1.21412431e-03 9.41070304e-01] [ 4.01891830e-03 9.99991757e-01 5.78335766e-04 1.71136596e-01] [ 1.21179042e-03 -5.83210137e-04 9.99999096e-01 3.83389773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90313336499999 meters 0.2847168244558105 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99998777 0.00371186 -0.00326716 0.92338672] [-0.00371667 0.99999201 -0.00146973 0.169763 ] [ 0.00326167 0.00148185 0.99999358 0.0364183 ] [ 0. 0. 0. 1. ]] SLAMing on 69.96313336499999 meters 0.2842790897624062 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:0.04 [[ 0.99998884 0.00352384 -0.00314583 0.9226961 ] [-0.00352999 0.99999186 -0.00195179 0.17187341] [ 0.00313893 0.00196287 0.99999315 0.03727681] [ 0. 0. 0. 1. ]] SLAMing on 70.02313336499999 meters 0.28574179953420337 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:0.04 [[ 9.99995388e-01 -2.59743904e-03 -1.57422492e-03 9.44735201e-01] [ 2.59893619e-03 9.99996172e-01 9.49740907e-04 1.75183990e-01] [ 1.57175200e-03 -9.53827836e-04 9.99998310e-01 3.62053012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.083133365 meters 0.2846829062043041 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:0.04 [[ 9.99977017e-01 6.64663584e-03 -1.33733706e-03 9.22862637e-01] [-6.64641868e-03 9.99977898e-01 1.66759396e-04 1.75043940e-01] [ 1.33841589e-03 -1.57867061e-04 9.99999092e-01 3.61734959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.143133365 meters 0.28392031502112886 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 9.99998286e-01 -1.83250937e-03 -2.65181925e-04 9.00916676e-01] [ 1.83261596e-03 9.99998240e-01 4.02259223e-04 1.81770318e-01] [ 2.64444314e-04 -4.02744510e-04 9.99999884e-01 3.56049333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.203133365 meters 0.2841479743994047 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.04 [[ 9.99997983e-01 -1.98367963e-03 -3.13328743e-04 9.01130518e-01] [ 1.98368988e-03 9.99998032e-01 3.23905686e-05 1.83296015e-01] [ 3.13263874e-04 -3.30120503e-05 9.99999950e-01 3.53523547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26313336499999 meters 0.28366513242308844 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.03 [[ 9.99997699e-01 -2.11005361e-03 -3.87041566e-04 9.01586446e-01] [ 2.10994476e-03 9.99997734e-01 -2.81431879e-04 1.84623136e-01] [ 3.87634525e-04 2.80614595e-04 9.99999885e-01 3.47041141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32313336499999 meters 0.28480763883421384 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.03 [[ 9.99976480e-01 6.85529550e-03 -2.09557924e-04 9.25357102e-01] [-6.85556018e-03 9.99975669e-01 -1.28951411e-03 1.90257169e-01] [ 2.00712824e-04 1.29092041e-03 9.99999147e-01 3.40439617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38313336499999 meters 0.2853401826251222 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.03 [[ 9.99978597e-01 6.54248565e-03 2.81268264e-05 9.24716887e-01] [-6.54239342e-03 9.99975390e-01 -2.53310796e-03 1.95138213e-01] [-4.46989567e-05 2.53286973e-03 9.99996791e-01 3.41833180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443133365 meters 0.2855157268768268 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.03 [[ 9.99980405e-01 6.25889782e-03 1.27204435e-04 9.24295623e-01] [-6.25844563e-03 9.99975006e-01 -3.28911744e-03 1.98269149e-01] [-1.47787506e-04 3.28825689e-03 9.99994583e-01 3.45321282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503133365 meters 0.28602906820245766 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998237e-01 -1.77840621e-03 -6.02325319e-04 9.03557810e-01] [ 1.77708849e-03 9.99996042e-01 -2.18123760e-03 1.99729945e-01] [ 6.06202061e-04 2.18016337e-03 9.99997440e-01 3.36146660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563133365 meters 0.2856662072586578 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998249e-01 -1.70108009e-03 -7.80413582e-04 9.04041143e-01] [ 1.69953429e-03 9.99996601e-01 -1.97715708e-03 1.98861820e-01] [ 7.83774232e-04 1.97582728e-03 9.99997741e-01 3.35126578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62313336499999 meters 0.2840760200007129 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998295e-01 -1.63731313e-03 -8.53855931e-04 9.04267838e-01] [ 1.63576003e-03 9.99997012e-01 -1.81646121e-03 1.98176630e-01] [ 8.56827495e-04 1.81506141e-03 9.99997986e-01 3.34314679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68313336499999 meters 0.2854444970589883 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998498e-01 -1.56772408e-03 -7.39220130e-04 9.03698264e-01] [ 1.56650693e-03 9.99997421e-01 -1.64423664e-03 1.97415072e-01] [ 7.41795933e-04 1.64307618e-03 9.99998375e-01 3.41185153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74313336499999 meters 0.2870900022276591 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998523e-01 -1.60897644e-03 -6.03607661e-04 9.03320709e-01] [ 1.60791749e-03 9.99997175e-01 -1.75076759e-03 1.97864807e-01] [ 6.06422900e-04 1.74979445e-03 9.99998285e-01 3.41916199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.803133365 meters 0.28499190874486136 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998571e-01 -1.62195380e-03 -4.77535103e-04 9.02883547e-01] [ 1.62109825e-03 9.99997090e-01 -1.78654677e-03 1.98033948e-01] [ 4.80431410e-04 1.78577009e-03 9.99998290e-01 3.44578199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863133365 meters 0.28472835126311247 Centerline is valid? [False, False] Translation: X:0.90, Y:0.20, Z:0.03 [[ 9.99998565e-01 -1.59200907e-03 -5.79248537e-04 9.03058279e-01] [ 1.59101576e-03 9.99997270e-01 -1.71126027e-03 1.97715363e-01] [ 5.81971298e-04 1.71033622e-03 9.99998368e-01 3.46346769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923133365 meters 0.2857319636768668 Centerline is valid? [False, False] Translation: X:0.91, Y:0.20, Z:0.03 [[ 9.99998301e-01 4.84566676e-04 -1.77837417e-03 9.09300921e-01] [-4.84714296e-04 9.99999879e-01 -8.25781633e-05 2.00561004e-01] [ 1.77833394e-03 8.34400264e-05 9.99998415e-01 2.99354042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983133365 meters 0.2846865438136026 Centerline is valid? [False, False] Translation: X:0.91, Y:0.20, Z:0.03 [[ 9.99998486e-01 3.98348014e-04 -1.69385647e-03 9.08388530e-01] [-3.98871271e-04 9.99999873e-01 -3.08588046e-04 2.01762973e-01] [ 1.69373332e-03 3.09263210e-04 9.99998518e-01 3.15796448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04313336499999 meters 0.28320761264457467 Centerline is valid? [False, False] Translation: X:0.91, Y:0.20, Z:0.03 [[ 9.99997284e-01 4.49366482e-04 -2.28688983e-03 9.09986060e-01] [-4.49497873e-04 9.99999897e-01 -5.69407600e-05 2.00622038e-01] [ 2.28686401e-03 5.79685575e-05 9.99997383e-01 3.10637497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10313336499999 meters 0.2820436654722982 Centerline is valid? [False, False] Translation: X:0.91, Y:0.20, Z:0.03 [[ 9.99995038e-01 6.07985605e-04 -3.09097599e-03 9.11963936e-01] [-6.05593939e-04 9.99999517e-01 7.74634684e-04 1.97382680e-01] [ 3.09144546e-03 -7.72758964e-04 9.99994923e-01 3.07218470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.163133365 meters 0.2819028893521183 Centerline is valid? [False, False] Translation: X:0.91, Y:0.19, Z:0.03 [[ 9.99995810e-01 9.73303328e-04 -2.72644294e-03 9.10907628e-01] [-9.67611554e-04 9.99997352e-01 2.08816091e-03 1.92182134e-01] [ 2.72846813e-03 -2.08551402e-03 9.99994103e-01 3.12933289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.223133365 meters 0.283075189083962 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.03 [[ 9.99988796e-01 -9.84259798e-04 -4.63015629e-03 9.17994350e-01] [ 9.87131535e-04 9.99999322e-01 6.17980181e-04 1.89170052e-01] [ 4.62954489e-03 -6.22543831e-04 9.99989090e-01 2.66827006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.283133365 meters 0.28333512814342704 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.03 [[ 9.99988584e-01 -9.33737376e-04 -4.68622500e-03 9.18165816e-01] [ 9.37324007e-04 9.99999269e-01 7.63218173e-04 1.88583939e-01] [ 4.68550893e-03 -7.67601971e-04 9.99988728e-01 2.66090723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.343133365 meters 0.28413071007990703 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.03 [[ 9.99989825e-01 -8.10070647e-04 -4.43771969e-03 9.17506213e-01] [ 8.14900799e-04 9.99999077e-01 1.08673098e-03 1.87280715e-01] [ 4.43683526e-03 -1.09033622e-03 9.99989563e-01 2.68173086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40313336499999 meters 0.28336733375234596 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.02 [[ 9.99964675e-01 7.24790623e-03 -4.25626084e-03 8.98875304e-01] [-7.24738295e-03 9.99973728e-01 1.38356631e-04 1.79105031e-01] [ 4.25715181e-03 -1.07504992e-04 9.99990933e-01 2.46695113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46313336499999 meters 0.28389613957545967 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.02 [[ 9.99964497e-01 7.32758973e-03 -4.16064228e-03 8.98550922e-01] [-7.32625542e-03 9.99973106e-01 3.35848657e-04 1.78305883e-01] [ 4.16299134e-03 -3.05354806e-04 9.99991288e-01 2.48928709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52313336499999 meters 0.282424916626598 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:0.03 [[ 9.99995118e-01 -4.96730480e-04 -3.08509626e-03 9.16491931e-01] [ 5.03309942e-04 9.99997600e-01 2.13225011e-03 1.82493801e-01] [ 3.08402971e-03 -2.13379246e-03 9.99992968e-01 2.68883119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583133365 meters 0.282980895348675 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:0.03 [[ 9.99995535e-01 -4.85248382e-04 -2.94849282e-03 9.15908614e-01] [ 4.91603347e-04 9.99997557e-01 2.15498428e-03 1.82402478e-01] [ 2.94743992e-03 -2.15642415e-03 9.99993331e-01 2.74465416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643133365 meters 0.28305579520628865 Centerline is valid? [False, False] Translation: X:0.92, Y:0.18, Z:0.03 [[ 9.99995918e-01 -5.74816355e-04 -2.79900641e-03 9.15652310e-01] [ 5.80139129e-04 9.99998024e-01 1.90122513e-03 1.83425444e-01] [ 2.79790802e-03 -1.90284118e-03 9.99994275e-01 2.71633489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703133365 meters 0.28282529381363575 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.03 [[ 9.99996028e-01 -7.29741952e-04 -2.72248743e-03 9.15668485e-01] [ 7.33755043e-04 9.99998645e-01 1.47334533e-03 1.85158382e-01] [ 2.72140858e-03 -1.47533712e-03 9.99995209e-01 2.66383185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76313336499999 meters 0.2831897572311797 Centerline is valid? [False, False] Translation: X:0.90, Y:0.19, Z:0.03 [[ 0.99997551 0.00464282 -0.00523726 0.89600899] [-0.00465734 0.99998534 -0.00276306 0.18637022] [ 0.00522436 0.00278739 0.99998247 0.02653816] [ 0. 0. 0. 1. ]] SLAMing on 71.82313336499999 meters 0.285219984631707 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.03 [[ 9.99994626e-01 -1.84030059e-03 -2.71324575e-03 9.17734256e-01] [ 1.84032187e-03 9.99998307e-01 5.34365262e-06 1.85198774e-01] [ 2.71323132e-03 -1.03368694e-05 9.99996319e-01 2.54017885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88313336499999 meters 0.282886673891513 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.02 [[ 9.99970196e-01 7.25824987e-03 -2.63142797e-03 8.96681045e-01] [-7.25933305e-03 9.99973570e-01 -4.02314462e-04 1.81312242e-01] [ 2.62843832e-03 4.21404884e-04 9.99996457e-01 2.48765143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.943133365 meters 0.2855185602486426 Centerline is valid? [False, False] Translation: X:0.90, Y:0.18, Z:0.02 [[ 0.99997072 0.00702848 -0.00302572 0.89774699] [-0.00703205 0.99997459 -0.0011691 0.18426689] [ 0.00301742 0.00119034 0.99999474 0.0242715 ] [ 0. 0. 0. 1. ]] SLAMing on 72.003133365 meters 0.28637417068299253 Centerline is valid? [False, False] Translation: X:0.92, Y:0.19, Z:0.02 [[ 9.99979603e-01 -9.63798298e-04 -6.31385774e-03 9.19911840e-01] [ 9.59156379e-04 9.99999268e-01 -7.38182204e-04 1.94073508e-01] [ 6.31456457e-03 7.32111171e-04 9.99979795e-01 2.49801120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.063133365 meters 0.2862322294970528 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.99997585 -0.00134097 -0.00681885 0.92147519] [ 0.00132667 0.99999691 -0.00210088 0.1996456 ] [ 0.00682165 0.00209179 0.99997454 0.02393082] [ 0. 0. 0. 1. ]] SLAMing on 72.12313336499999 meters 0.28436520633713597 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.03 [[ 9.99981724e-01 1.03542491e-03 -5.95644992e-03 9.16704537e-01] [-1.03875833e-03 9.99999306e-01 -5.56565423e-04 2.05124445e-01] [ 5.95586950e-03 5.62742563e-04 9.99982105e-01 2.75862427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18313336499999 meters 0.283847995693121 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.03 [[ 9.99981752e-01 1.10356325e-03 -5.93946871e-03 9.16967444e-01] [-1.10589546e-03 9.99999313e-01 -3.89392621e-04 2.04580746e-01] [ 5.93903491e-03 3.95953947e-04 9.99982285e-01 2.70012689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24313336499999 meters 0.2844612431741845 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:0.03 [[ 0.9999812 -0.00525731 -0.00315754 0.93692629] [ 0.00526585 0.99998248 0.00270199 0.20462585] [ 0.00314328 -0.00271857 0.99999136 0.02686396] [ 0. 0. 0. 1. ]] SLAMing on 72.303133365 meters 0.28356486216981225 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.03 [[ 0.99998642 0.00356058 -0.00380554 0.91696466] [-0.00355386 0.99999211 0.00177302 0.20180033] [ 0.00381182 -0.00175947 0.99999119 0.02561534] [ 0. 0. 0. 1. ]] SLAMing on 72.363133365 meters 0.2841303361704361 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.99998646 0.0033802 -0.00395708 0.91760079] [-0.00337536 0.99999355 0.00122756 0.20398593] [ 0.0039612 -0.00121419 0.99999142 0.02482509] [ 0. 0. 0. 1. ]] SLAMing on 72.423133365 meters 0.2861424735243662 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.03 [[ 9.99988906e-01 3.04998132e-03 -3.58970326e-03 9.16531172e-01] [-3.04980462e-03 9.99995348e-01 5.46952902e-05 2.08584826e-01] [ 3.58985338e-03 -4.37467898e-05 9.99993555e-01 2.52071300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.483133365 meters 0.2859304109688146 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.03 [[ 9.99989582e-01 2.75527456e-03 -3.63935773e-03 9.16670043e-01] [-2.75777545e-03 9.99995965e-01 -6.82340279e-04 2.11645182e-01] [ 3.63746301e-03 6.92369702e-04 9.99993145e-01 2.50624623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54313336499999 meters 0.28276092032037037 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.03 [[ 9.99989198e-01 2.76111009e-03 -3.73902749e-03 9.16610875e-01] [-2.76361651e-03 9.99995960e-01 -6.65340612e-04 2.11583960e-01] [ 3.73717531e-03 6.75666663e-04 9.99992788e-01 2.57548790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60313336499999 meters 0.2829026684594198 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:0.03 [[ 9.99991398e-01 -4.10038118e-03 -6.24612319e-04 9.35237953e-01] [ 4.10180231e-03 9.99988963e-01 2.29118690e-03 2.11030106e-01] [ 6.15210686e-04 -2.29372923e-03 9.99997180e-01 2.63784142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.663133365 meters 0.2824164209005068 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 9.99989331e-01 3.78636127e-03 -2.64607810e-03 9.18811393e-01] [-3.78454295e-03 9.99992599e-01 6.91845918e-04 2.04537335e-01] [ 2.64867809e-03 -6.81824341e-04 9.99996260e-01 2.43842295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.723133365 meters 0.2829993906706361 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 9.99988833e-01 3.91340725e-03 -2.64947903e-03 9.18951746e-01] [-3.91075442e-03 9.99991847e-01 1.00570660e-03 2.03233267e-01] [ 2.65339316e-03 -9.95333904e-04 9.99995984e-01 2.41426679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783133365 meters 0.2812201590492997 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.99998915 0.00393106 -0.00249856 0.91866849] [-0.00392845 0.99999173 0.00104813 0.20306695] [ 0.00250266 -0.0010383 0.99999633 0.0239552 ] [ 0. 0. 0. 1. ]] SLAMing on 72.843133365 meters 0.2825304781851681 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.9999883 0.00410528 -0.0025572 0.91875729] [-0.00410154 0.99999052 0.00146345 0.20133615] [ 0.00256319 -0.00145294 0.99999566 0.0241359 ] [ 0. 0. 0. 1. ]] SLAMing on 72.90313336499999 meters 0.2835709019780211 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.99998777 0.00422359 -0.00257359 0.91887579] [-0.00421907 0.99998955 0.00176182 0.20010033] [ 0.002581 -0.00175094 0.99999514 0.02400605] [ 0. 0. 0. 1. ]] SLAMing on 72.96313336499999 meters 0.28283672955318256 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 0.99998739 0.00432773 -0.00254841 0.91871381] [-0.00432261 0.99998863 0.00201246 0.19906014] [ 0.00255709 -0.00200141 0.99999473 0.02424308] [ 0. 0. 0. 1. ]] SLAMing on 73.02313336499999 meters 0.2824488812280883 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 9.99996024e-01 1.55059814e-04 -2.81561797e-03 9.19209312e-01] [-1.61212136e-04 9.99997600e-01 -2.18497446e-03 1.99864068e-01] [ 2.81527241e-03 2.18541969e-03 9.99993649e-01 2.42296004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.083133365 meters 0.2849570709702028 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:0.02 [[ 9.99989875e-01 2.29719885e-03 -3.86937470e-03 9.24877009e-01] [-2.29896811e-03 9.99997255e-01 -4.52859699e-04 2.02304148e-01] [ 3.86832377e-03 4.61750683e-04 9.99992411e-01 2.03675380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.143133365 meters 0.28468201768359835 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:0.02 [[ 0.99999021 0.00204862 -0.00392088 0.92505504] [-0.00205318 0.99999722 -0.00115976 0.20518845] [ 0.00391849 0.0011678 0.99999164 0.0201738 ] [ 0. 0. 0. 1. ]] SLAMing on 73.203133365 meters 0.28274198821304614 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.02 [[ 0.99999107 0.00189856 -0.00377645 0.92437022] [-0.0019044 0.999997 -0.00154287 0.20682561] [ 0.00377351 0.00155005 0.99999168 0.0209089 ] [ 0. 0. 0. 1. ]] SLAMing on 73.26313336499999 meters 0.28286688837935786 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.02 [[ 0.99999112 0.00161092 -0.0038942 0.9247006 ] [-0.00161984 0.99999607 -0.00228922 0.20991866] [ 0.00389049 0.00229551 0.9999898 0.02075834] [ 0. 0. 0. 1. ]] SLAMing on 73.32313336499999 meters 0.2841198805195492 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.02 [[ 0.99999183 0.00126152 -0.00384139 0.9246881 ] [-0.0012749 0.99999312 -0.00348237 0.21458556] [ 0.00383697 0.00348724 0.99998656 0.02040912] [ 0. 0. 0. 1. ]] SLAMing on 73.38313336499999 meters 0.2845762459996887 Centerline is valid? [False, False] Translation: X:0.92, Y:0.22, Z:0.02 [[ 9.99993413e-01 9.81078387e-04 -3.49461739e-03 9.23523689e-01] [-9.96280964e-04 9.99990037e-01 -4.35120252e-03 2.18156563e-01] [ 3.49031370e-03 4.35465548e-03 9.99984427e-01 2.10228060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.443133365 meters 0.28530608824596426 Centerline is valid? [False, False] Translation: X:0.92, Y:0.22, Z:0.02 [[ 9.99994209e-01 4.45240101e-04 -3.37405681e-03 9.23182263e-01] [-4.65003970e-04 9.99982727e-01 -5.85907952e-03 2.24228779e-01] [ 3.37138984e-03 5.86061453e-03 9.99977143e-01 2.10584928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.503133365 meters 0.2809784094819538 Centerline is valid? [False, False] Translation: X:0.92, Y:0.23, Z:0.02 [[ 9.99995405e-01 -3.21174550e-06 -3.03158002e-03 9.22026201e-01] [-1.72291574e-05 9.99977268e-01 -6.74260638e-03 2.28052581e-01] [ 3.03153276e-03 6.74262763e-03 9.99972673e-01 2.13715588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563133365 meters 0.2836181940355542 Centerline is valid? [False, False] Translation: X:0.94, Y:0.23, Z:0.02 [[ 0.99997515 -0.00689273 -0.00147758 0.94329766] [ 0.00688635 0.99996712 -0.00428228 0.23231701] [ 0.00150705 0.004272 0.99998974 0.02124226] [ 0. 0. 0. 1. ]] SLAMing on 73.62313336499999 meters 0.28080987228633475 Centerline is valid? [False, False] Translation: X:0.94, Y:0.23, Z:0.02 [[ 0.99997417 -0.00695181 -0.00182772 0.94389545] [ 0.00694362 0.99996599 -0.00444991 0.23291837] [ 0.00185859 0.0044371 0.99998843 0.02171043] [ 0. 0. 0. 1. ]] SLAMing on 73.68313336499999 meters 0.28209151435708874 Centerline is valid? [False, False] Translation: X:0.94, Y:0.24, Z:0.02 [[ 0.99999079 -0.00415771 -0.00106927 0.94050014] [ 0.00415494 0.99998803 -0.00258219 0.2375403 ] [ 0.00108 0.00257772 0.99999609 0.02409051] [ 0. 0. 0. 1. ]] SLAMing on 73.74313336499999 meters 0.281006221495705 Centerline is valid? [False, False] Translation: X:0.94, Y:0.24, Z:0.02 [[ 0.99999132 -0.00401907 -0.0010947 0.94051564] [ 0.00401665 0.9999895 -0.00220535 0.23594206] [ 0.00110356 0.00220094 0.99999697 0.02422502] [ 0. 0. 0. 1. ]] SLAMing on 73.803133365 meters 0.28172661748921934 Centerline is valid? [False, False] Translation: X:0.94, Y:0.23, Z:0.02 [[ 0.99999159 -0.00388587 -0.00130895 0.94122725] [ 0.00388341 0.9999907 -0.0018748 0.23452704] [ 0.00131622 0.0018697 0.99999739 0.02385742] [ 0. 0. 0. 1. ]] SLAMing on 73.863133365 meters 0.28266839723336074 Centerline is valid? [False, False] Translation: X:0.94, Y:0.23, Z:0.02 [[ 9.99992831e-01 -3.40703828e-03 -1.65199934e-03 9.42384038e-01] [ 3.40609701e-03 9.99994035e-01 -5.72259306e-04 2.29119146e-01] [ 1.65393920e-03 5.66628333e-04 9.99998472e-01 2.34346278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.923133365 meters 0.2811110161429288 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:0.02 [[ 0.99998917 0.00448853 -0.0012302 0.92505247] [-0.00449079 0.99998823 -0.00183703 0.21849266] [ 0.00122194 0.00184254 0.99999756 0.02074673] [ 0. 0. 0. 1. ]] SLAMing on 73.983133365 meters 0.28050129962639714 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:0.02 [[ 9.99986755e-01 4.97564117e-03 -1.31648837e-03 9.24985036e-01] [-4.97649955e-03 9.99987406e-01 -6.49545202e-04 2.13533521e-01] [ 1.31323988e-03 6.56088102e-04 9.99998922e-01 2.13638090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04313336499999 meters 0.2810497810806384 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:0.02 [[ 0.99999472 0.00261977 -0.00192278 0.92868596] [-0.00262339 0.99999479 -0.0018811 0.20565928] [ 0.00191784 0.00188614 0.99999638 0.01856594] [ 0. 0. 0. 1. ]] SLAMing on 74.10313336499999 meters 0.28203308490710094 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99992542e-01 3.19440521e-03 -2.17079487e-03 9.29846440e-01] [-3.19592203e-03 9.99994651e-01 -6.95631314e-04 2.00551102e-01] [ 2.16856113e-03 7.02563817e-04 9.99997402e-01 1.77958718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.163133365 meters 0.28334086452808094 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99991304e-01 3.46296130e-03 -2.32373488e-03 9.30566840e-01] [-3.46301887e-03 9.99994004e-01 -2.07501578e-05 1.97823991e-01] [ 2.32364909e-03 2.87971151e-05 9.99997300e-01 1.71672088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.223133365 meters 0.2840023442406017 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99991868e-01 3.48544291e-03 -2.02861807e-03 9.30032884e-01] [-3.48535983e-03 9.99993925e-01 4.44881012e-05 1.97594331e-01] [ 2.02876081e-03 -3.74172755e-05 9.99997941e-01 1.68092665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.283133365 meters 0.28436980163389713 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99992399e-01 3.28650655e-03 -2.09795509e-03 9.30420871e-01] [-3.28775599e-03 9.99994420e-01 -5.92380717e-04 2.00109883e-01] [ 2.09599652e-03 5.99273778e-04 9.99997624e-01 1.61532753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.343133365 meters 0.28366036008159484 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 0.99999355 0.00303059 -0.00192714 0.92962557] [-0.00303291 0.99999468 -0.00120253 0.2027449 ] [ 0.00192348 0.00120837 0.99999742 0.01679217] [ 0. 0. 0. 1. ]] SLAMing on 74.40313336499999 meters 0.28485101746290337 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 0.99999422 0.0029195 -0.00174107 0.92885996] [-0.00292217 0.99999456 -0.00153108 0.20406281] [ 0.00173659 0.00153616 0.99999731 0.01758 ] [ 0. 0. 0. 1. ]] SLAMing on 74.46313336499999 meters 0.2832343690257034 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:0.02 [[ 0.99999497 0.00271185 -0.00164297 0.92831164] [-0.00271514 0.9999943 -0.00200581 0.20608845] [ 0.00163753 0.00201027 0.99999664 0.01813949] [ 0. 0. 0. 1. ]] SLAMing on 74.52313336499999 meters 0.2837424938363914 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:0.02 [[ 0.99999512 0.00246581 -0.00191951 0.92924358] [-0.00247095 0.99999336 -0.00267755 0.20900147] [ 0.0019129 0.00268228 0.99999457 0.0172336 ] [ 0. 0. 0. 1. ]] SLAMing on 74.583133365 meters 0.28258666632629853 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:0.02 [[ 0.99999503 0.00253892 -0.00186814 0.92865487] [-0.00254351 0.99999374 -0.00245961 0.20811576] [ 0.00186189 0.00246435 0.99999523 0.01841715] [ 0. 0. 0. 1. ]] SLAMing on 74.643133365 meters 0.281538799526826 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 0.9999959 0.00267878 -0.0010153 0.9263883 ] [-0.00268036 0.9999952 -0.00155517 0.20420441] [ 0.00101113 0.00155789 0.99999828 0.01972922] [ 0. 0. 0. 1. ]] SLAMing on 74.703133365 meters 0.2833314331924789 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99994685e-01 3.00781526e-03 -1.25828131e-03 9.27611598e-01] [-3.00864412e-03 9.99995258e-01 -6.57347926e-04 2.00374008e-01] [ 1.25629816e-03 6.61130152e-04 9.99998992e-01 1.84479497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76313336499999 meters 0.28263661248999866 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99994239e-01 3.19163813e-03 -1.15529428e-03 9.27282394e-01] [-3.19188926e-03 9.99994883e-01 -2.15601533e-04 1.98551536e-01] [ 1.15460024e-03 2.19287862e-04 9.99999309e-01 1.86485021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82313336499999 meters 0.28262358987603226 Centerline is valid? [False, False] Translation: X:0.93, Y:0.20, Z:0.02 [[ 9.99993087e-01 3.51109565e-03 -1.22433168e-03 9.27726747e-01] [-3.51040834e-03 9.99993680e-01 5.63071326e-04 1.95292493e-01] [ 1.22630094e-03 -5.58769529e-04 9.99999092e-01 1.82143593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88313336499999 meters 0.28173229708600744 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.02 [[ 0.99999185 0.00378023 -0.00141672 0.92853477] [-0.00377829 0.99999192 0.0013703 0.19197581] [ 0.00142189 -0.00136493 0.99999806 0.01738942] [ 0. 0. 0. 1. ]] SLAMing on 74.943133365 meters 0.2820876405524148 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.02 [[ 0.99999099 0.00402072 -0.00136418 0.92824013] [-0.004018 0.99998994 0.00199486 0.1893902 ] [ 0.00137219 -0.00198936 0.99999708 0.0177688 ] [ 0. 0. 0. 1. ]] SLAMing on 75.003133365 meters 0.2823416861655912 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.02 [[ 0.99999015 0.00418128 -0.0014869 0.92885845] [-0.00417769 0.99998837 0.00241112 0.18764388] [ 0.00149697 -0.00240489 0.99999599 0.01708338] [ 0. 0. 0. 1. ]] SLAMing on 75.063133365 meters 0.28256348014612775 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.02 [[ 9.99999074e-01 -1.30721627e-04 -1.35437447e-03 9.28456931e-01] [ 1.28238667e-04 9.99998311e-01 -1.83321339e-03 1.87659582e-01] [ 1.35461182e-03 1.83303801e-03 9.99997402e-01 1.71992677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12313336499999 meters 0.28145940474809733 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:0.02 [[ 9.99999162e-01 2.59146575e-05 -1.29471750e-03 9.28191277e-01] [-2.77679904e-05 9.99998975e-01 -1.43145984e-03 1.85969221e-01] [ 1.29467907e-03 1.43149459e-03 9.99998137e-01 1.75213096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18313336499999 meters 0.2835641828112194 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:0.02 [[ 0.99998067 -0.00612871 0.00104348 0.949345 ] [ 0.00612678 0.99997953 0.00184341 0.18567428] [-0.00105476 -0.00183698 0.99999776 0.01598345] [ 0. 0. 0. 1. ]] SLAMing on 75.24313336499999 meters 0.2845287701852449 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:0.02 [[ 0.99998018 -0.0061531 0.00133645 0.9484511 ] [ 0.00615076 0.99997955 0.00175351 0.18611351] [-0.00134721 -0.00174525 0.99999757 0.01646112] [ 0. 0. 0. 1. ]] SLAMing on 75.303133365 meters 0.2840034258217389 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:0.02 [[ 0.99997957 -0.00625695 0.00130781 0.9487452 ] [ 0.00625507 0.99997941 0.00143639 0.18741615] [-0.00131677 -0.00142818 0.99999811 0.01584947] [ 0. 0. 0. 1. ]] SLAMing on 75.363133365 meters 0.2828545863641046 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:0.02 [[ 0.9999788 -0.00638361 0.00128296 0.94904563] [ 0.00638223 0.99997905 0.00108034 0.18886832] [-0.00128983 -0.00107213 0.99999859 0.01520448] [ 0. 0. 0. 1. ]] SLAMing on 75.423133365 meters 0.2835334392044549 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:0.01 [[ 9.99995725e-01 2.67599246e-03 1.17871663e-03 9.28233872e-01] [-2.67677849e-03 9.99996196e-01 6.65781380e-04 1.84778889e-01] [-1.17693052e-03 -6.68933697e-04 9.99999084e-01 1.48530244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.483133365 meters 0.28447840987566225 Centerline is valid? [False, False] Translation: X:0.97, Y:0.19, Z:0.01 [[ 9.99993692e-01 1.84586022e-03 3.03456842e-03 9.72042359e-01] [-1.84686054e-03 9.99998241e-01 3.26870463e-04 1.87877703e-01] [-3.03395973e-03 -3.32472825e-04 9.99995342e-01 1.37829160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54313336499999 meters 0.28377800758942584 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:0.01 [[ 9.99991025e-01 1.48850798e-03 3.96663964e-03 9.32731773e-01] [-1.48968475e-03 9.99998847e-01 2.93728644e-04 1.83252226e-01] [-3.96619785e-03 -2.99635050e-04 9.99992090e-01 1.16616137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60313336499999 meters 0.28317814380934153 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:0.01 [[ 9.99991984e-01 1.62472047e-03 3.65966565e-03 9.33689366e-01] [-1.62750261e-03 9.99998389e-01 7.57367730e-04 1.81312210e-01] [-3.65842924e-03 -7.63317774e-04 9.99993017e-01 1.11766322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.663133365 meters 0.2818626643638326 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:0.01 [[ 0.99999161 0.00178924 0.00368421 0.93339327] [-0.00179382 0.99999762 0.00124162 0.179366 ] [-0.00368198 -0.00124822 0.99999244 0.01183067] [ 0. 0. 0. 1. ]] SLAMing on 75.723133365 meters 0.28229747358124496 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:0.01 [[ 0.99999123 0.00189499 0.00373555 0.93306966] [-0.00190072 0.99999702 0.00153163 0.17816098] [-0.00373264 -0.00153871 0.99999185 0.01234089] [ 0. 0. 0. 1. ]] SLAMing on 75.783133365 meters 0.2813419193750015 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:0.01 [[ 0.9999915 0.00220421 0.00348514 0.93374572] [-0.00221306 0.99999433 0.00253634 0.17416249] [-0.00347953 -0.00254403 0.99999071 0.01219841] [ 0. 0. 0. 1. ]] SLAMing on 75.843133365 meters 0.28256799756261736 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:0.01 [[ 0.99999078 0.00252286 0.00347495 0.93354676] [-0.00253528 0.9999904 0.00357379 0.16979108] [-0.0034659 -0.00358257 0.99998758 0.01262222] [ 0. 0. 0. 1. ]] SLAMing on 75.90313336499999 meters 0.2824510727273929 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:0.01 [[ 0.99998806 0.00301925 0.00384204 0.93248091] [-0.00303907 0.99998205 0.0051634 0.1630759 ] [-0.00382638 -0.00517501 0.99997929 0.01317789] [ 0. 0. 0. 1. ]] SLAMing on 75.96313336499999 meters 0.281090832282854 Centerline is valid? [False, False] Translation: X:0.91, Y:0.16, Z:0.01 [[ 0.99995578 0.00888107 0.00309118 0.91079217] [-0.00888806 0.99995795 0.00225632 0.15554913] [-0.00307102 -0.00228369 0.99999268 0.01319291] [ 0. 0. 0. 1. ]] SLAMing on 76.02313336499999 meters 0.28242872447977 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.01 [[ 9.99977069e-01 6.46166602e-03 2.02670137e-03 9.15212296e-01] [-6.46310767e-03 9.99978865e-01 7.05587281e-04 1.50154030e-01] [-2.02209927e-03 -7.18669891e-04 9.99997697e-01 1.04126708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.083133365 meters 0.2830772271130718 Centerline is valid? [False, False] Translation: X:0.91, Y:0.15, Z:0.01 [[ 0.99999499 0.00225938 0.00221787 0.91467737] [-0.00225219 0.99999222 -0.00323964 0.14869417] [-0.00222518 0.00323462 0.99999229 0.01056268] [ 0. 0. 0. 1. ]] SLAMing on 76.143133365 meters 0.2823554383051639 Centerline is valid? [False, False] Translation: X:0.94, Y:0.15, Z:0.01 [[ 0.9999753 -0.00635668 0.00299755 0.93570446] [ 0.00636245 0.99997792 -0.00191922 0.14801555] [-0.00298528 0.00193825 0.99999367 0.01052443] [ 0. 0. 0. 1. ]] SLAMing on 76.203133365 meters 0.2839569302084115 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.99999755 0.00169222 0.00142359 0.91863174] [-0.00168843 0.99999502 -0.00266519 0.13833467] [-0.00142809 0.00266278 0.99999544 0.00885278] [ 0. 0. 0. 1. ]] SLAMing on 76.26313336499999 meters 0.2820832413082971 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.99999733 0.0018404 0.00139685 0.91895723] [-0.0018372 0.99999569 -0.00228852 0.13675798] [-0.00140106 0.00228595 0.99999641 0.00829901] [ 0. 0. 0. 1. ]] SLAMing on 76.32313336499999 meters 0.28246763415423337 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.99999715 0.00190868 0.00143526 0.91877366] [-0.00190563 0.99999593 -0.00212108 0.1360621 ] [-0.0014393 0.00211834 0.99999672 0.00850301] [ 0. 0. 0. 1. ]] SLAMing on 76.38313336499999 meters 0.28302997955907266 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.9999972 0.00193694 0.00135896 0.91897007] [-0.00193415 0.99999603 -0.00204747 0.13575392] [-0.00136292 0.00204483 0.99999698 0.00849126] [ 0. 0. 0. 1. ]] SLAMing on 76.443133365 meters 0.2822489041481912 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.01 [[ 9.99993509e-01 -3.60312952e-03 1.24402341e-05 8.96309968e-01] [ 3.60311055e-03 9.99992682e-01 1.28590297e-03 1.37870051e-01] [-1.70734181e-05 -1.28584980e-03 9.99999173e-01 9.58681169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.503133365 meters 0.2844620611839343 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.99998945 0.00259454 0.00379135 0.91633546] [-0.00258848 0.99999537 -0.00160011 0.14282924] [-0.00379548 0.00159028 0.99999153 0.00876868] [ 0. 0. 0. 1. ]] SLAMing on 76.563133365 meters 0.28485552793484703 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.01 [[ 0.99998986 0.0023659 0.0038329 0.91597118] [-0.00235763 0.99999489 -0.00215954 0.14519719] [-0.00383799 0.00215048 0.99999032 0.0092887 ] [ 0. 0. 0. 1. ]] SLAMing on 76.62313336499999 meters 0.28306627796007966 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:0.01 [[ 0.99998964 0.00235186 0.00389684 0.91561785] [-0.00234331 0.99999484 -0.00219783 0.1453684 ] [-0.00390199 0.00218867 0.99998999 0.00973142] [ 0. 0. 0. 1. ]] SLAMing on 76.68313336499999 meters 0.28210962511381965 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:0.01 [[ 0.99998952 0.00246179 0.00385946 0.91567505] [-0.00245485 0.99999536 -0.00180184 0.14383153] [-0.00386388 0.00179234 0.99999093 0.00982239] [ 0. 0. 0. 1. ]] SLAMing on 76.74313336499999 meters 0.2813591368889189 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.01 [[ 9.99991195e-01 -4.19131791e-03 2.07984312e-04 8.95759942e-01] [ 4.19115174e-03 9.99990903e-01 7.93079617e-04 1.38055177e-01] [-2.11306469e-04 -7.92200940e-04 9.99999664e-01 1.07080362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.803133365 meters 0.2813286946752999 Centerline is valid? [False, False] Translation: X:0.90, Y:0.14, Z:0.01 [[ 9.99992346e-01 -3.90838472e-03 1.77695840e-04 8.95762057e-01] [ 3.90810928e-03 9.99991201e-01 1.52485876e-03 1.35031696e-01] [-1.83654011e-04 -1.52415264e-03 9.99998822e-01 1.08983903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.863133365 meters 0.28262141193078427 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.01 [[ 9.99992634e-01 -3.83500203e-03 1.59781245e-04 8.95828036e-01] [ 3.83472106e-03 9.99991163e-01 1.72317114e-03 1.34223733e-01] [-1.66388197e-04 -1.72254573e-03 9.99998503e-01 1.08676871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.923133365 meters 0.2833705922359055 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:0.01 [[ 9.99991087e-01 3.93967525e-03 -1.51805359e-03 8.78616055e-01] [-3.93936547e-03 9.99992219e-01 2.06998262e-04 1.27788231e-01] [ 1.51885728e-03 -2.01016249e-04 9.99998826e-01 8.07762417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.983133365 meters 0.28331515811653535 Centerline is valid? [False, False] Translation: X:0.90, Y:0.13, Z:0.01 [[ 9.99987061e-01 -4.97459871e-03 -1.06337036e-03 8.99945691e-01] [ 4.97561956e-03 9.99987161e-01 9.59535686e-04 1.28881167e-01] [ 1.05858340e-03 -9.64814198e-04 9.99998974e-01 7.97619919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04313336499999 meters 0.2827218527333954 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:0.01 [[ 0.9999887 -0.00460952 -0.0011586 0.90021674] [ 0.00461183 0.99998738 0.00199504 0.1247265 ] [ 0.00114939 -0.00200036 0.99999734 0.00796848] [ 0. 0. 0. 1. ]] SLAMing on 77.10313336499999 meters 0.28183710031411646 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:0.01 [[ 9.99997811e-01 7.57997346e-04 -1.95011959e-03 8.77842531e-01] [-7.60579324e-04 9.99998835e-01 -1.32360902e-03 1.19196571e-01] [ 1.94911402e-03 1.32508934e-03 9.99997223e-01 8.26018778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.163133365 meters 0.2858223766306625 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:0.01 [[ 9.99996370e-01 2.67899471e-03 -2.86922897e-04 9.20819408e-01] [-2.67889032e-03 9.99996346e-01 3.63598601e-04 1.20745269e-01] [ 2.87895927e-04 -3.62828646e-04 9.99999893e-01 7.50847910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.223133365 meters 0.2851311175076043 Centerline is valid? [False, False] Translation: X:0.90, Y:0.12, Z:0.01 [[ 0.99998943 -0.00384665 -0.00251816 0.89821827] [ 0.00385407 0.99998822 0.0029498 0.11768087] [ 0.00250679 -0.00295947 0.99999248 0.00907138] [ 0. 0. 0. 1. ]] SLAMing on 77.283133365 meters 0.28331292422548127 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:0.01 [[ 9.99997750e-01 1.65086006e-03 -1.33179029e-03 9.20201729e-01] [-1.65121406e-03 9.99998602e-01 -2.64750238e-04 1.13061400e-01] [ 1.33135136e-03 2.66948713e-04 9.99999078e-01 9.02276648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343133365 meters 0.2832418271515309 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:0.01 [[ 9.99997464e-01 1.82253856e-03 -1.32295716e-03 9.20172758e-01] [-1.82229187e-03 9.99998322e-01 1.87652664e-04 1.11221464e-01] [ 1.32329695e-03 -1.85241374e-04 9.99999107e-01 9.06884992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40313336499999 meters 0.2846790898228529 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:0.01 [[ 0.99999691 0.00219466 -0.00116427 0.91970652] [-0.00219325 0.99999686 0.00121593 0.10705279] [ 0.00116693 -0.00121337 0.99999858 0.00925779] [ 0. 0. 0. 1. ]] SLAMing on 77.46313336499999 meters 0.28671567095817385 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:0.01 [[ 0.9999964 0.0023648 -0.00126636 0.9200016 ] [-0.00236274 0.99999588 0.00162815 0.10535356] [ 0.00127021 -0.00162515 0.99999787 0.00921067] [ 0. 0. 0. 1. ]] SLAMing on 77.52313336499999 meters 0.28553417336818304 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:0.01 [[ 0.99999601 0.00256704 -0.00118028 0.9199391 ] [-0.00256455 0.99999449 0.00210696 0.10338899] [ 0.00118568 -0.00210393 0.99999708 0.00895877] [ 0. 0. 0. 1. ]] SLAMing on 77.583133365 meters 0.2847987907896193 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:0.01 [[ 0.99999566 0.00268694 -0.0012112 0.92008178] [-0.00268403 0.99999352 0.00239716 0.1021888 ] [ 0.00121763 -0.0023939 0.99999639 0.00885305] [ 0. 0. 0. 1. ]] SLAMing on 77.643133365 meters 0.2847649426908799 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:0.01 [[ 9.99994953e-01 3.02596002e-03 -9.68349705e-04 9.19262979e-01] [-3.02265357e-03 9.99989659e-01 3.39795594e-03 9.82001259e-02] [ 9.78621770e-04 -3.39501181e-03 9.99993758e-01 9.43511805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703133365 meters 0.28378598546411715 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:0.01 [[ 0.99999255 0.00332157 -0.00196865 0.92181026] [-0.00331218 0.99998321 0.00475431 0.09265226] [ 0.00198441 -0.00474775 0.99998676 0.00878874] [ 0. 0. 0. 1. ]] SLAMing on 77.76313336499999 meters 0.28454399320554846 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:0.01 [[ 9.99997785e-01 -6.99234579e-04 -1.98511280e-03 9.22188432e-01] [ 7.01659641e-04 9.99999008e-01 1.22119078e-03 8.92884174e-02] [ 1.98425693e-03 -1.22258095e-03 9.99997284e-01 8.10507994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82313336499999 meters 0.2839044567011986 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 9.99997937e-01 -2.76969290e-04 -2.01235607e-03 9.22154036e-01] [ 2.81834376e-04 9.99997038e-01 2.41772539e-03 8.45293676e-02] [ 2.01168048e-03 -2.41828756e-03 9.99995053e-01 8.33103302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88313336499999 meters 0.2855024142426428 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:0.01 [[ 9.99980421e-01 6.25049093e-03 -2.99510437e-04 9.43988440e-01] [-6.25045403e-03 9.99980458e-01 1.23970112e-04 7.92232146e-02] [ 3.00279458e-04 -1.22095608e-04 9.99999947e-01 7.41826405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.943133365 meters 0.2856286277507832 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 0.99999589 -0.00252852 -0.0013484 0.92477051] [ 0.00253037 0.99999587 0.00136579 0.08085422] [ 0.00134494 -0.0013692 0.99999816 0.0063917 ] [ 0. 0. 0. 1. ]] SLAMing on 78.003133365 meters 0.28343018932366676 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 0.99999633 -0.00244163 -0.00117411 0.92400496] [ 0.00244348 0.99999576 0.00158248 0.07999033] [ 0.00117024 -0.00158534 0.99999806 0.00722035] [ 0. 0. 0. 1. ]] SLAMing on 78.063133365 meters 0.2828202815830145 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 0.99999669 -0.0023457 -0.00105838 0.92352837] [ 0.00234763 0.99999557 0.00183018 0.07898185] [ 0.00105408 -0.00183266 0.99999777 0.0076907 ] [ 0. 0. 0. 1. ]] SLAMing on 78.12313336499999 meters 0.2837909655027247 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 9.99997274e-01 -2.14141005e-03 -9.30850139e-04 9.23076087e-01] [ 2.14361225e-03 9.99994891e-01 2.37126656e-03 7.67908383e-02] [ 9.25767529e-04 -2.37325547e-03 9.99996755e-01 8.08863214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18313336499999 meters 0.28435090151495923 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:0.01 [[ 0.9999974 -0.00203564 -0.00102937 0.92336769] [ 0.00203836 0.99999444 0.0026407 0.07567877] [ 0.00102399 -0.00264279 0.99999598 0.00800904] [ 0. 0. 0. 1. ]] SLAMing on 78.24313336499999 meters 0.2849955685657208 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.01 [[ 0.99999745 -0.00196269 -0.00111721 0.92389514] [ 0.00196584 0.99999407 0.00282589 0.07486119] [ 0.00111165 -0.00282808 0.99999538 0.00732974] [ 0. 0. 0. 1. ]] SLAMing on 78.303133365 meters 0.28393383342003176 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:0.01 [[ 0.99998298 0.0055817 -0.00170086 0.90513479] [-0.00557946 0.99998357 0.00131787 0.07071287] [ 0.00170819 -0.00130835 0.99999769 0.00515995] [ 0. 0. 0. 1. ]] SLAMing on 78.363133365 meters 0.2857227967547654 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:0.01 [[ 0.99999075 -0.00273207 -0.00332201 0.92692986] [ 0.00273833 0.99999448 0.00188135 0.07572711] [ 0.00331685 -0.00189043 0.99999271 0.00526674] [ 0. 0. 0. 1. ]] SLAMing on 78.423133365 meters 0.2835464752978555 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.01 [[ 0.99999465 0.00254924 -0.00204771 0.9034815 ] [-0.00255192 0.99999589 -0.00130554 0.06988238] [ 0.00204438 0.00131076 0.99999705 0.00527278] [ 0. 0. 0. 1. ]] SLAMing on 78.483133365 meters 0.2849122916163236 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:0.00 [[ 9.99976229e-01 -6.34261901e-03 -2.70421927e-03 9.26898358e-01] [ 6.34048161e-03 9.99979580e-01 -7.98235693e-04 6.93852288e-02] [ 2.70922696e-03 7.81070666e-04 9.99996025e-01 4.94107060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54313336499999 meters 0.28401362393963314 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.00 [[ 9.99978046e-01 -5.92772634e-03 -2.96129922e-03 9.27621412e-01] [ 5.92903824e-03 9.99982329e-01 4.34431272e-04 6.43551412e-02] [ 2.95867170e-03 -4.51979391e-04 9.99995521e-01 4.75605167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60313336499999 meters 0.2829468964422083 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.01 [[ 0.99998048 -0.00557487 -0.0028227 0.92691903] [ 0.00557863 0.99998356 0.00132639 0.06056416] [ 0.00281526 -0.00134211 0.99999514 0.00553457] [ 0. 0. 0. 1. ]] SLAMing on 78.663133365 meters 0.28264927380384786 Centerline is valid? [False, False] Translation: X:0.93, Y:0.06, Z:0.01 [[ 0.9999811 -0.00534072 -0.00304523 0.92763022] [ 0.00534638 0.99998399 0.00185191 0.05832468] [ 0.00303529 -0.00186816 0.99999365 0.00533096] [ 0. 0. 0. 1. ]] SLAMing on 78.723133365 meters 0.2839012329021376 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:0.01 [[ 9.99995300e-01 3.06608505e-03 -9.61983110e-06 9.45509429e-01] [-3.06607696e-03 9.99995018e-01 7.50723613e-04 5.67539628e-02] [ 1.19215656e-05 -7.50690589e-04 9.99999718e-01 6.81663478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.783133365 meters 0.2831151393647402 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.01 [[ 9.99995076e-01 3.09392883e-03 5.24950481e-04 9.44037073e-01] [-3.09435040e-03 9.99994889e-01 8.04157228e-04 5.66466721e-02] [-5.22459793e-04 -8.05777649e-04 9.99999539e-01 7.38463146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.843133365 meters 0.2840551771984558 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.01 [[ 9.99995019e-01 3.08693226e-03 6.57600621e-04 9.43807623e-01] [-3.08744600e-03 9.99994928e-01 7.81657360e-04 5.67321376e-02] [-6.55184363e-04 -7.83683773e-04 9.99999478e-01 7.16094172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90313336499999 meters 0.2829515350239355 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.01 [[ 9.99994738e-01 3.13926044e-03 8.18213739e-04 9.43290213e-01] [-3.14000875e-03 9.99994652e-01 9.14885712e-04 5.61953956e-02] [-8.15337298e-04 -9.17450096e-04 9.99999247e-01 7.46971295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96313336499999 meters 0.2822347622370558 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.01 [[ 9.99994718e-01 3.16316159e-03 7.46666240e-04 9.43515947e-01] [-3.16389243e-03 9.99994515e-01 9.79654690e-04 5.59142269e-02] [-7.43563339e-04 -9.82011888e-04 9.99999241e-01 7.34587543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02313336499999 meters 0.28248093899722426 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.01 [[ 9.99995453e-01 2.94837995e-03 6.33540738e-04 9.44137026e-01] [-2.94864651e-03 9.99995564e-01 4.20225299e-04 5.82006265e-02] [-6.32298944e-04 -4.22091476e-04 9.99999711e-01 6.50182452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.083133365 meters 0.28462476873659726 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.01 [[ 9.99997235e-01 -2.34920674e-03 1.03498659e-04 9.66948018e-01] [ 2.34888313e-03 9.99992672e-01 3.02315719e-03 6.77868375e-02] [-1.10599922e-04 -3.02290572e-03 9.99995425e-01 5.80343576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.143133365 meters 0.28261147743988096 Centerline is valid? [False, False] Translation: X:0.95, Y:0.07, Z:0.00 [[ 0.99998478 0.00509163 -0.00212547 0.94805209] [-0.00508882 0.99998617 0.00132474 0.06743637] [ 0.00213218 -0.0013139 0.99999686 0.00448731] [ 0. 0. 0. 1. ]] SLAMing on 79.203133365 meters 0.2836225355081388 Centerline is valid? [False, False] Translation: X:0.95, Y:0.07, Z:0.00 [[ 9.99988191e-01 3.29108731e-03 -3.57569861e-03 9.53786336e-01] [-3.29511107e-03 9.99993944e-01 -1.12000214e-03 7.32951720e-02] [ 3.57199093e-03 1.13177123e-03 9.99992980e-01 8.49763995e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26313336499999 meters 0.28219192245233665 Centerline is valid? [False, False] Translation: X:0.95, Y:0.07, Z:0.00 [[ 9.99988216e-01 3.21075604e-03 -3.64139281e-03 9.53962984e-01] [-3.21554475e-03 9.99993972e-01 -1.30998567e-03 7.40803420e-02] [ 3.63716482e-03 1.32167930e-03 9.99992512e-01 8.05780829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32313336499999 meters 0.2821970058394399 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:0.00 [[ 0.99998899 0.00307313 -0.00354757 0.9533336 ] [-0.00307892 0.99999394 -0.00162684 0.07553602] [ 0.00354255 0.00163775 0.99999238 0.00156478] [ 0. 0. 0. 1. ]] SLAMing on 79.38313336499999 meters 0.2820555034134048 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:0.00 [[ 0.99998918 0.00294863 -0.00359757 0.95360768] [-0.00295559 0.99999377 -0.00192888 0.07678476] [ 0.00359186 0.00193949 0.99999167 0.00122464] [ 0. 0. 0. 1. ]] SLAMing on 79.443133365 meters 0.2819287327048862 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:0.00 [[ 0.99998868 0.00278692 -0.00385717 0.95420296] [-0.00279594 0.99999336 -0.0023353 0.07846687] [ 0.00385063 0.00234606 0.99998983 0.00124776] [ 0. 0. 0. 1. ]] SLAMing on 79.503133365 meters 0.2813859151061954 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:0.00 [[ 0.99998884 0.00279146 -0.00381077 0.95389347] [-0.00280035 0.99999337 -0.00232885 0.07844575] [ 0.00380425 0.0023395 0.99999003 0.00169362] [ 0. 0. 0. 1. ]] SLAMing on 79.563133365 meters 0.27986690903768213 Centerline is valid? [False, False] Translation: X:0.95, Y:0.08, Z:0.00 [[ 0.99998931 0.00286086 -0.0036337 0.95332559] [-0.00286857 0.99999364 -0.00211894 0.0776316 ] [ 0.00362761 0.00212934 0.99999115 0.00207372] [ 0. 0. 0. 1. ]] SLAMing on 79.62313336499999 meters 0.28139075243014194 Centerline is valid? [False, False] Translation: X:0.98, Y:0.07, Z:0.00 [[ 9.99993810e-01 -3.36326765e-03 -1.03323535e-03 9.75469146e-01] [ 3.36404706e-03 9.99994058e-01 7.53530620e-04 7.34090749e-02] [ 1.03069488e-03 -7.57001808e-04 9.99999182e-01 8.90962422e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68313336499999 meters 0.279567122799033 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:0.00 [[ 9.99998952e-01 1.40439516e-03 3.51499676e-04 9.52181879e-01] [-1.40348429e-03 9.99995691e-01 -2.57835923e-03 6.48125447e-02] [-3.55119197e-04 2.57786321e-03 9.99996614e-01 1.35198447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74313336499999 meters 0.28143003102115893 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:0.00 [[ 0.99999127 -0.00376965 0.00180064 0.97411749] [ 0.00376735 0.99999209 0.00127712 0.06449672] [-0.00180544 -0.00127032 0.99999756 0.00101464] [ 0. 0. 0. 1. ]] SLAMing on 79.803133365 meters 0.28123649347409774 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 9.99988890e-01 4.63261592e-03 -8.71089416e-04 9.56835450e-01] [-4.63243467e-03 9.99989248e-01 2.09979020e-04 6.16083845e-02] [ 8.72052802e-04 -2.05941422e-04 9.99999599e-01 -7.05327772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.863133365 meters 0.28297100342189957 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999752 0.0017898 -0.00132348 0.95932366] [-0.00179234 0.99999656 -0.00191602 0.05719692] [ 0.00132004 0.00191838 0.99999729 -0.00260957] [ 0. 0. 0. 1. ]] SLAMing on 79.923133365 meters 0.2826692994997163 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999765 0.00184447 -0.00113763 0.95872114] [-0.00184649 0.99999671 -0.00177904 0.05666709] [ 0.00113434 0.00178114 0.99999777 -0.00227322] [ 0. 0. 0. 1. ]] SLAMing on 79.983133365 meters 0.28233497104602207 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999741 0.00189734 -0.00126094 0.95903774] [-0.00189942 0.99999684 -0.00164685 0.05608252] [ 0.00125781 0.00164924 0.99999785 -0.00228565] [ 0. 0. 0. 1. ]] SLAMing on 80.04313336499999 meters 0.28254220596850893 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999752 0.00167892 -0.00146249 0.96007361] [-0.00168223 0.99999602 -0.00226386 0.05891002] [ 0.00145869 0.00226631 0.99999637 -0.00363836] [ 0. 0. 0. 1. ]] SLAMing on 80.10313336499999 meters 0.28314025556890143 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999766 0.00138674 -0.00166007 0.96063724] [-0.00139184 0.99999429 -0.00308006 0.062356 ] [ 0.00165579 0.00308236 0.99999388 -0.00384478] [ 0. 0. 0. 1. ]] SLAMing on 80.163133365 meters 0.2830817979145135 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999776 0.00131759 -0.00165453 0.96030061] [-0.00132298 0.9999938 -0.00326299 0.06313606] [ 0.00165022 0.00326517 0.99999331 -0.00312539] [ 0. 0. 0. 1. ]] SLAMing on 80.223133365 meters 0.2826809123497063 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999775 0.00131688 -0.00166513 0.95998221] [-0.0013223 0.9999938 -0.00326343 0.06319632] [ 0.00166082 0.00326563 0.99999329 -0.00238904] [ 0. 0. 0. 1. ]] SLAMing on 80.283133365 meters 0.2822703239056724 Centerline is valid? [False, False] Translation: X:0.96, Y:0.06, Z:-0.00 [[ 0.99999765 0.00124611 -0.00177564 0.96034783] [-0.00125225 0.99999322 -0.00346222 0.06399596] [ 0.00177132 0.00346444 0.99999243 -0.00265755] [ 0. 0. 0. 1. ]] SLAMing on 80.343133365 meters 0.282470527503537 Centerline is valid? [False, False] Translation: X:0.98, Y:0.07, Z:-0.00 [[ 9.99977316e-01 -6.58500062e-03 -1.41590255e-03 9.80103464e-01] [ 6.58125675e-03 9.99974878e-01 -2.63275349e-03 7.02648174e-02] [ 1.43320366e-03 2.62337535e-03 9.99995532e-01 -9.02429492e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40313336499999 meters 0.28308959625367214 Centerline is valid? [False, False] Translation: X:0.98, Y:0.07, Z:-0.00 [[ 9.99976936e-01 -6.62443751e-03 -1.49797472e-03 9.80176572e-01] [ 6.62033365e-03 9.99974364e-01 -2.72816666e-03 7.06696917e-02] [ 1.51600889e-03 2.71818665e-03 9.99995157e-01 -6.35999230e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46313336499999 meters 0.2814237816350108 Centerline is valid? [False, False] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99997623e-01 2.15794771e-03 -3.12243059e-04 9.58408396e-01] [-2.15895631e-03 9.99992334e-01 -3.26670682e-03 6.71526248e-02] [ 3.05191283e-04 3.26737317e-03 9.99994616e-01 -6.18730572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52313336499999 meters 0.2811231593083339 Centerline is valid? [False, False] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99997773e-01 2.08732199e-03 -3.11096472e-04 9.58509900e-01] [-2.08838285e-03 9.99991869e-01 -3.44965740e-03 6.78973078e-02] [ 3.03893397e-04 3.45029940e-03 9.99994002e-01 -8.65712884e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583133365 meters 0.28249267691599855 Centerline is valid? [False, False] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99998019e-01 1.94993214e-03 -4.00603876e-04 9.58704319e-01] [-1.95147892e-03 9.99990500e-01 -3.89771299e-03 6.96383992e-02] [ 3.92999794e-04 3.89848704e-03 9.99992324e-01 -8.87495415e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643133365 meters 0.2831382481475007 Centerline is valid? [False, False] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99998337e-01 1.80184898e-03 -2.82185446e-04 9.58392310e-01] [-1.80308456e-03 9.99988512e-01 -4.44134838e-03 7.17673635e-02] [ 2.74179565e-04 4.44184980e-03 9.99990097e-01 -8.10551316e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703133365 meters 0.28409544506114126 Centerline is valid? [False, False] Translation: X:0.96, Y:0.07, Z:-0.00 [[ 9.99998552e-01 1.68892140e-03 -2.09003755e-04 9.58166151e-01] [-1.68989636e-03 9.99987262e-01 -4.75601133e-03 7.30667277e-02] [ 2.00968563e-04 4.75635764e-03 9.99988668e-01 -7.12549162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76313336499999 meters 0.2823563580803212 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.00 [[ 9.99974280e-01 -7.07202465e-03 -1.19441217e-03 9.37540655e-01] [ 7.06715192e-03 9.99966884e-01 -4.03571077e-03 7.63970079e-02] [ 1.22291327e-03 4.02716587e-03 9.99991143e-01 -8.73554589e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82313336499999 meters 0.28313045894496586 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.00 [[ 9.99994956e-01 -2.81125653e-03 -1.47784501e-03 9.37880858e-01] [ 2.81144560e-03 9.99996040e-01 1.25875228e-04 7.63780220e-02] [ 1.47748529e-03 -1.30029474e-04 9.99998900e-01 -4.03911041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88313336499999 meters 0.28355827007875967 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.00 [[ 9.99994647e-01 -2.94256808e-03 -1.43085413e-03 9.37587066e-01] [ 2.94232753e-03 9.99995657e-01 -1.70193658e-04 7.76597768e-02] [ 1.43134873e-03 1.65982706e-04 9.99998962e-01 -1.12053385e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943133365 meters 0.28407056088177757 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.00 [[ 9.99993767e-01 -3.12133166e-03 -1.65024605e-03 9.38161240e-01] [ 3.12027467e-03 9.99994925e-01 -6.42695912e-04 7.96013528e-02] [ 1.65224374e-03 6.37542686e-04 9.99998432e-01 -2.98277729e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003133365 meters 0.2851990441819334 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.00 [[ 0.99999209 -0.0034435 -0.00199028 0.93936803] [ 0.00343993 0.99999247 -0.00179589 0.08438432] [ 0.00199645 0.00178903 0.99999641 -0.00137219] [ 0. 0. 0. 1. ]] SLAMing on 81.063133365 meters 0.28497768196724116 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.00 [[ 9.99998035e-01 5.51801369e-04 -1.90410463e-03 9.38967752e-01] [-5.48665367e-04 9.99998493e-01 1.64709920e-03 8.81287795e-02] [ 1.90501063e-03 -1.64605125e-03 9.99996831e-01 -1.01358572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12313336499999 meters 0.28501396296249965 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.00 [[ 9.99998058e-01 3.77980487e-04 -1.93415237e-03 9.39146660e-01] [-3.75605525e-04 9.99999175e-01 1.22812424e-03 8.98837619e-02] [ 1.93461498e-03 -1.22739537e-03 9.99997375e-01 -1.29518826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18313336499999 meters 0.28242553756637223 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.01 [[ 9.99999590e-01 -2.06476066e-04 -8.81762083e-04 9.01519868e-01] [ 2.07457804e-04 9.99999359e-01 1.11343513e-03 8.81941750e-02] [ 8.81531620e-04 -1.11361760e-03 9.99998991e-01 -5.10579036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24313336499999 meters 0.2828150186573128 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.00 [[ 9.99999718e-01 -2.08796998e-04 -7.20890788e-04 9.00852143e-01] [ 2.09589899e-04 9.99999373e-01 1.09999055e-03 8.82651840e-02] [ 7.20660661e-04 -1.10014133e-03 9.99999135e-01 -4.33506550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.303133365 meters 0.28124668079649773 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.00 [[ 9.99999763e-01 -1.61575251e-04 -6.69214518e-04 9.00464270e-01] [ 1.62399211e-04 9.99999229e-01 1.23136363e-03 8.77447984e-02] [ 6.69015044e-04 -1.23147202e-03 9.99999018e-01 -3.70742455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.363133365 meters 0.28228574713104726 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.00 [[ 9.99999680e-01 -3.12398435e-05 -7.98810072e-04 9.00999378e-01] [ 3.24939938e-05 9.99998767e-01 1.57005829e-03 8.62649777e-02] [ 7.98760039e-04 -1.57008374e-03 9.99998448e-01 -4.15665174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.423133365 meters 0.2829908578124897 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.00 [[ 9.99999688e-01 1.78872827e-04 -7.69245343e-04 9.00648373e-01] [-1.77240184e-04 9.99997733e-01 2.12194087e-03 8.39717723e-02] [ 7.69623156e-04 -2.12180387e-03 9.99997453e-01 -3.48748484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.483133365 meters 0.2823745492210979 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.00 [[ 9.99999494e-01 2.99593466e-04 -9.60227015e-04 9.01107677e-01] [-2.97246458e-04 9.99996971e-01 2.44343384e-03 8.26416836e-02] [ 9.60956143e-04 -2.44314718e-03 9.99996554e-01 -3.45051063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54313336499999 meters 0.28107912351424696 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.00 [[ 9.99999287e-01 5.84858054e-04 -1.04114285e-03 9.01186863e-01] [-5.81494016e-04 9.99994619e-01 3.22847635e-03 7.94485119e-02] [ 1.04302544e-03 -3.22786863e-03 9.99994246e-01 -3.16597462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60313336499999 meters 0.2801475602268629 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.00 [[ 9.99999244e-01 7.67047021e-04 -9.61414383e-04 9.00900987e-01] [-7.63484452e-04 9.99992862e-01 3.70045478e-03 7.74981963e-02] [ 9.64245943e-04 -3.69971795e-03 9.99992691e-01 -2.92912537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.663133365 meters 0.28143396539711396 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.00 [[ 9.99972195e-01 7.39247113e-03 9.80608344e-04 9.22822329e-01] [-7.39352546e-03 9.99972089e-01 1.07595260e-03 7.64202577e-02] [-9.72627026e-04 -1.08317283e-03 9.99998940e-01 -4.22185423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.723133365 meters 0.28134096428147526 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.00 [[ 0.99997169 0.00743321 0.00116716 0.92219521] [-0.0074346 0.99997165 0.00119708 0.07598989] [-0.00115823 -0.00120572 0.9999986 -0.0037596 ] [ 0. 0. 0. 1. ]] SLAMing on 81.783133365 meters 0.2816466711110026 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.00 [[ 0.99999432 0.00314561 0.00121063 0.92223792] [-0.00314199 0.99999061 -0.00298335 0.07565933] [-0.00122 0.00297953 0.99999482 -0.00421717] [ 0. 0. 0. 1. ]] SLAMing on 81.843133365 meters 0.2827089371776579 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 0.99999387 0.00328206 0.00121603 0.92216352] [-0.00327885 0.99999116 -0.00263365 0.07420799] [-0.00122466 0.00262965 0.99999579 -0.00406724] [ 0. 0. 0. 1. ]] SLAMing on 81.90313336499999 meters 0.28187266206790157 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 0.99999302 0.00359428 0.00102203 0.92259255] [-0.00359264 0.99999226 -0.00160576 0.07015704] [-0.00102779 0.00160207 0.99999819 -0.00394356] [ 0. 0. 0. 1. ]] SLAMing on 81.96313336499999 meters 0.2811752972376258 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.00 [[ 9.99991982e-01 3.96131694e-03 5.87113962e-04 9.23410565e-01] [-3.96118967e-03 9.99992131e-01 -2.17785082e-04 6.48483930e-02] [-5.87972058e-04 2.15457666e-04 9.99999804e-01 -3.53571710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02313336499999 meters 0.28217600336285664 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.00 [[ 9.99989020e-01 -4.56504802e-03 1.05800249e-03 9.45276829e-01] [ 4.56419069e-03 9.99989255e-01 8.11328863e-04 6.31282893e-02] [-1.06169487e-03 -8.06491029e-04 9.99999111e-01 -3.39441463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.083133365 meters 0.28156013058696777 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.00 [[ 9.99998831e-01 1.28444607e-03 -8.29558806e-04 9.23559184e-01] [-1.28562104e-03 9.99998169e-01 -1.41740249e-03 5.50417124e-02] [ 8.27736710e-04 1.41846733e-03 9.99998651e-01 -1.70923384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.143133365 meters 0.2811138824216872 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.00 [[ 9.99998732e-01 1.43047854e-03 -7.00201276e-04 9.23107058e-01] [-1.43118429e-03 9.99998467e-01 -1.00846086e-03 5.34121902e-02] [ 6.98757621e-04 1.00946170e-03 9.99999246e-01 -1.30806864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.203133365 meters 0.28312058047018734 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.00 [[ 9.99998965e-01 1.41423498e-03 -2.64769084e-04 9.21913114e-01] [-1.41451732e-03 9.99998428e-01 -1.06922160e-03 5.36058143e-02] [ 2.63256537e-04 1.06959502e-03 9.99999393e-01 -8.07633014e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26313336499999 meters 0.2852319022399989 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.00 [[ 9.99999107e-01 1.28599030e-03 -3.63549051e-04 9.22239861e-01] [-1.28651899e-03 9.99998110e-01 -1.45775276e-03 5.51556493e-02] [ 3.61673708e-04 1.45821917e-03 9.99998871e-01 -1.07145187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32313336499999 meters 0.28390872101949466 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.00 [[ 9.99999349e-01 1.12909565e-03 -1.66420506e-04 9.21665493e-01] [-1.12940838e-03 9.99997574e-01 -1.89119543e-03 5.69620577e-02] [ 1.64284762e-04 1.89138216e-03 9.99998198e-01 -9.07535789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38313336499999 meters 0.28231490467507014 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:0.00 [[ 9.99986082e-01 -4.69896694e-03 -2.39897930e-03 8.98846038e-01] [ 4.70071691e-03 9.99988689e-01 7.24345214e-04 6.10198184e-02] [ 2.39554849e-03 -7.35612055e-04 9.99996860e-01 7.34674889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443133365 meters 0.2848272287766926 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 9.99995738e-01 -2.88707435e-03 -4.35397106e-04 9.42086428e-01] [ 2.88765454e-03 9.99994936e-01 1.33785774e-03 6.96837748e-02] [ 4.31532407e-04 -1.33910931e-03 9.99999010e-01 1.62113979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503133365 meters 0.2831775435009569 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99997954 0.00609006 0.00195766 0.91778039] [-0.00609243 0.99998071 0.00120698 0.06647167] [-0.00195027 -0.00121888 0.99999736 0.00115033] [ 0. 0. 0. 1. ]] SLAMing on 82.563133365 meters 0.2800833261944448 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:0.00 [[ 9.99995758e-01 -2.71458813e-03 1.05568823e-03 8.96416231e-01] [ 2.71253299e-03 9.99994433e-01 1.94331285e-03 6.86602899e-02] [-1.06095764e-03 -1.94044101e-03 9.99997555e-01 7.69558015e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62313336499999 meters 0.28128544889985385 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.00 [[ 9.99995561e-01 -2.83193389e-03 9.26253136e-04 8.97099667e-01] [ 2.83042270e-03 9.99994668e-01 1.62877258e-03 6.99685780e-02] [-9.30860773e-04 -1.62614366e-03 9.99998245e-01 -1.90835013e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68313336499999 meters 0.2838093207156013 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 9.99986033e-01 4.20092917e-03 3.20721845e-03 9.17862497e-01] [-4.19784248e-03 9.99990720e-01 -9.68544541e-04 7.14041129e-02] [-3.21125748e-03 9.55067615e-04 9.99994388e-01 -9.94508708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74313336499999 meters 0.28200187024246204 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 9.99986262e-01 4.15521232e-03 3.19535565e-03 9.17835312e-01] [-4.15177838e-03 9.99990798e-01 -1.08054995e-03 7.18832704e-02] [-3.19981616e-03 1.06726869e-03 9.99994311e-01 -8.77446223e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.803133365 meters 0.2833189231599717 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 0.99998649 0.00411638 0.00317294 0.9181937 ] [-0.00411266 0.99999085 -0.00117982 0.07226327] [-0.00317777 0.00116676 0.99999427 -0.00157359] [ 0. 0. 0. 1. ]] SLAMing on 82.863133365 meters 0.2820964999376997 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 0.99998599 0.00416224 0.00327028 0.91776636] [-0.00415878 0.99999079 -0.00106436 0.07180113] [-0.00327468 0.00105075 0.99999409 -0.00113312] [ 0. 0. 0. 1. ]] SLAMing on 82.923133365 meters 0.2813089711745963 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 9.99986508e-01 4.22757299e-03 3.01851564e-03 9.18290185e-01] [-4.22497676e-03 9.99990700e-01 -8.65961043e-04 7.10000420e-02] [-3.02214849e-03 8.53196201e-04 9.99995069e-01 -9.36750039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.983133365 meters 0.2817666519651775 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 9.99987174e-01 4.22386680e-03 2.79491021e-03 9.18929248e-01] [-4.22146246e-03 9.99990715e-01 -8.65597309e-04 7.09794854e-02] [-2.79854042e-03 8.53787598e-04 9.99995720e-01 -1.17327391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04313336499999 meters 0.2811132066135834 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.00 [[ 9.99987113e-01 4.23391112e-03 2.80155102e-03 9.18774581e-01] [-4.23157692e-03 9.99990695e-01 -8.38584442e-04 7.08859382e-02] [-2.80507544e-03 8.26718656e-04 9.99995724e-01 -8.60026612e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10313336499999 meters 0.2807267394255548 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 9.99986396e-01 4.30167232e-03 2.95015168e-03 9.17975286e-01] [-4.29976689e-03 9.99990543e-01 -6.51914114e-04 7.01828275e-02] [-2.95292810e-03 6.39220281e-04 9.99995436e-01 3.30529095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.163133365 meters 0.28237428124240843 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 9.99980674e-01 -3.59790465e-03 5.07023155e-03 9.37324307e-01] [ 3.59621301e-03 9.99993475e-01 3.42719380e-04 7.27601753e-02] [-5.07143154e-03 -3.24479124e-04 9.99987088e-01 1.04248129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223133365 meters 0.2801361261506043 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99999425 0.00248462 0.00230818 0.91543978] [-0.00247959 0.99999455 -0.0021784 0.07300756] [-0.00231358 0.00217266 0.99999496 0.00283271] [ 0. 0. 0. 1. ]] SLAMing on 83.283133365 meters 0.28168852533374833 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99999436 0.00248788 0.00225676 0.91551742] [-0.00248298 0.99999456 -0.00217149 0.07296893] [-0.00226215 0.00216587 0.9999951 0.00292669] [ 0. 0. 0. 1. ]] SLAMing on 83.343133365 meters 0.2818255932825422 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99999459 0.00249822 0.00214175 0.9159884 ] [-0.00249365 0.99999461 -0.00213571 0.07279674] [-0.00214708 0.00213035 0.99999543 0.00245582] [ 0. 0. 0. 1. ]] SLAMing on 83.40313336499999 meters 0.2823130502412685 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.9999948 0.00256158 0.00195918 0.9165451 ] [-0.00255773 0.9999948 -0.00196258 0.07202134] [-0.0019642 0.00195756 0.99999615 0.00217432] [ 0. 0. 0. 1. ]] SLAMing on 83.46313336499999 meters 0.28255653350646215 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 9.99982592e-01 -5.56932255e-03 1.94871006e-03 9.37629264e-01] [ 5.57112008e-03 9.99984060e-01 -9.18213209e-04 7.40196101e-02] [-1.94356517e-03 9.29053723e-04 9.99997680e-01 3.74624279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52313336499999 meters 0.2812680722127164 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 9.99985961e-01 3.02139270e-03 4.35315526e-03 9.15571697e-01] [-3.01738332e-03 9.99995018e-01 -9.27302668e-04 6.70756317e-02] [-4.35593532e-03 9.14154511e-04 9.99990095e-01 3.77973009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583133365 meters 0.2831461041686757 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 9.99976646e-01 -5.28008950e-03 4.33913508e-03 9.37144585e-01] [ 5.28111523e-03 9.99986030e-01 -2.24965136e-04 6.98654148e-02] [-4.33788662e-03 2.47875355e-04 9.99990561e-01 4.33982851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643133365 meters 0.28137499826933565 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 9.99978277e-01 -5.14408814e-03 4.12108556e-03 9.37571992e-01] [ 5.14348335e-03 9.99986760e-01 1.57341422e-04 6.82820017e-02] [-4.12184038e-03 -1.36141269e-04 9.99991496e-01 4.60372815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703133365 meters 0.282198117739951 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.01 [[ 9.99978690e-01 -5.02432951e-03 4.16851541e-03 9.37265821e-01] [ 5.02246199e-03 9.99987282e-01 4.58355217e-04 6.70097096e-02] [-4.17076532e-03 -4.37409240e-04 9.99991207e-01 5.03724301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76313336499999 meters 0.2811706577914301 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.01 [[ 9.99978588e-01 -4.89061022e-03 4.34815373e-03 9.36666209e-01] [ 4.88717202e-03 9.99987737e-01 8.01000310e-04 6.55866768e-02] [-4.35201779e-03 -7.79732983e-04 9.99990226e-01 5.49314597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82313336499999 meters 0.28031881806719383 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:0.00 [[ 9.99980124e-01 3.19074648e-03 5.43784208e-03 9.14594178e-01] [-3.19015917e-03 9.99994905e-01 -1.16674091e-04 6.19842155e-02] [-5.43818665e-03 9.93241898e-05 9.99985208e-01 4.17068402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88313336499999 meters 0.2830617654375811 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:0.00 [[ 0.99998801 -0.00392632 0.00292791 0.93741504] [ 0.00392263 0.99999151 0.00126395 0.06864563] [-0.00293284 -0.00125245 0.99999491 0.00424846] [ 0. 0. 0. 1. ]] SLAMing on 83.943133365 meters 0.28232620901627825 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 9.99988041e-01 4.79412551e-03 9.66788233e-04 9.17637244e-01] [-4.79450969e-03 9.99988428e-01 3.95445707e-04 7.01092405e-02] [-9.64881229e-04 -4.00076253e-04 9.99999454e-01 3.33444153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003133365 meters 0.28128555197777383 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 9.99988580e-01 4.68602598e-03 9.38113835e-04 9.17723910e-01] [-4.68614741e-03 9.99989012e-01 1.27283925e-04 7.12337365e-02] [-9.37507071e-04 -1.31678612e-04 9.99999552e-01 3.28473849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063133365 meters 0.2805558920967957 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 9.99988521e-01 4.71956769e-03 8.26648210e-04 9.18007852e-01] [-4.71975960e-03 9.99988835e-01 2.30358109e-04 7.07985042e-02] [-8.25551790e-04 -2.34257046e-04 9.99999632e-01 3.24825667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12313336499999 meters 0.2796099260068021 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:0.00 [[ 0.99998707 0.00496025 0.00111712 0.91698987] [-0.00496155 0.99998701 0.0011667 0.06728465] [-0.00111132 -0.00117223 0.9999987 0.00419188] [ 0. 0. 0. 1. ]] SLAMing on 84.18313336499999 meters 0.28040668531905366 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.00 [[ 0.99999132 -0.00401111 0.00112971 0.93982173] [ 0.00400908 0.99999035 0.00179577 0.06472354] [-0.0011369 -0.00179123 0.99999775 0.00412478] [ 0. 0. 0. 1. ]] SLAMing on 84.24313336499999 meters 0.2830493926892662 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:0.00 [[ 9.99992815e-01 -3.70055998e-03 8.22456764e-04 9.40765143e-01] [ 3.69835050e-03 9.99989591e-01 2.67191605e-03 6.10419034e-02] [-8.32335789e-04 -2.66885512e-03 9.99996092e-01 3.76305575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.303133365 meters 0.2812468842457488 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.00 [[ 0.99998689 0.00478922 0.00181326 0.91856779] [-0.00479412 0.99998483 0.00271076 0.05488054] [-0.00180025 -0.00271941 0.99999468 0.0035075 ] [ 0. 0. 0. 1. ]] SLAMing on 84.363133365 meters 0.2813989966963424 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.00 [[ 9.99997700e-01 5.66069644e-04 2.06867795e-03 9.17859181e-01] [-5.63369423e-04 9.99998989e-01 -1.30563786e-03 5.39711096e-02] [-2.06941495e-03 1.30446943e-03 9.99997008e-01 3.70027967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423133365 meters 0.2811152804363053 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.00 [[ 9.99997723e-01 6.32854954e-04 2.03782497e-03 9.17988221e-01] [-6.30535427e-04 9.99999153e-01 -1.13867834e-03 5.32716716e-02] [-2.03854386e-03 1.13739083e-03 9.99997275e-01 3.59351395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48313336499999 meters 0.2803930173022846 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.00 [[ 9.99997684e-01 7.72153205e-04 2.00909851e-03 9.17802702e-01] [-7.70659586e-04 9.99999426e-01 -7.44095365e-04 5.16804360e-02] [-2.00967191e-03 7.42545310e-04 9.99997705e-01 4.22088974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54313336499999 meters 0.2795276198434082 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:0.00 [[ 9.99997398e-01 1.01491172e-03 2.04292753e-03 9.17489169e-01] [-1.01493953e-03 9.99999485e-01 1.25726552e-05 4.87042090e-02] [-2.04291372e-03 -1.46460704e-05 9.99997913e-01 4.81469995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60313336499999 meters 0.28287048089247346 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998813e-01 1.37284906e-03 6.99131635e-04 9.55484103e-01] [-1.37303032e-03 9.99999024e-01 2.58847748e-04 4.49029701e-02] [-6.98775594e-04 -2.59807370e-04 9.99999722e-01 8.48699741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.663133365 meters 0.28039355742518446 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998788e-01 1.44758077e-03 5.73695748e-04 9.55764742e-01] [-1.44783525e-03 9.99998854e-01 4.43408119e-04 4.41460365e-02] [-5.73053221e-04 -4.44238198e-04 9.99999737e-01 8.55238625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723133365 meters 0.2819871418371826 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998556e-01 1.65303257e-03 3.93755003e-04 9.56539488e-01] [-1.65341421e-03 9.99998162e-01 9.70889194e-04 4.20007481e-02] [-3.92149367e-04 -9.71538832e-04 9.99999451e-01 7.82856817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.783133365 meters 0.2809592979878127 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998345e-01 1.80150375e-03 2.54379170e-04 9.56934196e-01] [-1.80184296e-03 9.99997479e-01 1.33959973e-03 4.04646036e-02] [-2.51965235e-04 -1.34005586e-03 9.99999070e-01 7.74266115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.843133365 meters 0.28249800549577336 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998139e-01 1.89628793e-03 3.54550641e-04 9.56564954e-01] [-1.89684483e-03 9.99996957e-01 1.57705374e-03 3.95190861e-02] [-3.51559014e-04 -1.57772334e-03 9.99998694e-01 8.05450047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90313336499999 meters 0.2826901570741635 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998256e-01 1.80513432e-03 4.79489843e-04 9.56427236e-01] [-1.80576975e-03 9.99997488e-01 1.32811955e-03 4.05286667e-02] [-4.77091204e-04 -1.32898309e-03 9.99999003e-01 7.65441492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96313336499999 meters 0.28472361864598267 Centerline is valid? [False, False] Translation: X:0.96, Y:0.04, Z:0.01 [[ 9.99998695e-01 1.59353734e-03 2.64953319e-04 9.57289860e-01] [-1.59372419e-03 9.99998480e-01 7.06494597e-04 4.30361886e-02] [-2.63827091e-04 -7.06915937e-04 9.99999715e-01 6.75774706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02313336499999 meters 0.28506147493898676 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:0.01 [[ 9.99999160e-01 1.29455495e-03 6.23216697e-05 9.57892234e-01] [-1.29454552e-03 9.99999151e-01 -1.51129062e-04 4.65550076e-02] [-6.25172616e-05 1.51048256e-04 9.99999987e-01 6.40094004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.083133365 meters 0.28301463019705875 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:0.01 [[ 9.99999569e-01 9.19052079e-04 1.28098961e-04 9.57162367e-01] [-9.18925868e-04 9.99999096e-01 -9.81864145e-04 5.02892829e-02] [-1.29001230e-04 9.81746009e-04 9.99999510e-01 7.31234799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.143133365 meters 0.28272078022041597 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:0.01 [[ 0.9999814 -0.00488435 0.00365171 0.97630797] [ 0.00487806 0.99998661 0.00172978 0.05240615] [-0.00366011 -0.00171193 0.99999184 0.00756344] [ 0. 0. 0. 1. ]] SLAMing on 85.203133365 meters 0.28192182561195916 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:0.01 [[ 0.99998062 -0.00488814 0.00385559 0.9755048 ] [ 0.0048815 0.99998659 0.00172744 0.0524999 ] [-0.00386398 -0.00170858 0.99999108 0.00827605] [ 0. 0. 0. 1. ]] SLAMing on 85.26313336499999 meters 0.2790494156146786 Centerline is valid? [False, False] Translation: X:0.95, Y:0.05, Z:0.01 [[ 9.99995592e-01 1.50001811e-04 2.96552188e-03 9.52671829e-01] [-1.45052939e-04 9.99998597e-01 -1.66894770e-03 4.92625314e-02] [-2.96576806e-03 1.66851019e-03 9.99994210e-01 9.22629403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32313336499999 meters 0.28058400240099596 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998473e-01 -5.21581315e-05 1.74667219e-03 9.90277301e-01] [ 5.58967719e-05 9.99997708e-01 -2.14045582e-03 4.62275634e-02] [-1.74655654e-03 2.14055019e-03 9.99996184e-01 1.33785028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38313336499999 meters 0.28135405320587453 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99998512e-01 7.32805954e-05 1.72361584e-03 9.90551643e-01] [-7.01564479e-05 9.99998355e-01 -1.81254506e-03 4.48448025e-02] [-1.72374583e-03 1.81242144e-03 9.99996872e-01 1.29054606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.443133365 meters 0.282117914026102 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998405e-01 3.43901147e-05 1.78587370e-03 9.90621827e-01] [-3.09630736e-05 9.99998158e-01 -1.91896389e-03 4.52531722e-02] [-1.78593640e-03 1.91890553e-03 9.99996564e-01 1.23997543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.503133365 meters 0.2816024102033576 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998319e-01 -5.16844521e-05 1.83301837e-03 9.90462098e-01] [ 5.56490110e-05 9.99997659e-01 -2.16287316e-03 4.62572329e-02] [-1.83290229e-03 2.16297153e-03 9.99995981e-01 1.24871612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563133365 meters 0.2831717324081522 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998511e-01 -1.40068851e-04 1.71999637e-03 9.90941654e-01] [ 1.44164627e-04 9.99997154e-01 -2.38137705e-03 4.71485861e-02] [-1.71965792e-03 2.38162146e-03 9.99995685e-01 1.20228292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62313336499999 meters 0.2810246246719149 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:0.01 [[ 9.99974100e-01 -7.06055440e-03 -1.39601068e-03 9.70874751e-01] [ 7.06053998e-03 9.99975074e-01 -1.52544349e-05 4.76172154e-02] [ 1.39608359e-03 5.39745063e-06 9.99999025e-01 1.28226485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68313336499999 meters 0.28165999882576165 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:0.01 [[ 9.99974023e-01 -7.06761833e-03 -1.41521109e-03 9.70537008e-01] [ 7.06757641e-03 9.99975024e-01 -3.46155031e-05 4.77470538e-02] [ 1.41542039e-03 2.46124914e-05 9.99998998e-01 1.36746951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74313336499999 meters 0.28140381248893376 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:0.01 [[ 9.99973631e-01 -7.09962885e-03 -1.52713401e-03 9.70740940e-01] [ 7.09945787e-03 9.99974792e-01 -1.17351481e-04 4.80849179e-02] [ 1.52792866e-03 1.06506563e-04 9.99998827e-01 1.38118331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.803133365 meters 0.28282050121435864 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996860e-01 2.49174882e-03 -2.67441645e-04 9.92113261e-01] [-2.49196855e-03 9.99996555e-01 -8.24463185e-04 5.20917966e-02] [ 2.65386368e-04 8.25127052e-04 9.99999624e-01 1.36879687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.863133365 meters 0.28188522431599267 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99997359e-01 2.29645821e-03 -8.59678239e-05 9.91306513e-01] [-2.29657146e-03 9.99996463e-01 -1.34131687e-03 5.43794856e-02] [ 8.28872417e-05 1.34151076e-03 9.99999097e-01 1.44795185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.923133365 meters 0.2799309877804011 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:0.01 [[ 9.99980346e-01 -6.15009158e-03 -1.21796040e-03 9.71682032e-01] [ 6.14967706e-03 9.99981031e-01 -3.43792589e-04 5.82939516e-02] [ 1.22005166e-03 3.36295769e-04 9.99999199e-01 1.33415189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98313336499999 meters 0.28164672749694486 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.01 [[ 9.99996001e-01 2.74241742e-03 6.90229360e-04 9.90266638e-01] [-2.74163693e-03 9.99995604e-01 -1.12917544e-03 5.60327318e-02] [-6.93322997e-04 1.12727856e-03 9.99999124e-01 1.42779444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04313336499999 meters 0.27974363141896036 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99995648e-01 2.86824446e-03 6.91372421e-04 9.90311446e-01] [-2.86771477e-03 9.99995595e-01 -7.65929758e-04 5.45512463e-02] [-6.93566249e-04 7.63943766e-04 9.99999468e-01 1.41720162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10313336499999 meters 0.2804521729809344 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99995424e-01 2.97571609e-03 5.44602433e-04 9.90950104e-01] [-2.97545286e-03 9.99995456e-01 -4.83520328e-04 5.33344716e-02] [-5.46038777e-04 4.81897677e-04 9.99999735e-01 1.35254495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.163133365 meters 0.2801862317220855 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99994759e-01 3.20712170e-03 4.44059270e-04 9.91220207e-01] [-3.20716204e-03 9.99994853e-01 9.01763993e-05 5.09432490e-02] [-4.43767777e-04 -9.16000966e-05 9.99999897e-01 1.35253135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.223133365 meters 0.28056348110079193 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99993633e-01 3.56212398e-03 2.11597853e-04 9.91800036e-01] [-3.56234362e-03 9.99993107e-01 1.04684327e-03 4.69818251e-02] [-2.07867409e-04 -1.04759039e-03 9.99999430e-01 1.35119545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.283133365 meters 0.28099465260462053 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99992381e-01 3.90192159e-03 1.12993028e-04 9.92162674e-01] [-3.90213666e-03 9.99990446e-01 1.97023689e-03 4.31867066e-02] [-1.05304238e-04 -1.97066280e-03 9.99998053e-01 1.32790050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343133365 meters 0.2818828279454853 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999938e-01 2.54774723e-04 2.41178884e-04 9.91532663e-01] [-2.54592189e-04 9.99999681e-01 -7.56571170e-04 3.64410494e-02] [-2.41371562e-04 7.56509721e-04 9.99999685e-01 1.40607200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40313336499999 meters 0.2818808081934857 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99999744e-01 7.15980687e-04 1.24290667e-05 9.92152141e-01] [-7.15986406e-04 9.99999635e-01 4.66393939e-04 3.13974588e-02] [-1.20951331e-05 -4.66402719e-04 9.99999891e-01 1.39856732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46313336499999 meters 0.28104430879130526 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99999019e-01 1.39495498e-03 1.28903834e-04 9.91766086e-01] [-1.39521614e-03 9.99996928e-01 2.04862800e-03 2.49863593e-02] [-1.26045694e-04 -2.04880584e-03 9.99997893e-01 1.41682798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52313336499999 meters 0.28159358955160585 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99998592e-01 1.67828366e-03 6.92321042e-06 9.92154111e-01] [-1.67829620e-03 9.99994982e-01 2.68705215e-03 2.23825880e-02] [-2.41353998e-06 -2.68705999e-03 9.99996390e-01 1.40680293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.583133365 meters 0.2852797538817601 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99998441e-01 1.75044672e-03 2.32672858e-04 9.91538885e-01] [-1.75110844e-03 9.99994334e-01 2.87490070e-03 2.16208829e-02] [-2.27639179e-04 -2.87530365e-03 9.99995840e-01 1.42953553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.643133365 meters 0.28332275136782753 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99998288e-01 1.76325587e-03 5.60695291e-04 9.90775113e-01] [-1.76488468e-03 9.99994186e-01 2.91788088e-03 2.15716093e-02] [-5.55547061e-04 -2.91886545e-03 9.99995586e-01 1.43085875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.703133365 meters 0.28219080680914244 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99998184e-01 1.65310154e-03 9.48612782e-04 9.89929775e-01] [-1.65541710e-03 9.99995640e-01 2.44541548e-03 2.34466019e-02] [-9.44566126e-04 -2.44698139e-03 9.99996560e-01 1.41493427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76313336499999 meters 0.28374214243389045 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 0.99999847 0.0013643 0.00109703 0.98975499] [-0.00136601 0.99999786 0.00155441 0.02705505] [-0.0010949 -0.0015559 0.99999819 0.01372036] [ 0. 0. 0. 1. ]] SLAMing on 86.82313336499999 meters 0.28492103036810235 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998811e-01 8.32198193e-04 1.29801678e-03 9.89301471e-01] [-8.32543235e-04 9.99999618e-01 2.65304208e-04 3.26116904e-02] [-1.29779550e-03 -2.66384548e-04 9.99999122e-01 1.35762820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88313336499999 meters 0.2846682254583668 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998890e-01 6.69414358e-04 1.33144249e-03 9.89160482e-01] [-6.69235119e-04 9.99999767e-01 -1.35060786e-04 3.42863610e-02] [-1.33153259e-03 1.34169588e-04 9.99999105e-01 1.36628336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.943133365 meters 0.28463059505055804 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999388e-01 3.29942734e-04 1.05572089e-03 9.89696445e-01] [-3.28962406e-04 9.99999515e-01 -9.28624805e-04 3.75116514e-02] [-1.05602677e-03 9.28276945e-04 9.99999012e-01 1.37925041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.003133365 meters 0.28271483889034593 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999372e-01 2.18253496e-04 1.09925366e-03 9.89497253e-01] [-2.16934546e-04 9.99999257e-01 -1.19983585e-03 3.86563455e-02] [-1.09951471e-03 1.19959663e-03 9.99998676e-01 1.39527229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.063133365 meters 0.2834957378598502 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999375e-01 1.22246818e-04 1.11159950e-03 9.89460690e-01] [-1.20576055e-04 9.99998863e-01 -1.50296946e-03 3.98282052e-02] [-1.11178197e-03 1.50283449e-03 9.99998253e-01 1.39628701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12313336499999 meters 0.2846017541513345 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999666e-01 1.49162255e-04 8.03078947e-04 9.90330467e-01] [-1.48033486e-04 9.99999001e-01 -1.40542831e-03 3.93787651e-02] [-8.03287782e-04 1.40530896e-03 9.99998690e-01 1.36070338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18313336499999 meters 0.28305721983585314 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999823e-01 2.11409357e-04 5.55868601e-04 9.91088894e-01] [-2.10754898e-04 9.99999285e-01 -1.17715775e-03 3.83759379e-02] [-5.56117066e-04 1.17704039e-03 9.99999153e-01 1.31607014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24313336499999 meters 0.2816292826627937 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999849e-01 3.09402183e-04 4.53839225e-04 9.91330754e-01] [-3.08985603e-04 9.99999531e-01 -9.17686486e-04 3.73050380e-02] [-4.54122946e-04 9.17546117e-04 9.99999476e-01 1.31745620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.303133365 meters 0.28204369309530886 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99999759e-01 4.95451604e-04 4.85962359e-04 9.91031202e-01] [-4.95234057e-04 9.99999777e-01 -4.47680490e-04 3.53608746e-02] [-4.86184055e-04 4.47439717e-04 9.99999782e-01 1.37066855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.363133365 meters 0.2816296200485352 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99999606e-01 5.98266081e-04 6.55582035e-04 9.90253076e-01] [-5.98147556e-04 9.99999805e-01 -1.80974848e-04 3.42355846e-02] [-6.55690178e-04 1.80582642e-04 9.99999769e-01 1.46469931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.423133365 meters 0.2835225742355407 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.01 [[ 9.99971134e-01 -7.55056132e-03 8.49061220e-04 1.01130277e+00] [ 7.55002401e-03 9.99971297e-01 6.34257396e-04 3.76282066e-02] [-8.53825849e-04 -6.27828655e-04 9.99999438e-01 1.43626103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48313336499999 meters 0.28398874840231936 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.01 [[ 9.99995109e-01 -3.09700809e-03 4.35937465e-04 1.01232676e+00] [ 3.09461631e-03 9.99980717e-01 5.38422584e-03 3.54680935e-02] [-4.52604049e-04 -5.38285045e-03 9.99985410e-01 1.42869215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54313336499999 meters 0.28317045977863897 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99995576e-01 -2.94146858e-03 4.42294255e-04 1.01207567e+00] [ 2.93885071e-03 9.99978819e-01 5.80737521e-03 3.37539453e-02] [-4.59367098e-04 -5.80604968e-03 9.99983039e-01 1.48408923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60313336499999 meters 0.2829419367763833 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99996311e-01 -2.69289611e-03 3.54201956e-04 1.01239374e+00] [ 2.69052579e-03 9.99975057e-01 6.53040365e-03 3.08077931e-02] [-3.71778820e-04 -6.52942657e-03 9.99978614e-01 1.46382844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.663133365 meters 0.282785681337107 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99996559e-01 -2.59891855e-03 3.56856491e-04 1.01247180e+00] [ 2.59644623e-03 9.99973766e-01 6.76201818e-03 2.98378617e-02] [-3.74421064e-04 -6.76106835e-03 9.99977074e-01 1.44737762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.723133365 meters 0.28362806449138717 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99996224e-01 -2.64299289e-03 7.52497142e-04 1.01144763e+00] [ 2.63796967e-03 9.99974741e-01 6.59991974e-03 3.06257337e-02] [-7.69921675e-04 -6.59790975e-03 9.99977937e-01 1.47009523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.783133365 meters 0.28263736015651175 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99995885e-01 -2.78112985e-03 7.03625101e-04 1.01160136e+00] [ 2.77669807e-03 9.99976782e-01 6.22297408e-03 3.21638903e-02] [-7.20915663e-04 -6.22099472e-03 9.99980390e-01 1.45862009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.843133365 meters 0.28381039213741943 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99995508e-01 -2.90815689e-03 7.24990177e-04 1.01164359e+00] [ 2.90383013e-03 9.99978383e-01 5.89930349e-03 3.34958090e-02] [-7.42130605e-04 -5.89717174e-03 9.99982336e-01 1.43472579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90313336499999 meters 0.2836478958956453 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99995268e-01 -2.97677177e-03 7.76367216e-04 1.01148869e+00] [ 2.97227267e-03 9.99979148e-01 5.73322041e-03 3.42164469e-02] [-7.93417515e-04 -5.73088570e-03 9.99983264e-01 1.43889757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96313336499999 meters 0.28427121814116596 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 9.99995568e-01 -2.91094825e-03 6.24426418e-04 1.01197379e+00] [ 2.90719993e-03 9.99978239e-01 5.92200898e-03 3.34050490e-02] [-6.41651491e-04 -5.92016740e-03 9.99982270e-01 1.41533835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02313336499999 meters 0.2831555255030317 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.02 [[ 0.99999517 0.00253905 0.00179533 0.9877977 ] [-0.00254472 0.99999176 0.00316363 0.02831781] [-0.00178728 -0.00316818 0.99999338 0.01503632] [ 0. 0. 0. 1. ]] SLAMing on 88.083133365 meters 0.2842261623822909 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 0.99997951 -0.00542782 0.00339489 1.00830842] [ 0.0054146 0.99997777 0.00389194 0.03105986] [-0.00341594 -0.00387348 0.99998666 0.01494982] [ 0. 0. 0. 1. ]] SLAMing on 88.143133365 meters 0.2845331583783038 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998344e-01 3.30515207e-05 1.81938337e-03 9.87701919e-01] [-3.44020262e-05 9.99999724e-01 7.42261193e-04 2.78812062e-02] [-1.81935833e-03 -7.42322555e-04 9.99998069e-01 1.48936195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.203133365 meters 0.2823290505328979 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998449e-01 4.87931590e-05 1.76049962e-03 9.88033992e-01] [-5.01773624e-05 9.99999690e-01 7.86220395e-04 2.76639697e-02] [-1.76046071e-03 -7.86307512e-04 9.99998141e-01 1.44608332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26313336499999 meters 0.2829700822940579 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998637e-01 1.51890056e-04 1.64405494e-03 9.88210041e-01] [-1.53652949e-04 9.99999413e-01 1.07221002e-03 2.65016269e-02] [-1.64389112e-03 -1.07246117e-03 9.99998074e-01 1.47065294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32313336499999 meters 0.28329219205452266 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998690e-01 1.72034404e-04 1.60959816e-03 9.88607480e-01] [-1.73849778e-04 9.99999349e-01 1.12777098e-03 2.62390320e-02] [-1.60940309e-03 -1.12804933e-03 9.99998069e-01 1.40068998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38313336499999 meters 0.2823751976922942 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 9.99998885e-01 2.15120521e-04 1.47762576e-03 9.88872469e-01] [-2.16965313e-04 9.99999197e-01 1.24843706e-03 2.57368259e-02] [-1.47735601e-03 -1.24875626e-03 9.99998129e-01 1.41331903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443133365 meters 0.28236698734794263 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:0.01 [[ 9.99999178e-01 3.51253302e-04 1.23324383e-03 9.89268540e-01] [-3.53268472e-04 9.99998602e-01 1.63420233e-03 2.41970372e-02] [-1.23266809e-03 -1.63463665e-03 9.99997904e-01 1.45399297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.503133365 meters 0.28352615052567126 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:0.01 [[ 9.99964552e-01 7.37710847e-03 4.05873798e-03 1.00948687e+00] [-7.37357702e-03 9.99972424e-01 -8.84363390e-04 2.44434363e-02] [-4.06515010e-03 8.54404623e-04 9.99991372e-01 1.37935634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.563133365 meters 0.2837652996654464 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 0.99996417 0.00727737 0.004325 1.00880802] [-0.00727227 0.99997285 -0.0011929 0.02574838] [-0.00433356 0.0011614 0.99998994 0.0138993 ] [ 0. 0. 0. 1. ]] SLAMing on 88.62313336499999 meters 0.28604094423672605 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:0.01 [[ 0.99998629 0.00350498 0.00388943 1.0103768 ] [-0.00348647 0.99998262 -0.00475472 0.02476008] [-0.00390603 0.00474109 0.99998113 0.01259713] [ 0. 0. 0. 1. ]] SLAMing on 88.68313336499999 meters 0.2838696662141059 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 0.9999868 0.00339125 0.00385976 1.01054355] [-0.00337157 0.99998134 -0.0050942 0.02613045] [-0.00387696 0.00508112 0.99997958 0.01236368] [ 0. 0. 0. 1. ]] SLAMing on 88.74313336499999 meters 0.28389717615571264 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 0.99998672 0.00329394 0.00396442 1.01033463] [-0.00327273 0.99998036 -0.00534534 0.02717821] [-0.00398195 0.00533229 0.99997786 0.0122523 ] [ 0. 0. 0. 1. ]] SLAMing on 88.803133365 meters 0.2848341363037264 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.01 [[ 0.99998668 0.00331671 0.00395577 1.01033941] [-0.00329577 0.99998058 -0.00528903 0.02694261] [-0.00397324 0.00527592 0.99997819 0.01229247] [ 0. 0. 0. 1. ]] SLAMing on 88.863133365 meters 0.2845714988338758 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 0.99999225 -0.00319868 0.00229668 0.98932038] [ 0.00320326 0.99999288 -0.00199269 0.02742602] [-0.00229029 0.00200004 0.99999538 0.01268298] [ 0. 0. 0. 1. ]] SLAMing on 88.923133365 meters 0.284329072981546 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 0.99999105 -0.00338951 0.0025311 0.98868652] [ 0.00339607 0.99999087 -0.00259172 0.02987701] [-0.00252229 0.0026003 0.99999344 0.01281116] [ 0. 0. 0. 1. ]] SLAMing on 88.98313336499999 meters 0.28449382016389146 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:0.01 [[ 0.99998988 -0.00359281 0.00270677 0.98827122] [ 0.00360166 0.99998816 -0.00327229 0.03258891] [-0.00269498 0.00328201 0.99999098 0.01273619] [ 0. 0. 0. 1. ]] SLAMing on 89.04313336499999 meters 0.2861258526029318 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99996265e-01 3.87093269e-04 2.70557306e-03 9.88426707e-01] [-3.87648545e-04 9.99999904e-01 2.04712624e-04 3.62013566e-02] [-2.70549356e-03 -2.05760671e-04 9.99996319e-01 1.22625193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10313336499999 meters 0.2844779460477512 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99995938e-01 -3.00119029e-05 2.85007817e-03 9.88153456e-01] [ 3.29106765e-05 9.99999482e-01 -1.01704418e-03 4.11272664e-02] [-2.85004617e-03 1.01713385e-03 9.99995421e-01 1.20962713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.163133365 meters 0.28459530676739664 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99995976e-01 -1.81600283e-04 2.83092542e-03 9.88053361e-01] [ 1.85549347e-04 9.99999010e-01 -1.39477244e-03 4.27103169e-02] [-2.83066933e-03 1.39529210e-03 9.99995020e-01 1.23460828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.223133365 meters 0.28508365337196184 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99996148e-01 -2.86612245e-04 2.76064477e-03 9.88438185e-01] [ 2.91328977e-04 9.99998498e-01 -1.70831115e-03 4.39098661e-02] [-2.76015101e-03 1.70910883e-03 9.99994730e-01 1.18041513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.283133365 meters 0.28591828496144794 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99996511e-01 -3.44983788e-04 2.61879261e-03 9.88903855e-01] [ 3.49828141e-04 9.99998228e-01 -1.84960938e-03 4.44733197e-02] [-2.61814989e-03 1.85051905e-03 9.99994860e-01 1.15377325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.343133365 meters 0.2837412504600969 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99996677e-01 -3.86321507e-04 2.54878057e-03 9.89170591e-01] [ 3.91282914e-04 9.99998029e-01 -1.94636930e-03 4.48729749e-02] [-2.54802362e-03 1.94736012e-03 9.99994858e-01 1.13253089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40313336499999 meters 0.2844582370292831 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996724e-01 -5.47472214e-04 2.50033166e-03 9.89452344e-01] [ 5.53396610e-04 9.99997040e-01 -2.36936700e-03 4.66161380e-02] [-2.49902709e-03 2.37074292e-03 9.99994067e-01 1.09190965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46313336499999 meters 0.28462381237097956 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996549e-01 -6.87322319e-04 2.53571044e-03 9.89497015e-01] [ 6.94225790e-04 9.99996053e-01 -2.72262447e-03 4.80825750e-02] [-2.53382911e-03 2.72437543e-03 9.99993079e-01 1.06155913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52313336499999 meters 0.28304385096834583 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996003e-01 -7.95241280e-04 2.71317852e-03 9.88654823e-01] [ 8.03458371e-04 9.99995090e-01 -3.02884012e-03 4.94475603e-02] [-2.71075654e-03 3.03100794e-03 9.99991732e-01 1.16674227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583133365 meters 0.28257233744214194 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996175e-01 -7.21206772e-04 2.67015187e-03 9.88739601e-01] [ 7.28772913e-04 9.99995719e-01 -2.83371137e-03 4.86804302e-02] [-2.66809675e-03 2.83564647e-03 9.99992420e-01 1.17122513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643133365 meters 0.28328446152492964 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996614e-01 -6.10075386e-04 2.52995029e-03 9.89024200e-01] [ 6.16462859e-04 9.99996623e-01 -2.52473181e-03 4.73789922e-02] [-2.52840147e-03 2.52628288e-03 9.99993613e-01 1.18487965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703133365 meters 0.28165354262912035 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99996390e-01 -4.67775624e-04 2.64586109e-03 9.88437846e-01] [ 4.73402400e-04 9.99997627e-01 -2.12640690e-03 4.57050659e-02] [-2.64486013e-03 2.12765178e-03 9.99994239e-01 1.26161151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76313336499999 meters 0.28173745508645764 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99996216e-01 -3.27647688e-04 2.73133222e-03 9.88300780e-01] [ 3.32501557e-04 9.99998366e-01 -1.77684194e-03 4.42381794e-02] [-2.73074558e-03 1.77774339e-03 9.99994691e-01 1.24831139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82313336499999 meters 0.28259026664656345 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99997015e-01 -3.79780408e-04 2.41359690e-03 9.89404465e-01] [ 3.84430675e-04 9.99998070e-01 -1.92652430e-03 4.46849093e-02] [-2.41286059e-03 1.92744641e-03 9.99995232e-01 1.15638473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88313336499999 meters 0.2834210112350961 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998143e-01 -4.33202696e-04 1.87760956e-03 9.91231624e-01] [ 4.37482096e-04 9.99997307e-01 -2.27936381e-03 4.61775305e-02] [-1.87661708e-03 2.28018100e-03 9.99995640e-01 9.92298441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.943133365 meters 0.2856386754831178 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 9.99980051e-01 -6.31439385e-03 -1.61056664e-04 1.01527054e+00] [ 6.31437358e-03 9.99980056e-01 -1.26081777e-04 5.40454997e-02] [ 1.61849582e-04 1.25062290e-04 9.99999979e-01 8.94290734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.003133365 meters 0.287040925938733 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 9.99997834e-01 -2.07445149e-03 -1.70708649e-04 1.01527937e+00] [ 2.07510660e-03 9.99990119e-01 3.93135625e-03 5.50139368e-02] [ 1.62551555e-04 -3.93170197e-03 9.99992258e-01 8.91289422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.063133365 meters 0.28455688249991845 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 9.99997643e-01 -2.14316852e-03 -3.48656600e-04 1.01577585e+00] [ 2.14445347e-03 9.99990752e-01 3.72779036e-03 5.57893700e-02] [ 3.40664093e-04 -3.72852925e-03 9.99992991e-01 8.69678677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12313336499999 meters 0.2839118063585274 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 9.99997817e-01 -2.03345034e-03 -4.81526362e-04 1.01627288e+00] [ 2.03538686e-03 9.99989703e-01 4.05589093e-03 5.44827092e-02] [ 4.73273951e-04 -4.05686216e-03 9.99991659e-01 8.31457526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18313336499999 meters 0.28143581045208294 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99993374e-01 3.58743979e-03 6.18040080e-04 9.93154457e-01] [-3.58811278e-03 9.99992967e-01 1.09125649e-03 4.94943234e-02] [-6.14120916e-04 -1.09346686e-03 9.99999214e-01 8.11372244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24313336499999 meters 0.28400054485947096 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 9.99994472e-01 3.26072724e-03 6.51221088e-04 1.02869820e+00] [-3.26092016e-03 9.99994640e-01 2.95402404e-04 4.96732399e-02] [-6.50254371e-04 -2.97524351e-04 9.99999744e-01 1.30869947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.303133365 meters 0.2819375243036967 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99985356e-01 -5.40808908e-03 1.98426590e-04 1.00840958e+00] [ 5.40773703e-03 9.99983875e-01 1.73381876e-03 5.06356853e-02] [-2.07800037e-04 -1.73272033e-03 9.99998477e-01 1.20730168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.363133365 meters 0.28327175838494467 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99985575e-01 -5.36925501e-03 1.44959166e-04 1.00889226e+00] [ 5.36898210e-03 9.99983928e-01 1.82163174e-03 5.01630040e-02] [-1.54737641e-04 -1.82082718e-03 9.99998330e-01 1.13380228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.423133365 meters 0.2826449247473728 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99985535e-01 -5.37506780e-03 1.97474067e-04 1.00890431e+00] [ 5.37470243e-03 9.99983925e-01 1.80634252e-03 5.02098649e-02] [-2.07180106e-04 -1.80525502e-03 9.99998349e-01 1.10199876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48313336499999 meters 0.2822526841199879 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99984889e-01 -5.45375833e-03 6.91762653e-04 1.00778239e+00] [ 5.45268828e-03 9.99983949e-01 1.53942193e-03 5.13033152e-02] [-7.00147185e-04 -1.53562670e-03 9.99998576e-01 1.09548220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54313336499999 meters 0.2835880837219859 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99984184e-01 -5.54883674e-03 9.18110747e-04 1.00723208e+00] [ 5.54766235e-03 9.99983797e-01 1.27678218e-03 5.24219533e-02] [-9.25180526e-04 -1.27166862e-03 9.99998763e-01 1.09532626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60313336499999 meters 0.2815994533803723 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99998137e-01 1.80728889e-03 -6.78465444e-04 9.88641718e-01] [-1.80758350e-03 9.99998272e-01 -4.33864841e-04 5.05259535e-02] [ 6.77680153e-04 4.35090415e-04 9.99999676e-01 8.70913917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.663133365 meters 0.2832585945989242 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99993614e-01 -3.53628187e-03 5.16197642e-04 1.01241942e+00] [ 3.53485329e-03 9.99989991e-01 2.74265950e-03 5.14587642e-02] [-5.25891292e-04 -2.74081730e-03 9.99996106e-01 6.80527749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.723133365 meters 0.28478299014287595 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99993213e-01 -3.64085653e-03 5.64398141e-04 1.01211048e+00] [ 3.63944660e-03 9.99990304e-01 2.47931600e-03 5.25967126e-02] [-5.73419502e-04 -2.47724507e-03 9.99996767e-01 7.19241976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.783133365 meters 0.2838361955800012 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99992770e-01 -3.77649216e-03 4.45313425e-04 1.01261241e+00] [ 3.77553267e-03 9.99990591e-01 2.13615297e-03 5.40253737e-02] [-4.53376400e-04 -2.13445623e-03 9.99997619e-01 6.69672589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.843133365 meters 0.2845419705759035 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99992178e-01 -3.94255594e-03 3.17191817e-04 1.01324070e+00] [ 3.94202619e-03 9.99990863e-01 1.65378683e-03 5.59864427e-02] [-3.23709065e-04 -1.65252351e-03 9.99998582e-01 5.87951946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90313336499999 meters 0.2816479286230048 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.01 [[ 0.99999595 0.00220813 -0.00179589 0.99199148] [-0.0022104 0.99999676 -0.00126155 0.05749736] [ 0.0017931 0.00126552 0.99999759 0.00644524] [ 0. 0. 0. 1. ]] SLAMing on 90.96313336499999 meters 0.28429209880340894 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99999376 -0.00300198 -0.00186069 1.01591239] [ 0.00300538 0.99999381 0.00182757 0.06309174] [ 0.00185519 -0.00183315 0.9999966 0.00521189] [ 0. 0. 0. 1. ]] SLAMing on 91.02313336499999 meters 0.28230351381986096 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.01 [[ 0.99999347 -0.00319156 -0.00169492 1.01537127] [ 0.00319388 0.99999397 0.00136712 0.06504848] [ 0.00169055 -0.00137252 0.99999763 0.00542997] [ 0. 0. 0. 1. ]] SLAMing on 91.083133365 meters 0.2808456127860393 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.01 [[ 9.99983861e-01 5.49069608e-03 -1.45941932e-03 9.92975917e-01] [-5.48997876e-03 9.99984807e-01 4.95059205e-04 6.54615460e-02] [ 1.46211537e-03 -4.87039035e-04 9.99998813e-01 5.65833916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.143133365 meters 0.2824037312515944 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 9.99997070e-01 -2.22356430e-03 -9.56484309e-04 1.01165313e+00] [ 2.22477219e-03 9.99996727e-01 1.26363533e-03 7.39635527e-02] [ 9.53671404e-04 -1.26575959e-03 9.99998744e-01 7.49128779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.203133365 meters 0.2791969005489479 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.01 [[ 9.99983142e-01 5.49776040e-03 -1.86798127e-03 9.91925200e-01] [-5.49881434e-03 9.99984725e-01 -5.59546537e-04 7.33851300e-02] [ 1.86487649e-03 5.69808787e-04 9.99998099e-01 6.63656223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26313336499999 meters 0.28050983936956114 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 9.99995821e-01 -2.29819912e-03 -1.75364965e-03 1.01176876e+00] [ 2.29898538e-03 9.99997258e-01 4.46472507e-04 7.88353888e-02] [ 1.75261876e-03 -4.50502257e-04 9.99998363e-01 8.03131652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32313336499999 meters 0.2808087539949996 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 9.99995866e-01 -2.23710039e-03 -1.80665336e-03 1.01168140e+00] [ 2.23825300e-03 9.99997293e-01 6.36214831e-04 7.81018604e-02] [ 1.80522519e-03 -6.40255948e-04 9.99998166e-01 8.56599252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38313336499999 meters 0.28042291973062805 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 0.99999657 -0.00205176 -0.00162507 1.01108491] [ 0.00205372 0.99999717 0.00120448 0.07584761] [ 0.0016226 -0.00120782 0.99999795 0.00904772] [ 0. 0. 0. 1. ]] SLAMing on 91.443133365 meters 0.27967634907195754 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 0.99999704 -0.00186095 -0.00156722 1.01081647] [ 0.00186383 0.99999657 0.00183794 0.07333557] [ 0.0015638 -0.00184086 0.99999708 0.00936746] [ 0. 0. 0. 1. ]] SLAMing on 91.503133365 meters 0.27916300760254614 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 0.99999671 -0.00161536 -0.00199175 1.01204993] [ 0.00162077 0.999995 0.00271429 0.06974889] [ 0.00198735 -0.00271751 0.99999433 0.00882722] [ 0. 0. 0. 1. ]] SLAMing on 91.563133365 meters 0.2791730364049496 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 0.99999678 -0.00131251 -0.0021702 1.01256242] [ 0.00132029 0.99999268 0.00359119 0.06615155] [ 0.00216548 -0.00359404 0.9999912 0.00865458] [ 0. 0. 0. 1. ]] SLAMing on 91.62313336499999 meters 0.27924394796892493 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99997125e-01 -9.50762500e-04 -2.20152144e-03 1.01268432e+00] [ 9.60537891e-04 9.99989666e-01 4.44349672e-03 6.26207685e-02] [ 2.19727398e-03 -4.44559859e-03 9.99987704e-01 8.62802808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68313336499999 meters 0.2781254088790463 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99997104e-01 -8.17697234e-04 -2.26336403e-03 1.01306817e+00] [ 8.28471285e-04 9.99988312e-01 4.76335659e-03 6.12458280e-02] [ 2.25944259e-03 -4.76521793e-03 9.99986094e-01 8.18016785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74313336499999 meters 0.279458510961592 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99997072e-01 -6.67332594e-04 -2.32626696e-03 1.01333247e+00] [ 6.79335723e-04 9.99986442e-01 5.16285879e-03 5.95868111e-02] [ 2.32279008e-03 -5.16442399e-03 9.99983967e-01 7.96936519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.803133365 meters 0.27665364605311993 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 0.99998385 0.00501739 -0.00266801 0.99142013] [-0.00501044 0.99998405 0.0026061 0.05279946] [ 0.00268104 -0.00259269 0.99999304 0.00827566] [ 0. 0. 0. 1. ]] SLAMing on 91.863133365 meters 0.2775987384607746 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 0.99998225 0.00519572 -0.0029175 0.99201679] [-0.00518633 0.99998137 0.00321795 0.05041587] [ 0.00293416 -0.00320276 0.99999057 0.00820471] [ 0. 0. 0. 1. ]] SLAMing on 91.923133365 meters 0.2777025753055274 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99995150e-01 9.79696310e-04 -2.95647737e-03 9.92173099e-01] [-9.82030136e-04 9.99999207e-01 -7.88045556e-04 4.93377713e-02] [ 2.95570298e-03 7.90945084e-04 9.99995319e-01 8.06095163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98313336499999 meters 0.2775538771288295 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.01 [[ 9.99995401e-01 1.14232990e-03 -2.80940053e-03 9.91494550e-01] [-1.14310391e-03 9.99999309e-01 -2.73914952e-04 4.72674984e-02] [ 2.80908569e-03 2.77125129e-04 9.99996016e-01 8.84075669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04313336499999 meters 0.27782269964126016 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99995317e-01 1.38833819e-03 -2.72747139e-03 9.91069623e-01] [-1.38697635e-03 9.99998913e-01 5.01133014e-04 4.41833566e-02] [ 2.72816416e-03 -4.97347728e-04 9.99996155e-01 9.35872416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10313336499999 meters 0.276831402206403 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.01 [[ 9.99995219e-01 1.45676371e-03 -2.72749991e-03 9.91046580e-01] [-1.45494132e-03 9.99998717e-01 6.70022431e-04 4.34767313e-02] [ 2.72847247e-03 -6.66050876e-04 9.99996056e-01 9.40113825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.163133365 meters 0.2788980702346002 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.01 [[ 9.99991486e-01 -4.11883699e-03 -2.50472280e-04 1.01318801e+00] [ 4.11969714e-03 9.99985261e-01 3.53643452e-03 4.32389403e-02] [ 2.35902591e-04 -3.53743628e-03 9.99993715e-01 8.04929268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223133365 meters 0.2772708508353844 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99990284e-01 -4.39982084e-03 -2.71190947e-04 1.01332362e+00] [ 4.40057721e-03 9.99986243e-01 2.85459313e-03 4.61495724e-02] [ 2.58627518e-04 -2.85575879e-03 9.99995889e-01 7.88037352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.283133365 meters 0.2764220917299705 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99989193e-01 -4.63643684e-03 -3.43692200e-04 1.01366341e+00] [ 4.63720062e-03 9.99986704e-01 2.25584920e-03 4.86348424e-02] [ 3.33228528e-04 -2.25741859e-03 9.99997397e-01 7.48170886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.343133365 meters 0.2764418860864907 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.01 [[ 9.99988166e-01 -4.84841985e-03 -4.01995316e-04 1.01368126e+00] [ 4.84910968e-03 9.99986741e-01 1.73315903e-03 5.07989627e-02] [ 3.93586903e-04 -1.73508784e-03 9.99998417e-01 7.74579484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40313336499999 meters 0.2766427004361654 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99992601e-01 -3.83851499e-03 2.53270375e-04 1.01124423e+00] [ 3.83804138e-03 9.99990933e-01 1.84470188e-03 5.82562125e-02] [-2.60348994e-04 -1.84371617e-03 9.99998266e-01 9.04992778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46313336499999 meters 0.2769661317131029 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99991845e-01 -4.03622671e-03 1.37438541e-04 1.01161415e+00] [ 4.03603883e-03 9.99990956e-01 1.34088309e-03 6.03166777e-02] [-1.42849406e-04 -1.34031745e-03 9.99999092e-01 8.85018646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52313336499999 meters 0.2764897423740698 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99991122e-01 -4.21378168e-03 2.73794247e-05 1.01192308e+00] [ 4.21375471e-03 9.99990699e-01 9.20093398e-04 6.20519027e-02] [-3.12562427e-05 -9.19969859e-04 9.99999576e-01 8.76800979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.583133365 meters 0.2773848307194435 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.01 [[ 9.99990779e-01 -4.29400348e-03 -6.15867022e-05 1.01224347e+00] [ 4.29404662e-03 9.99990523e-01 7.18319984e-04 6.28797644e-02] [ 5.85016500e-05 -7.18577816e-04 9.99999740e-01 8.54407768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.643133365 meters 0.27551309889933245 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:0.01 [[ 9.99988546e-01 4.46204281e-03 -1.73170129e-03 9.91923317e-01] [-4.46249987e-03 9.99990009e-01 -2.60165036e-04 6.53440343e-02] [ 1.73052312e-03 2.67889772e-04 9.99998467e-01 8.18112442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.703133365 meters 0.276961439929152 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 9.99993767e-01 -3.30148860e-03 -1.25161741e-03 1.01125627e+00] [ 3.30232909e-03 9.99994323e-01 6.70056171e-04 7.25315421e-02] [ 1.24939812e-03 -6.74185247e-04 9.99998992e-01 1.00540509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76313336499999 meters 0.2766846177884083 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 9.99993108e-01 -3.47052040e-03 -1.31913364e-03 1.01141681e+00] [ 3.47084896e-03 9.99993946e-01 2.46870619e-04 7.42747339e-02] [ 1.31826889e-03 -2.51447431e-04 9.99999099e-01 1.00684253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82313336499999 meters 0.27666686001070706 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 9.99992604e-01 -3.56051540e-03 -1.45407805e-03 1.01183313e+00] [ 3.56054981e-03 9.99993661e-01 2.10776283e-05 7.52197274e-02] [ 1.45399379e-03 -2.62547898e-05 9.99998943e-01 9.88651530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88313336499999 meters 0.27688663927558577 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 9.99992530e-01 -3.58279533e-03 -1.45068584e-03 1.01179869e+00] [ 3.58274528e-03 9.99993581e-01 -3.70983225e-05 7.54641061e-02] [ 1.45080944e-03 3.19006076e-05 9.99998947e-01 9.94577767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.943133365 meters 0.27603339188543047 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.01 [[ 9.99992746e-01 -3.53264233e-03 -1.42454249e-03 1.01179055e+00] [ 3.53277537e-03 9.99993756e-01 9.08834480e-05 7.49296330e-02] [ 1.42421254e-03 -9.59153773e-05 9.99998981e-01 9.81199130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.003133365 meters 0.2780110154044782 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.01 [[ 9.99995353e-01 3.04607533e-03 -1.20957135e-04 1.03473724e+00] [-3.04636686e-03 9.99992265e-01 -2.48790824e-03 7.34423911e-02] [ 1.13377844e-04 2.48826516e-03 9.99996898e-01 8.21988511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.063133365 meters 0.27856323012026163 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 9.99994878e-01 3.18140735e-03 -3.50806783e-04 1.03542763e+00] [-3.18214401e-03 9.99992690e-01 -2.11973320e-03 7.18679178e-02] [ 3.44060484e-04 2.12083866e-03 9.99997692e-01 7.86756361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12313336499999 meters 0.2773140405721681 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 9.99994629e-01 3.25344493e-03 -3.96154339e-04 1.03556053e+00] [-3.25420752e-03 9.99992824e-01 -1.93979108e-03 7.11124383e-02] [ 3.89840493e-04 1.94106983e-03 9.99998040e-01 7.80592199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18313336499999 meters 0.27870733697411654 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 9.99994680e-01 3.24087828e-03 -3.69242667e-04 1.03538131e+00] [-3.24159983e-03 9.99992804e-01 -1.97059883e-03 7.12436432e-02] [ 3.62853539e-04 1.97178528e-03 9.99997990e-01 8.06366323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24313336499999 meters 0.27771014917946024 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 9.99994863e-01 3.18115671e-03 -3.93174076e-04 1.03537933e+00] [-3.18198403e-03 9.99992686e-01 -2.12182022e-03 7.18799099e-02] [ 3.86421358e-04 2.12306040e-03 9.99997672e-01 8.20556035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.303133365 meters 0.2779768916322422 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 9.99995273e-01 3.04321014e-03 -4.40157689e-04 1.03531105e+00] [-3.04430358e-03 9.99992228e-01 -2.50525043e-03 7.34645559e-02] [ 4.32530265e-04 2.50657856e-03 9.99996765e-01 8.64042039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.363133365 meters 0.27677757909443074 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.01 [[ 0.99998415 -0.00549451 -0.00122804 1.01643778] [ 0.00549231 0.99998331 -0.00179325 0.08040445] [ 0.00123787 0.00178648 0.99999764 0.00763452] [ 0. 0. 0. 1. ]] SLAMing on 93.423133365 meters 0.27586708079122263 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.01 [[ 0.9999984 -0.00127519 -0.00125308 1.01621974] [ 0.00127799 0.99999668 0.00223774 0.08157 ] [ 0.00125023 -0.00223934 0.99999671 0.00808211] [ 0. 0. 0. 1. ]] SLAMing on 93.48313336499999 meters 0.2770027963618988 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99963515e-01 8.50252856e-03 8.22336667e-04 1.03600246e+00] [-8.50402805e-03 9.99962152e-01 1.83748129e-03 8.54309520e-02] [-8.06682306e-04 -1.84440742e-03 9.99997974e-01 8.76265544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54313336499999 meters 0.27641274076904704 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99999908e-01 -1.36745146e-04 4.05998982e-04 1.01741335e+00] [ 1.35671126e-04 9.99996495e-01 2.64422759e-03 9.13069275e-02] [-4.06359144e-04 -2.64417227e-03 9.99996422e-01 6.95841808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60313336499999 meters 0.2768258295578424 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99999751e-01 -2.22444400e-04 6.70444782e-04 1.01662815e+00] [ 2.20833337e-04 9.99997091e-01 2.40209290e-03 9.23742288e-02] [-6.70977163e-04 -2.40194425e-03 9.99996890e-01 7.35895050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.663133365 meters 0.2781875096503621 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99999654e-01 -3.50617469e-04 7.54063910e-04 1.01639718e+00] [ 3.49101483e-04 9.99997920e-01 2.00961294e-03 9.39566591e-02] [-7.54766947e-04 -2.00934900e-03 9.99997696e-01 7.45358051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.723133365 meters 0.2760791530880847 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.01 [[ 0.99998145 0.0057569 -0.0019881 0.995201 ] [-0.0057589 0.99998291 -0.00100381 0.09713256] [ 0.00198229 0.00101524 0.99999752 0.00828462] [ 0. 0. 0. 1. ]] SLAMing on 93.783133365 meters 0.277437023360805 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:0.01 [[ 9.99996123e-01 -2.44121340e-03 -1.33922398e-03 1.01498002e+00] [ 2.44120431e-03 9.99997020e-01 -8.42152600e-06 1.01457655e-01] [ 1.33924055e-03 5.15217400e-06 9.99999103e-01 9.06656258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.843133365 meters 0.27872541234501513 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:0.01 [[ 9.99995941e-01 -2.43316249e-03 -1.48276001e-03 1.01559405e+00] [ 2.43318135e-03 9.99997040e-01 1.09158126e-05 1.01340526e-01] [ 1.48272906e-03 -1.45235923e-05 9.99998901e-01 8.44646051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90313336499999 meters 0.2779449026299913 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:0.01 [[ 0.99998675 0.00331699 -0.00393638 0.99384564] [-0.00332904 0.99998978 -0.00305981 0.10144134] [ 0.00392619 0.00307287 0.99998757 0.00954543] [ 0. 0. 0. 1. ]] SLAMing on 93.96313336499999 meters 0.27719113523497624 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:0.01 [[ 9.99988873e-01 -2.57085547e-03 -3.95532946e-03 1.01693148e+00] [ 2.57160391e-03 9.99996676e-01 1.84147773e-04 1.02742778e-01] [ 3.95484289e-03 -1.94317265e-04 9.99992161e-01 9.23833792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02313336499999 meters 0.2770126881311257 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:0.01 [[ 9.99988527e-01 -2.56011287e-03 -4.04875018e-03 1.01729509e+00] [ 2.56097542e-03 9.99996699e-01 2.07872407e-04 1.02606807e-01] [ 4.04820464e-03 -2.18238771e-04 9.99991782e-01 8.92184963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.083133365 meters 0.2777754132140122 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:0.01 [[ 9.99988696e-01 -2.43190852e-03 -4.08572089e-03 1.01738063e+00] [ 2.43415372e-03 9.99996889e-01 5.44640664e-04 1.01212274e-01] [ 4.08438366e-03 -5.54579780e-04 9.99991505e-01 8.93522888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.143133365 meters 0.27715269727332514 Centerline is valid? [False, False] Translation: X:1.02, Y:0.10, Z:0.01 [[ 0.99998916 -0.00221914 -0.00409215 1.01717484] [ 0.00222344 0.99999698 0.00104639 0.09910678] [ 0.00408982 -0.00105548 0.99999108 0.00940451] [ 0. 0. 0. 1. ]] SLAMing on 94.203133365 meters 0.2775364789091028 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 0.99999042 -0.001774 -0.00400256 1.01674204] [ 0.00178248 0.99999617 0.00211746 0.09462314] [ 0.00399879 -0.00212458 0.99998975 0.00989239] [ 0. 0. 0. 1. ]] SLAMing on 94.26313336499999 meters 0.2787205701487884 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 0.99999121 -0.00149981 -0.0039163 1.01658933] [ 0.00151067 0.99999502 0.0027713 0.09191963] [ 0.00391212 -0.00277719 0.99998849 0.00981047] [ 0. 0. 0. 1. ]] SLAMing on 94.32313336499999 meters 0.27935972379242363 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99983110e-01 5.40632434e-03 -2.13344571e-03 1.03766513e+00] [-5.40554198e-03 9.99985321e-01 3.72304934e-04 8.90593957e-02] [ 2.13542719e-03 -3.60766215e-04 9.99997655e-01 9.43460603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38313336499999 meters 0.2785295995047663 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 0.99999053 -0.00364745 -0.00237246 1.01787098] [ 0.00365142 0.99999194 0.00167157 0.08923723] [ 0.00236635 -0.00168021 0.99999579 0.00860711] [ 0. 0. 0. 1. ]] SLAMing on 94.443133365 meters 0.2794529494546788 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.01 [[ 9.99986016e-01 4.50232368e-03 -2.77422873e-03 1.03699779e+00] [-4.50045581e-03 9.99989642e-01 6.79167716e-04 8.01800132e-02] [ 2.77725783e-03 -6.66672925e-04 9.99995921e-01 1.08731216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503133365 meters 0.2788884590838581 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.01 [[ 9.99985379e-01 4.59685789e-03 -2.84799473e-03 1.03733073e+00] [-4.59424288e-03 9.99989019e-01 9.24055266e-04 7.91512646e-02] [ 2.85221121e-03 -9.10957376e-04 9.99995518e-01 1.05424762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563133365 meters 0.27797413039719654 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.01 [[ 0.99998466 0.00477973 -0.00279891 1.03728912] [-0.00477586 0.99998763 0.00139069 0.07722438] [ 0.00280552 -0.0013773 0.99999512 0.01038763] [ 0. 0. 0. 1. ]] SLAMing on 94.62313336499999 meters 0.27977767019280697 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 0.99998363 0.00501881 -0.0027486 1.03694155] [-0.00501336 0.99998546 0.00198701 0.07474332] [ 0.00275854 -0.0019732 0.99999425 0.01088501] [ 0. 0. 0. 1. ]] SLAMing on 94.68313336499999 meters 0.2790983803169116 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 0.99998316 0.00512316 -0.00272774 1.03684447] [-0.00511704 0.99998438 0.00224859 0.073671 ] [ 0.00273922 -0.00223459 0.99999375 0.01099218] [ 0. 0. 0. 1. ]] SLAMing on 94.74313336499999 meters 0.279025938677307 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 0.99998313 0.00515779 -0.00267164 1.03691099] [-0.00515155 0.999984 0.00233507 0.07329927] [ 0.00268364 -0.00232126 0.9999937 0.01054978] [ 0. 0. 0. 1. ]] SLAMing on 94.803133365 meters 0.2795124850646472 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 0.99998332 0.00513819 -0.00263956 1.03698922] [-0.00513216 0.99998422 0.0022867 0.07348906] [ 0.00265127 -0.00227312 0.9999939 0.01019701] [ 0. 0. 0. 1. ]] SLAMing on 94.863133365 meters 0.2803364963906152 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.01 [[ 0.99998266 0.00523744 -0.00269324 1.03695124] [-0.0052306 0.9999831 0.00253866 0.07245083] [ 0.00270649 -0.00252453 0.99999315 0.01058435] [ 0. 0. 0. 1. ]] SLAMing on 94.923133365 meters 0.2789720587449902 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.01 [[ 0.99998517 -0.003736 -0.00396309 1.01711156] [ 0.00375035 0.99998642 0.00361939 0.07184972] [ 0.00394952 -0.0036342 0.9999856 0.00984238] [ 0. 0. 0. 1. ]] SLAMing on 94.98313336499999 meters 0.27944528068657903 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.01 [[ 0.99998515 -0.00361006 -0.0040819 1.01749523] [ 0.00362614 0.99998567 0.00393714 0.07050285] [ 0.00406762 -0.00395189 0.99998392 0.00966965] [ 0. 0. 0. 1. ]] SLAMing on 95.04313336499999 meters 0.2797457809877644 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.01 [[ 0.99998548 -0.00336033 -0.00421307 1.01783462] [ 0.00337965 0.99998377 0.00458703 0.06781251] [ 0.00419759 -0.0046012 0.9999806 0.00970633] [ 0. 0. 0. 1. ]] SLAMing on 95.10313336499999 meters 0.27918229156944235 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.01 [[ 0.99998983 0.00161576 -0.00421109 0.99443805] [-0.00161037 0.99999788 0.00128495 0.06249946] [ 0.00421316 -0.00127816 0.99999031 0.01047606] [ 0. 0. 0. 1. ]] SLAMing on 95.163133365 meters 0.27828001220882054 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.01 [[ 0.99998956 0.00182998 -0.004187 0.99447411] [-0.00182241 0.9999967 0.00181265 0.06031261] [ 0.0041903 -0.001805 0.99998959 0.01029444] [ 0. 0. 0. 1. ]] SLAMing on 95.223133365 meters 0.28185015127712343 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.01 [[ 0.99998865 0.00161647 -0.00448225 1.03117714] [-0.00161147 0.99999808 0.00111825 0.05628583] [ 0.00448405 -0.00111101 0.99998933 0.01450144] [ 0. 0. 0. 1. ]] SLAMing on 95.283133365 meters 0.2808749485077501 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998845 0.00184609 -0.00443855 1.03099967] [-0.00183868 0.99999691 0.00167376 0.05398641] [ 0.00444163 -0.00166558 0.99998875 0.01467846] [ 0. 0. 0. 1. ]] SLAMing on 95.343133365 meters 0.28025359619123585 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998735 0.00207076 -0.00458416 1.03142403] [-0.00206059 0.99999541 0.00222108 0.05169867] [ 0.00458874 -0.00221161 0.99998703 0.01458007] [ 0. 0. 0. 1. ]] SLAMing on 95.40313336499999 meters 0.281143853366286 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998626 0.00232976 -0.00469657 1.03200793] [-0.00231632 0.99999321 0.00286543 0.04901164] [ 0.00470322 -0.00285451 0.99998487 0.01394774] [ 0. 0. 0. 1. ]] SLAMing on 95.46313336499999 meters 0.2821787342390328 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998664 0.00238694 -0.00458408 1.03167557] [-0.00237324 0.99999271 0.00299155 0.04847873] [ 0.00459119 -0.00298063 0.99998502 0.01407121] [ 0. 0. 0. 1. ]] SLAMing on 95.52313336499999 meters 0.28236650652708234 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998612 0.00249503 -0.00463948 1.03203293] [-0.0024799 0.9999916 0.00326455 0.04733847] [ 0.00464759 -0.003253 0.99998391 0.01361331] [ 0. 0. 0. 1. ]] SLAMing on 95.583133365 meters 0.28080339352529365 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.01 [[ 0.99998509 0.00266277 -0.0047668 1.03264818] [-0.00264518 0.99998968 0.00369316 0.04548988] [ 0.00477658 -0.0036805 0.99998182 0.01293129] [ 0. 0. 0. 1. ]] SLAMing on 95.643133365 meters 0.2818403796944932 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:0.01 [[ 0.99998448 0.00288727 -0.00476518 1.03253959] [-0.00286684 0.99998669 0.00428999 0.04305551] [ 0.0047775 -0.00427627 0.99997944 0.01320726] [ 0. 0. 0. 1. ]] SLAMing on 95.703133365 meters 0.28075569195828837 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:0.01 [[ 0.99998442 0.00316567 -0.00459717 1.03192367] [-0.00314216 0.999982 0.00511214 0.03977641] [ 0.00461327 -0.00509762 0.99997637 0.01375847] [ 0. 0. 0. 1. ]] SLAMing on 95.76313336499999 meters 0.2800010965158312 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:0.01 [[ 9.99989192e-01 -7.40958919e-04 -4.58977150e-03 1.03192573e+00] [ 7.49439276e-04 9.99998015e-01 1.84622007e-03 3.52281599e-02] [ 4.58839442e-03 -1.84963987e-03 9.99987763e-01 1.37918456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82313336499999 meters 0.28024536172658904 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.01 [[ 9.99989498e-01 -5.25080375e-04 -4.55287987e-03 1.03178727e+00] [ 5.35926538e-04 9.99997021e-01 2.38137168e-03 3.30021305e-02] [ 4.55161590e-03 -2.38378668e-03 9.99986800e-01 1.39423371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88313336499999 meters 0.28081585517555346 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.01 [[ 9.99989310e-01 -2.51413663e-04 -4.61703255e-03 1.03182373e+00] [ 2.65096054e-04 9.99995575e-01 2.96308703e-03 3.05368276e-02] [ 4.61626715e-03 -2.96427931e-03 9.99984951e-01 1.42534650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.943133365 meters 0.2811661854016052 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.01 [[ 9.99989404e-01 5.77909571e-06 -4.60352630e-03 1.03180004e+00] [ 1.08964254e-05 9.99993439e-01 3.62230314e-03 2.78183794e-02] [ 4.60351703e-03 -3.62231492e-03 9.99982843e-01 1.42764394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.003133365 meters 0.28145151125218987 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:0.01 [[ 9.99990334e-01 3.40168071e-04 -4.38354660e-03 1.03105406e+00] [-3.19845603e-04 9.99989203e-01 4.63594612e-03 2.38153920e-02] [ 4.38507627e-03 -4.63449925e-03 9.99979646e-01 1.49248353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.063133365 meters 0.2805228491517992 Centerline is valid? [False, False] Translation: X:1.03, Y:0.02, Z:0.02 [[ 9.99989898e-01 6.75805201e-04 -4.44385496e-03 1.03099624e+00] [-6.48325078e-04 9.99980679e-01 6.18238333e-03 1.77753675e-02] [ 4.44794718e-03 -6.17943981e-03 9.99971015e-01 1.53735551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12313336499999 meters 0.27963687574511353 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998483 -0.00325282 -0.00444566 1.03133242] [ 0.00326559 0.99999056 0.00286654 0.01349195] [ 0.00443629 -0.00288102 0.99998601 0.01482504] [ 0. 0. 0. 1. ]] SLAMing on 96.18313336499999 meters 0.27980742973252565 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998529 -0.00284139 -0.00461936 1.0318775 ] [ 0.00285904 0.99998862 0.00381788 0.00954097] [ 0.00460846 -0.00383103 0.99998204 0.01468477] [ 0. 0. 0. 1. ]] SLAMing on 96.24313336499999 meters 0.28021843866470264 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998618 -0.0024641 -0.00464502 1.03216156] [ 0.00248566 0.99998613 0.0046428 0.00609268] [ 0.00463352 -0.00465428 0.99997843 0.01436262] [ 0. 0. 0. 1. ]] SLAMing on 96.303133365 meters 0.28183515573717904 Centerline is valid? [False, False] Translation: X:1.05, Y:0.00, Z:0.01 [[ 0.99998236 0.00473023 -0.00359094 1.05416168] [-0.00472382 0.99998724 0.00179197 0.00446981] [ 0.00359937 -0.00177497 0.99999195 0.01315102] [ 0. 0. 0. 1. ]] SLAMing on 96.363133365 meters 0.27991272455891886 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998371 -0.00484769 -0.00301378 1.03253538] [ 0.00485593 0.99998448 0.00273195 0.00580344] [ 0.00300049 -0.00274654 0.99999173 0.01253086] [ 0. 0. 0. 1. ]] SLAMing on 96.423133365 meters 0.2803129744515528 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998435 -0.00482762 -0.00282617 1.03186715] [ 0.00483546 0.99998446 0.00277423 0.00566978] [ 0.00281273 -0.00278786 0.99999216 0.01306742] [ 0. 0. 0. 1. ]] SLAMing on 96.48313336499999 meters 0.279630205874089 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:0.01 [[ 0.99998443 -0.00483495 -0.00278655 1.03176806] [ 0.00484263 0.99998448 0.0027555 0.00577157] [ 0.00277318 -0.00276895 0.99999232 0.01307549] [ 0. 0. 0. 1. ]] SLAMing on 96.54313336499999 meters 0.27784627729435535 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:0.01 [[ 0.99999012 0.00339046 -0.00287473 1.01111138] [-0.00338417 0.99999187 0.00219046 0.0024356 ] [ 0.00288213 -0.00218071 0.99999347 0.01267561] [ 0. 0. 0. 1. ]] SLAMing on 96.60313336499999 meters 0.27869234888989075 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:0.01 [[ 0.99998925 0.00336056 -0.0031949 1.01209531] [-0.00335376 0.99999211 0.00213077 0.002631 ] [ 0.00320204 -0.00212004 0.99999263 0.01210809] [ 0. 0. 0. 1. ]] SLAMing on 96.663133365 meters 0.27931285655244037 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:0.01 [[ 0.99998965 0.00332428 -0.00310583 1.0119555 ] [-0.00331797 0.99999242 0.00203735 0.00301999] [ 0.00311258 -0.00202702 0.9999931 0.01194112] [ 0. 0. 0. 1. ]] SLAMing on 96.723133365 meters 0.28138470087467876 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:0.01 [[ 0.99998987 0.00330543 -0.00305609 1.01176459] [-0.00329936 0.99999258 0.00198932 0.00324341] [ 0.00306264 -0.00197921 0.99999335 0.01209383] [ 0. 0. 0. 1. ]] SLAMing on 96.783133365 meters 0.2787648512452957 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:0.01 [[ 9.99996168e-01 1.38566552e-03 -2.39679464e-03 9.75801907e-01] [-1.38032833e-03 9.99996568e-01 2.22702621e-03 6.66286539e-04] [ 2.39987232e-03 -2.22370931e-03 9.99994648e-01 7.11896368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843133365 meters 0.2780966289960752 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.00, Z:0.01 [[ 9.99996002e-01 1.51501230e-03 -2.38766179e-03 9.75605544e-01] [-1.50872852e-03 9.99995400e-01 2.63137956e-03 -9.52553853e-04] [ 2.39163738e-03 -2.62776670e-03 9.99993687e-01 7.52151299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90313336499999 meters 0.28010580682247105 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.01, Z:0.01 [[ 9.99970322e-01 -7.66435579e-03 7.82576997e-04 9.94250452e-01] [ 7.66205816e-03 9.99966447e-01 2.89792851e-03 -7.15847163e-03] [-8.04761494e-04 -2.89184635e-03 9.99995495e-01 8.61311309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96313336499999 meters 0.27800489890182484 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.01 [[ 9.99997590e-01 -1.39224370e-04 2.19100129e-03 9.75104570e-01] [ 1.34057501e-04 9.99997210e-01 2.35819293e-03 -1.58301808e-02] [-2.19132349e-03 -2.35789352e-03 9.99994819e-01 6.29893451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02313336499999 meters 0.27919447539948794 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.01 [[ 9.99997896e-01 1.56319051e-04 2.04531113e-03 9.75409863e-01] [-1.62939696e-04 9.99994747e-01 3.23722062e-03 -1.93705479e-02] [-2.04479434e-03 -3.23754708e-03 9.99992669e-01 6.29361701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.083133365 meters 0.2773446091164699 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.01 [[ 9.99997844e-01 5.79160080e-04 1.99399778e-03 9.75338225e-01] [-5.87482774e-04 9.99991109e-01 4.17582082e-03 -2.33365829e-02] [-1.99156158e-03 -4.17698325e-03 9.99989293e-01 6.57798465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.143133365 meters 0.2785242754159782 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.02, Z:0.01 [[ 9.99998045e-01 7.11483938e-04 1.84468047e-03 9.75783161e-01] [-7.19773464e-04 9.99989629e-01 4.49698342e-03 -2.46882141e-02] [-1.84146181e-03 -4.49830239e-03 9.99988187e-01 6.40162451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.203133365 meters 0.2786958898713471 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.01 [[ 9.99998409e-01 7.57749782e-04 1.61478522e-03 9.76523033e-01] [-7.65222950e-04 9.99988978e-01 4.63238243e-03 -2.52509360e-02] [-1.61125724e-03 -4.63361073e-03 9.99987967e-01 5.93488684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26313336499999 meters 0.279358327540147 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.01 [[ 9.99998738e-01 7.40047916e-04 1.40564490e-03 9.77415353e-01] [-7.46500727e-04 9.99989161e-01 4.59567735e-03 -2.51670587e-02] [-1.40222864e-03 -4.59672086e-03 9.99988452e-01 5.04678509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32313336499999 meters 0.2792377636863376 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.00 [[ 9.99998748e-01 7.32481219e-04 1.40263365e-03 9.77484510e-01] [-7.38897552e-04 9.99989241e-01 4.57944873e-03 -2.51037560e-02] [-1.39926420e-03 -4.58047940e-03 9.99988531e-01 4.91166143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38313336499999 meters 0.2782013310326781 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.00 [[ 9.99998801e-01 8.38485873e-04 1.30170321e-03 9.77691759e-01] [-8.44818422e-04 9.99987775e-01 4.87191422e-03 -2.63153995e-02] [-1.29760226e-03 -4.87300809e-03 9.99987285e-01 4.98627108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.443133365 meters 0.27791155959359165 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:0.01 [[ 9.99998497e-01 9.87401486e-04 1.42509538e-03 9.77276183e-01] [-9.94909191e-04 9.99985581e-01 5.27715416e-03 -2.79685410e-02] [-1.41986416e-03 -5.27856407e-03 9.99985060e-01 5.24755508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.503133365 meters 0.27907401797107456 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.00 [[ 0.99996236 0.00831071 0.00249178 0.9987189 ] [-0.00831745 0.99996175 0.00270634 -0.03139649] [-0.00246919 -0.00272697 0.99999323 0.00464933] [ 0. 0. 0. 1. ]] SLAMing on 97.563133365 meters 0.28027523819856487 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.00 [[ 0.99998856 0.00415824 0.00236601 0.99891712] [-0.00415533 0.99999061 -0.00123249 -0.0321583 ] [-0.00237112 0.00122264 0.99999644 0.00456284] [ 0. 0. 0. 1. ]] SLAMing on 97.62313336499999 meters 0.28009040104071187 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.01 [[ 0.99998851 0.00412576 0.0024419 0.99849724] [-0.00412257 0.99999064 -0.00131203 -0.03171641] [-0.00244729 0.00130195 0.99999616 0.00510849] [ 0. 0. 0. 1. ]] SLAMing on 97.68313336499999 meters 0.27840667081455844 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.01 [[ 0.99998832 0.00418573 0.00241655 0.99843882] [-0.00418294 0.99999058 -0.00116063 -0.03233534] [-0.00242138 0.00115051 0.99999641 0.00536218] [ 0. 0. 0. 1. ]] SLAMing on 97.74313336499999 meters 0.27868877417013277 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.01 [[ 9.99987740e-01 4.26436307e-03 2.51709401e-03 9.98061967e-01] [-4.26201048e-03 9.99990476e-01 -9.39271787e-04 -3.32217424e-02] [-2.52107544e-03 9.28532390e-04 9.99996391e-01 5.67525273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.803133365 meters 0.2790549667135503 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.01 [[ 9.99987294e-01 4.38895934e-03 2.47974798e-03 9.97970818e-01] [-4.38759027e-03 9.99990219e-01 -5.57272158e-04 -3.47260478e-02] [-2.48216957e-03 5.46384960e-04 9.99996770e-01 6.06064060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.863133365 meters 0.2794280092479055 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99987066e-01 4.55439278e-03 2.26391349e-03 9.98416436e-01] [-4.55427627e-03 9.99989628e-01 -5.66166805e-05 -3.67730060e-02] [-2.26414786e-03 4.63054607e-05 9.99997436e-01 6.15673272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.923133365 meters 0.2799806227158347 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99986933e-01 4.61855226e-03 2.19143008e-03 9.98363123e-01] [-4.61878331e-03 9.99989328e-01 1.00383869e-04 -3.74157024e-02] [-2.19094307e-03 -1.10504298e-04 9.99997594e-01 6.63651811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98313336499999 meters 0.28033259488416845 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99987399e-01 4.58348769e-03 2.04764108e-03 9.98839415e-01] [-4.58354335e-03 9.99989495e-01 2.24875792e-05 -3.70835016e-02] [-2.04751650e-03 -3.18727474e-05 9.99997903e-01 6.37294582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04313336499999 meters 0.27946665519121444 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99987530e-01 4.60095928e-03 1.94190904e-03 9.99055812e-01] [-4.60110963e-03 9.99989412e-01 7.29644270e-05 -3.72768237e-02] [-1.94155278e-03 -8.18984536e-05 9.99998112e-01 6.46791786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10313336499999 meters 0.27971661134835646 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99987457e-01 4.64369693e-03 1.87672863e-03 9.99228046e-01] [-4.64405027e-03 9.99989199e-01 1.83961683e-04 -3.77376951e-02] [-1.87585410e-03 -1.92674998e-04 9.99998222e-01 6.43108797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.163133365 meters 0.279496599410415 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99986681e-01 4.79215922e-03 1.91661813e-03 9.99134151e-01] [-4.79329195e-03 9.99988340e-01 5.86849257e-04 -3.94061268e-02] [-1.91378351e-03 -5.96028351e-04 9.99997991e-01 6.37848643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.223133365 meters 0.2791712717792959 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:0.01 [[ 9.99986547e-01 4.84571641e-03 1.85065490e-03 9.99210502e-01] [-4.84707144e-03 9.99987988e-01 7.28407336e-04 -3.99812854e-02] [-1.84710301e-03 -7.37367793e-04 9.99998022e-01 6.54968712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283133365 meters 0.2805493752810704 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:0.01 [[ 0.99999412 -0.00271237 0.00209879 1.01974169] [ 0.00270886 0.99999493 0.00167595 -0.03732236] [-0.00210332 -0.00167026 0.99999639 0.00759863] [ 0. 0. 0. 1. ]] SLAMing on 98.343133365 meters 0.2811040116934158 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:0.01 [[ 0.99999431 -0.00274129 0.00196745 1.02009689] [ 0.00273813 0.99999496 0.00160671 -0.03704158] [-0.00197184 -0.00160132 0.99999677 0.00753564] [ 0. 0. 0. 1. ]] SLAMing on 98.40313336499999 meters 0.27914458453788954 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:0.01 [[ 9.99996672e-01 2.52102433e-03 -5.47839726e-04 9.96527477e-01] [-2.52181234e-03 9.99995780e-01 -1.44250159e-03 -3.21766841e-02] [ 5.44200833e-04 1.44387834e-03 9.99998810e-01 1.05568006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46313336499999 meters 0.28048162497992546 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.03, Z:0.01 [[ 0.99999666 -0.00222567 0.00131313 1.019942 ] [ 0.00222366 0.99999636 0.00152958 -0.03044754] [-0.00131653 -0.00152665 0.99999797 0.00894925] [ 0. 0. 0. 1. ]] SLAMing on 98.52313336499999 meters 0.27987351992028525 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.03, Z:0.01 [[ 9.99996086e-01 -2.45280064e-03 1.34572038e-03 1.01974440e+00] [ 2.45151640e-03 9.99996539e-01 9.55135073e-04 -2.80359327e-02] [-1.34805847e-03 -9.51832280e-04 9.99998638e-01 9.21777295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583133365 meters 0.27929059790515626 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.02, Z:0.01 [[ 9.99994775e-01 -2.99963466e-03 1.20544463e-03 1.02007357e+00] [ 3.00030210e-03 9.99995347e-01 -5.52265449e-04 -2.18641953e-02] [-1.20378243e-03 5.55879261e-04 9.99999121e-01 9.24214978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643133365 meters 0.2794404600479478 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.02, Z:0.01 [[ 9.99993560e-01 -3.46337527e-03 9.40218282e-04 1.02101546e+00] [ 3.46497645e-03 9.99992540e-01 -1.70673801e-03 -1.70482366e-02] [-9.34300195e-04 1.70998485e-03 9.99998102e-01 8.73981111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.703133365 meters 0.28038951208131263 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.01, Z:0.01 [[ 0.99997856 0.00510268 0.00410447 1.039184 ] [-0.00508723 0.99997997 -0.00376443 -0.01181554] [-0.0041236 0.00374347 0.99998449 0.00921144] [ 0. 0. 0. 1. ]] SLAMing on 98.76313336499999 meters 0.27883076841488874 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.00, Z:0.01 [[ 0.99999296 -0.00203961 0.00315096 1.01777161] [ 0.00204433 0.99999679 -0.00149479 -0.00481573] [-0.0031479 0.00150122 0.99999392 0.01000245] [ 0. 0. 0. 1. ]] SLAMing on 98.82313336499999 meters 0.2798551779571424 Centerline is valid? [False, False] Translation: X:1.02, Y:0.00, Z:0.01 [[ 9.99993951e-01 1.79784746e-03 2.97752936e-03 1.01841749e+00] [-1.80234300e-03 9.99997239e-01 1.50783014e-03 2.67796580e-04] [-2.97481029e-03 -1.51318754e-03 9.99994430e-01 9.50858682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88313336499999 meters 0.2806294991513481 Centerline is valid? [False, False] Translation: X:1.02, Y:0.00, Z:0.01 [[ 9.99994886e-01 1.50521618e-03 2.82171633e-03 1.01882489e+00] [-1.50721450e-03 9.99998615e-01 7.06200852e-04 3.53260776e-03] [-2.82064944e-03 -7.10450173e-04 9.99995770e-01 9.48013731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.943133365 meters 0.28019919036695995 Centerline is valid? [False, False] Translation: X:1.02, Y:0.01, Z:0.01 [[ 9.99995405e-01 1.25197992e-03 2.76076706e-03 1.01906667e+00] [-1.25145873e-03 9.99999199e-01 -1.90502230e-04 6.99101092e-03] [-2.76100336e-03 1.87046368e-04 9.99996171e-01 9.29847685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003133365 meters 0.27910196172519447 Centerline is valid? [False, False] Translation: X:1.00, Y:0.02, Z:0.01 [[ 9.99978559e-01 -6.32733735e-03 1.68699615e-03 9.97832079e-01] [ 6.32599597e-03 9.99979671e-01 7.99286809e-04 1.81126909e-02] [-1.69201921e-03 -7.88597741e-04 9.99998258e-01 1.03477045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.063133365 meters 0.2812276769417732 Centerline is valid? [False, False] Translation: X:1.02, Y:0.02, Z:0.01 [[ 0.99998186 0.00480089 0.00363717 1.01839675] [-0.00480497 0.99998784 0.0011137 0.02415906] [-0.00363177 -0.00113115 0.99999277 0.01026776] [ 0. 0. 0. 1. ]] SLAMing on 99.12313336499999 meters 0.27891130463320996 Centerline is valid? [False, False] Translation: X:1.00, Y:0.03, Z:0.01 [[ 0.99998126 -0.0045216 0.00412691 0.99887419] [ 0.00451625 0.99998895 0.00130356 0.03305487] [-0.00413276 -0.0012849 0.99999063 0.00931472] [ 0. 0. 0. 1. ]] SLAMing on 99.18313336499999 meters 0.2803035870002565 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99995989 0.00637181 0.00629462 1.01947252] [-0.00638002 0.99997882 0.00128496 0.04083947] [-0.0062863 -0.00132507 0.99997936 0.00883418] [ 0. 0. 0. 1. ]] SLAMing on 99.24313336499999 meters 0.27977401160198456 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 9.99962290e-01 6.08814482e-03 6.19303415e-03 1.01985992e+00] [-6.09061600e-03 9.99981380e-01 3.80243971e-04 4.44156195e-02] [-6.19060386e-03 -4.17949025e-04 9.99980751e-01 8.52369037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.303133365 meters 0.28001716468707943 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 9.99965127e-01 5.76961565e-03 6.03785362e-03 1.02029793e+00] [-5.76649862e-03 9.99983231e-01 -5.33530371e-04 4.81266536e-02] [-6.04083064e-03 4.98694491e-04 9.99981630e-01 8.45658330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.363133365 meters 0.2794814767698731 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 9.99966029e-01 5.60639701e-03 6.04222492e-03 1.02034251e+00] [-5.60071826e-03 9.99983859e-01 -9.56356378e-04 4.98690063e-02] [-6.04748910e-03 9.22483091e-04 9.99981288e-01 8.32407980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.423133365 meters 0.28112345525335525 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.01 [[ 9.99973323e-01 -2.16944672e-03 6.97479050e-03 1.04070388e+00] [ 2.17198308e-03 9.99997578e-01 -3.56091670e-04 5.48613529e-02] [-6.97400109e-03 3.71231297e-04 9.99975612e-01 9.19370158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48313336499999 meters 0.27953398356145076 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998697 0.00304409 0.00409784 1.01807937] [-0.00303099 0.99999028 -0.00320076 0.05650327] [-0.00410754 0.0031883 0.99998648 0.01123592] [ 0. 0. 0. 1. ]] SLAMing on 99.54313336499999 meters 0.2801986056350165 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998748 0.00306008 0.00396007 1.01829518] [-0.00304759 0.99999038 -0.00315548 0.0563261 ] [-0.00396969 0.00314337 0.99998718 0.01150479] [ 0. 0. 0. 1. ]] SLAMing on 99.60313336499999 meters 0.2791561539877413 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998883 0.00308593 0.00357899 1.01917688] [-0.00307495 0.99999056 -0.00306985 0.0559907 ] [-0.00358842 0.00305881 0.99998888 0.01143845] [ 0. 0. 0. 1. ]] SLAMing on 99.663133365 meters 0.27957434575651446 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998929 0.0030846 0.00345091 1.01957293] [-0.00307402 0.99999057 -0.00306725 0.05597 ] [-0.00346034 0.00305661 0.99998934 0.01120793] [ 0. 0. 0. 1. ]] SLAMing on 99.723133365 meters 0.2803579335029059 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998911 0.00306175 0.00352208 1.01927277] [-0.00305074 0.99999046 -0.00312506 0.05622468] [-0.00353162 0.00311428 0.99998891 0.01150115] [ 0. 0. 0. 1. ]] SLAMing on 99.783133365 meters 0.27966589864477154 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998864 0.00305546 0.00365716 1.01878773] [-0.00304398 0.99999044 -0.00313902 0.05634077] [-0.00366672 0.00312785 0.99998839 0.01186809] [ 0. 0. 0. 1. ]] SLAMing on 99.843133365 meters 0.2808754859350345 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998877 0.003002 0.00366578 1.01887255] [-0.00298999 0.99999016 -0.00327582 0.0568992 ] [-0.00367558 0.00326483 0.99998792 0.0116199 ] [ 0. 0. 0. 1. ]] SLAMing on 99.90313336499999 meters 0.2798897424126702 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998803 0.00288469 0.0039523 1.01815897] [-0.00287015 0.99998911 -0.00367899 0.0585492 ] [-0.00396287 0.00366761 0.99998542 0.01173543] [ 0. 0. 0. 1. ]] SLAMing on 99.96313336499999 meters 0.2816761933718463 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998838 0.00277342 0.00394224 1.01826604] [-0.00275769 0.99998824 -0.0039887 0.05979636] [-0.00395326 0.00397778 0.99998427 0.01155295] [ 0. 0. 0. 1. ]] SLAMing on 100.02313336499999 meters 0.2824449374339195 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.01 [[ 0.99997591 -0.00489038 0.0049255 1.0377414 ] [ 0.00490535 0.99998337 -0.00303169 0.06468907] [-0.00491059 0.00305578 0.99998327 0.01248023] [ 0. 0. 0. 1. ]] SLAMing on 100.083133365 meters 0.2803106271284395 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.01 [[ 0.99998884 0.0029709 0.00367471 1.01840918] [-0.00295805 0.99998951 -0.00349854 0.05835159] [-0.00368506 0.00348763 0.99998713 0.01185173] [ 0. 0. 0. 1. ]] SLAMing on 100.143133365 meters 0.2808664169069064 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 0.99998864 0.00324422 0.00349208 1.01860811] [-0.003235 0.99999127 -0.00264446 0.0549593 ] [-0.00350063 0.00263313 0.99999041 0.0123864 ] [ 0. 0. 0. 1. ]] SLAMing on 100.203133365 meters 0.28147501373347544 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 0.99998852 0.00342249 0.00335392 1.01893688] [-0.0034152 0.9999918 -0.00217739 0.05303002] [-0.00336134 0.00216591 0.99999201 0.01240526] [ 0. 0. 0. 1. ]] SLAMing on 100.26313336499999 meters 0.28206993945854436 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.01 [[ 0.99998708 0.00379864 0.00337872 1.01860624] [-0.00379423 0.99999194 -0.00130952 0.04947429] [-0.00338366 0.00129669 0.99999343 0.01299809] [ 0. 0. 0. 1. ]] SLAMing on 100.32313336499999 meters 0.2842102044342947 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99999331 0.00199793 0.00306497 1.02012873] [-0.00199266 0.99999653 -0.00172153 0.04177985] [-0.0030684 0.00171542 0.99999382 0.01199696] [ 0. 0. 0. 1. ]] SLAMing on 100.38313336499999 meters 0.28409587921166907 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99999419 0.00193694 0.00280369 1.02089371] [-0.00193161 0.99999632 -0.00190284 0.04249291] [-0.00280736 0.00189742 0.99999426 0.0115895 ] [ 0. 0. 0. 1. ]] SLAMing on 100.443133365 meters 0.2823109507863192 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99999377 0.0018685 0.00299566 1.02037007] [-0.00186224 0.99999608 -0.00209164 0.04330661] [-0.00299955 0.00208604 0.99999333 0.01171433] [ 0. 0. 0. 1. ]] SLAMing on 100.503133365 meters 0.2831224371730781 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99999353 0.00182962 0.00309868 1.01989399] [-0.00182282 0.99999593 -0.00219632 0.04379856] [-0.00310268 0.00219066 0.99999279 0.01221694] [ 0. 0. 0. 1. ]] SLAMing on 100.563133365 meters 0.28292332189734176 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 0.99999313 0.00185766 0.00320884 1.01955965] [-0.00185084 0.99999602 -0.00212864 0.04352969] [-0.00321278 0.00212269 0.99999259 0.01236682] [ 0. 0. 0. 1. ]] SLAMing on 100.62313336499999 meters 0.28153879625536027 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 9.99979325e-01 -5.89481290e-03 2.56912616e-03 9.98393337e-01] [ 5.89365503e-03 9.99982527e-01 4.58026272e-04 4.25749399e-02] [-2.57178125e-03 -4.42875259e-04 9.99996595e-01 1.20638180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68313336499999 meters 0.28134394757006814 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 9.99979993e-01 -5.86202694e-03 2.37684500e-03 9.98989712e-01] [ 5.86073730e-03 9.99982675e-01 5.49183786e-04 4.21452742e-02] [-2.38002315e-03 -5.35242734e-04 9.99997024e-01 1.17687924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74313336499999 meters 0.28043859199058585 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 9.99980493e-01 -5.83180254e-03 2.23670826e-03 9.99361507e-01] [ 5.83041129e-03 9.99982806e-01 6.28026111e-04 4.17906771e-02] [-2.24033233e-03 -6.14972931e-04 9.99997301e-01 1.16984894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.803133365 meters 0.28110922677019884 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 9.99980509e-01 -5.79657448e-03 2.31985278e-03 9.99080037e-01] [ 5.79493695e-03 9.99982956e-01 7.11976947e-04 4.14556696e-02] [-2.32394027e-03 -6.98519669e-04 9.99997056e-01 1.18789189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.863133365 meters 0.2817834973662826 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 9.99981002e-01 -5.73786675e-03 2.25242996e-03 9.99262935e-01] [ 5.73595080e-03 9.99983183e-01 8.56156839e-04 4.08389622e-02] [-2.25730460e-03 -8.43220746e-04 9.99997097e-01 1.18390461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.923133365 meters 0.2816940142771014 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 0.99998208 -0.00563015 0.0020365 0.9999308 ] [ 0.00562787 0.99998353 0.00112354 0.03964881] [-0.00204279 -0.00111206 0.9999973 0.01155827] [ 0. 0. 0. 1. ]] SLAMing on 100.98313336499999 meters 0.2823526287666231 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.01 [[ 0.99998287 -0.00547962 0.00205564 0.99959629] [ 0.00547654 0.99998388 0.00150233 0.03810292] [-0.00206384 -0.00149104 0.99999676 0.0122163 ] [ 0. 0. 0. 1. ]] SLAMing on 101.04313336499999 meters 0.2831143179018164 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.01 [[ 9.99988947e-01 3.49100025e-03 3.14925394e-03 1.01850661e+00] [-3.49278743e-03 9.99993742e-01 5.62172739e-04 3.37822061e-02] [-3.14727169e-03 -5.73166200e-04 9.99994883e-01 1.36821768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10313336499999 meters 0.28278128359028915 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.01 [[ 9.99988896e-01 3.45334679e-03 3.20666591e-03 1.01847694e+00] [-3.45487343e-03 9.99993921e-01 4.70665317e-04 3.41610347e-02] [-3.20502104e-03 -4.81738716e-04 9.99994748e-01 1.34331421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.163133365 meters 0.28239523500809527 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.01 [[ 9.99988164e-01 3.43745619e-03 3.44312387e-03 1.01745698e+00] [-3.43887941e-03 9.99994004e-01 4.07516207e-04 3.45999418e-02] [-3.44170240e-03 -4.19351871e-04 9.99993989e-01 1.46290732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.223133365 meters 0.2812226642568894 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.01 [[ 9.99989795e-01 3.34390753e-03 3.03763001e-03 1.01866722e+00] [-3.34449381e-03 9.99994390e-01 1.87947636e-04 3.54423535e-02] [-3.03698449e-03 -1.98105053e-04 9.99995369e-01 1.39278071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283133365 meters 0.2803713861680187 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.01 [[ 9.99990040e-01 3.39819267e-03 2.89343344e-03 1.01910439e+00] [-3.39920527e-03 9.99994163e-01 3.45121041e-04 3.47953774e-02] [-2.89224376e-03 -3.54952977e-04 9.99995754e-01 1.36928275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34313336499999 meters 0.2791580474739855 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.02 [[ 9.99985708e-01 3.25236303e-03 4.24322340e-03 1.01533398e+00] [-3.25487069e-03 9.99994532e-01 5.84210172e-04 3.31182104e-02] [-4.24130014e-03 -5.98012966e-04 9.99990827e-01 1.61916375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40313336499999 meters 0.28013703287806657 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.02 [[ 0.99998504 0.00341742 0.00427089 1.0152064 ] [-0.00342204 0.99999357 0.00107612 0.03116755] [-0.00426718 -0.00109071 0.9999903 0.01633965] [ 0. 0. 0. 1. ]] SLAMing on 101.46313336499999 meters 0.28060443855422446 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.02 [[ 0.99998446 0.00364673 0.00421647 1.01527901] [-0.00365387 0.99999191 0.00168491 0.02868381] [-0.0042103 -0.00170029 0.99998969 0.0164749 ] [ 0. 0. 0. 1. ]] SLAMing on 101.52313336499999 meters 0.28092387908121663 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.02 [[ 0.99998388 0.00383896 0.0041842 1.01518385] [-0.00384823 0.99999015 0.00221062 0.02657412] [-0.00417567 -0.00222669 0.9999888 0.0168822 ] [ 0. 0. 0. 1. ]] SLAMing on 101.583133365 meters 0.2806415977910687 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.02 [[ 0.99998383 0.00396916 0.00407214 1.01544082] [-0.00397967 0.99998876 0.00257619 0.02509265] [-0.00406187 -0.00259235 0.99998839 0.01690923] [ 0. 0. 0. 1. ]] SLAMing on 101.643133365 meters 0.27777213563389874 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.02 [[ 9.99983882e-01 1.77405005e-03 5.39337469e-03 1.00941822e+00] [-1.77619454e-03 9.99998345e-01 3.92851297e-04 2.73648468e-02] [-5.39266883e-03 -4.02424648e-04 9.99985378e-01 2.10851261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703133365 meters 0.28029866875981185 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.02 [[ 0.99996269 -0.00582821 0.00637519 1.02922146] [ 0.00581993 0.9999822 0.00131735 0.03119703] [-0.00638275 -0.0012802 0.99997881 0.0218559 ] [ 0. 0. 0. 1. ]] SLAMing on 101.76313336499999 meters 0.27831289584309177 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.02 [[ 9.99979455e-01 1.93856350e-03 6.10987877e-03 1.00927501e+00] [-1.94028316e-03 9.99998080e-01 2.75541134e-04 2.80168767e-02] [-6.10933289e-03 -2.87390368e-04 9.99981297e-01 2.11312648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82313336499999 meters 0.27927073556089105 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.02 [[ 9.99946778e-01 -6.77723864e-03 7.77879652e-03 1.02910681e+00] [ 6.77244234e-03 9.99976860e-01 6.42761498e-04 2.82245358e-02] [-7.78297267e-03 -5.90045838e-04 9.99969538e-01 2.21183328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88313336499999 meters 0.2784137103221724 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:0.02 [[ 9.99984920e-01 7.80861369e-04 5.43591075e-03 1.01173674e+00] [-7.78713252e-04 9.99999618e-01 -3.97276776e-04 2.42585902e-02] [-5.43621889e-03 3.93037770e-04 9.99985146e-01 2.04521224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.943133365 meters 0.2789356191247221 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.02 [[ 9.99957660e-01 -6.54058138e-03 6.47301000e-03 1.03079814e+00] [ 6.53688548e-03 9.99978459e-01 5.91963712e-04 3.07098427e-02] [-6.47674235e-03 -5.49625323e-04 9.99978875e-01 2.16503142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.003133365 meters 0.27755568135340614 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:0.02 [[ 9.99981352e-01 1.77570593e-03 5.84310335e-03 1.00864703e+00] [-1.77436186e-03 9.99998398e-01 -2.35203292e-04 3.28589622e-02] [-5.84351164e-03 2.24831127e-04 9.99982901e-01 2.20529390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.063133365 meters 0.2781927970270301 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.02 [[ 9.99981450e-01 1.50126646e-03 5.90311177e-03 1.00863758e+00] [-1.49555525e-03 9.99998409e-01 -9.71787659e-04 3.58323975e-02] [-5.90456129e-03 9.62941202e-04 9.99982104e-01 2.18115076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12313336499999 meters 0.2782685767427275 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.02 [[ 0.99998132 0.0012 0.00599253 1.00856357] [-0.00118969 0.99999781 -0.00172439 0.03890492] [-0.00599459 0.00171723 0.99998056 0.02155937] [ 0. 0. 0. 1. ]] SLAMing on 102.18313336499999 meters 0.2792587330359396 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.02 [[ 9.99980513e-01 9.46533843e-04 6.17075301e-03 1.00801887e+00] [-9.32018900e-04 9.99996793e-01 -2.35466726e-03 4.15216925e-02] [-6.17296200e-03 2.34887011e-03 9.99978188e-01 2.18343822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24313336499999 meters 0.2784141763257993 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 0.99994386 -0.00726131 0.0077174 1.0265319 ] [ 0.00727552 0.99997189 -0.00181473 0.04813267] [-0.007704 0.00187077 0.99996857 0.02302484] [ 0. 0. 0. 1. ]] SLAMing on 102.303133365 meters 0.28039511039328757 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 9.99966454e-01 -4.06986639e-03 7.10819688e-03 1.02923420e+00] [ 4.06681282e-03 9.99991632e-01 4.43986034e-04 5.33758114e-02] [-7.10994437e-03 -4.15063434e-04 9.99974638e-01 2.10819076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.363133365 meters 0.2800632212043303 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 9.99967454e-01 -4.18982607e-03 6.89460615e-03 1.03017817e+00] [ 4.18917138e-03 9.99991219e-01 1.09396063e-04 5.46978000e-02] [-6.89500396e-03 -8.05098163e-05 9.99976226e-01 1.99879961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.423133365 meters 0.2769686560113257 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.02 [[ 0.99998839 0.00139301 0.0046139 1.00759027] [-0.00137871 0.99999424 -0.00309996 0.0594693 ] [-0.00461819 0.00309356 0.99998455 0.02137799] [ 0. 0. 0. 1. ]] SLAMing on 102.48313336499999 meters 0.27873676595900715 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.02 [[ 9.99973585e-01 -3.69847508e-03 6.25708226e-03 1.03111069e+00] [ 3.69923981e-03 9.99993152e-01 -1.10650013e-04 6.14254106e-02] [-6.25663017e-03 1.33793538e-04 9.99980418e-01 1.94377350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54313336499999 meters 0.27943459489295697 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.02 [[ 9.99973440e-01 -3.74564364e-03 6.25209111e-03 1.03128443e+00] [ 3.74716669e-03 9.99992952e-01 -2.31910948e-04 6.19059032e-02] [-6.25117839e-03 2.55332416e-04 9.99980429e-01 1.90843603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60313336499999 meters 0.2785058009714913 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.02 [[ 9.99972899e-01 -3.80270703e-03 6.30396214e-03 1.03113352e+00] [ 3.80517050e-03 9.99992689e-01 -3.78833328e-04 6.25118516e-02] [-6.30247546e-03 4.02810712e-04 9.99980058e-01 1.91527044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.663133365 meters 0.2794937090537317 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.02 [[ 9.99973273e-01 -3.89093084e-03 6.18980539e-03 1.03173371e+00] [ 3.89490897e-03 9.99992216e-01 -6.30765643e-04 6.35105340e-02] [-6.18730294e-03 6.54857513e-04 9.99980644e-01 1.83953650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.723133365 meters 0.2798544891406523 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.02 [[ 9.99973507e-01 -3.93808289e-03 6.12177235e-03 1.03209597e+00] [ 3.94279207e-03 9.99991940e-01 -7.57373362e-04 6.40043248e-02] [-6.11874041e-03 7.81490173e-04 9.99980975e-01 1.79539930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.783133365 meters 0.2782400041786151 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 9.99971972e-01 -4.02671646e-03 6.31202689e-03 1.03157500e+00] [ 4.03310237e-03 9.99991368e-01 -9.99302996e-04 6.50164090e-02] [-6.30794849e-03 1.02473204e-03 9.99979580e-01 1.81199966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84313336499999 meters 0.2784874102695288 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 0.99997086 -0.00417306 0.00639192 1.03145754] [ 0.00418209 0.99999028 -0.0013987 0.06663963] [-0.00638602 0.00142539 0.99997859 0.01797637] [ 0. 0. 0. 1. ]] SLAMing on 102.90313336499999 meters 0.27811332614165174 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 0.9999705 -0.00418788 0.00643844 1.03156484] [ 0.00419725 0.99999015 -0.00144175 0.06678205] [-0.00643234 0.00146873 0.99997823 0.01749022] [ 0. 0. 0. 1. ]] SLAMing on 102.96313336499999 meters 0.2778970978850995 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 0.999969 -0.00420913 0.00665416 1.03113884] [ 0.00421919 0.99998998 -0.00149818 0.0670051 ] [-0.00664779 0.00152621 0.99997674 0.01728366] [ 0. 0. 0. 1. ]] SLAMing on 103.02313336499999 meters 0.27798243584345594 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 0.99996915 -0.00431204 0.00656611 1.03157241] [ 0.00432372 0.99998909 -0.0017657 0.06809554] [-0.00655842 0.00179403 0.99997688 0.01680429] [ 0. 0. 0. 1. ]] SLAMing on 103.083133365 meters 0.27917961836921257 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:0.02 [[ 0.99996945 -0.00451599 0.00637978 1.03247555] [ 0.004531 0.999987 -0.00233956 0.07048245] [-0.00636913 0.0023684 0.99997691 0.01568942] [ 0. 0. 0. 1. ]] SLAMing on 103.143133365 meters 0.27748838554603955 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.01 [[ 0.99998998 0.00326679 0.00306193 1.01404525] [-0.00325491 0.99998719 -0.0038771 0.07754741] [-0.00307455 0.0038671 0.9999878 0.01397121] [ 0. 0. 0. 1. ]] SLAMing on 103.203133365 meters 0.2787741776324771 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.01 [[ 0.99998735 -0.00242571 0.00440568 1.03642043] [ 0.00243128 0.99999625 -0.00125971 0.08250456] [-0.00440261 0.0012704 0.9999895 0.01273927] [ 0. 0. 0. 1. ]] SLAMing on 103.26313336499999 meters 0.2800229891696413 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:0.01 [[ 0.99996357 0.00621306 0.00585363 1.05606428] [-0.00619551 0.99997627 -0.00301235 0.08323733] [-0.00587221 0.00297597 0.99997833 0.01241626] [ 0. 0. 0. 1. ]] SLAMing on 103.32313336499999 meters 0.2793338965925588 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 0.99998213 -0.00239202 0.00547868 1.03699901] [ 0.00240388 0.99999478 -0.00215971 0.09022697] [-0.00547348 0.00217284 0.99998266 0.0097118 ] [ 0. 0. 0. 1. ]] SLAMing on 103.38313336499999 meters 0.2786599476583959 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 0.99998035 -0.00243379 0.00577796 1.03633739] [ 0.00244696 0.99999442 -0.00227315 0.09070566] [-0.0057724 0.00228724 0.99998072 0.00962589] [ 0. 0. 0. 1. ]] SLAMing on 103.443133365 meters 0.2812344866089661 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 0.99998068 -0.00244854 0.00571438 1.03676119] [ 0.0024618 0.99999429 -0.00231535 0.09085641] [-0.00570868 0.00232937 0.99998099 0.00902321] [ 0. 0. 0. 1. ]] SLAMing on 103.503133365 meters 0.2776919699102638 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 0.99998124 0.00520477 0.00323029 1.01751727] [-0.0051931 0.99998 -0.003609 0.09111867] [-0.00324901 0.00359216 0.99998827 0.00785637] [ 0. 0. 0. 1. ]] SLAMing on 103.563133365 meters 0.2788310336478464 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:0.01 [[ 0.99999604 -0.00106533 0.00260535 1.04172028] [ 0.00106857 0.99999866 -0.00124261 0.0953065 ] [-0.00260402 0.00124539 0.99999583 0.00611275] [ 0. 0. 0. 1. ]] SLAMing on 103.62313336499999 meters 0.2791853024499245 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:0.01 [[ 0.99999609 -0.00117738 0.00253756 1.0419743 ] [ 0.0011814 0.99999805 -0.00158482 0.0966742 ] [-0.00253569 0.00158782 0.99999552 0.00591265] [ 0. 0. 0. 1. ]] SLAMing on 103.68313336499999 meters 0.2808550232199839 Centerline is valid? [False, False] Translation: X:1.04, Y:0.10, Z:0.01 [[ 0.99999589 -0.00117177 0.00261832 1.04171131] [ 0.00117589 0.99999807 -0.00157194 0.09660818] [-0.00261647 0.00157501 0.99999534 0.00604815] [ 0. 0. 0. 1. ]] SLAMing on 103.74313336499999 meters 0.2787599338243355 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99995895e-01 -9.69933630e-04 2.69605382e-03 1.04164146e+00] [ 9.72778545e-04 9.99998971e-01 -1.05410327e-03 9.44206618e-02] [-2.69502863e-03 1.05672161e-03 9.99995810e-01 5.77395943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.803133365 meters 0.27934087422375337 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99996342e-01 -7.58704296e-04 2.59622888e-03 1.04213407e+00] [ 7.59896015e-04 9.99999606e-01 -4.58063847e-04 9.19435596e-02] [-2.59588032e-03 4.60035035e-04 9.99996525e-01 5.16075196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.863133365 meters 0.28087849520816477 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99996590e-01 -4.77942497e-04 2.56758323e-03 1.04223507e+00] [ 4.77255460e-04 9.99999850e-01 2.68186965e-04 8.89555427e-02] [-2.56771102e-03 -2.66960658e-04 9.99996668e-01 5.07530790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.923133365 meters 0.27838690204955147 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99986268e-01 5.24047120e-03 -4.61942302e-05 1.02022245e+00] [-5.24056947e-03 9.99983207e-01 -2.47437158e-03 8.88677698e-02] [ 3.32265815e-05 2.47457969e-03 9.99996938e-01 6.53220810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98313336499999 meters 0.27864969416727536 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99985909e-01 5.30811924e-03 -7.85281995e-05 1.02033064e+00] [-5.30828554e-03 9.99983276e-01 -2.29568127e-03 8.81324167e-02] [ 6.63411363e-05 2.29606577e-03 9.99997362e-01 6.44649433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04313336499999 meters 0.2797017940580198 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.01 [[ 9.99985398e-01 5.39916995e-03 -2.30894471e-04 1.02089494e+00] [-5.39963376e-03 9.99983305e-01 -2.05763283e-03 8.70964618e-02] [ 2.19781107e-04 2.05884953e-03 9.99997856e-01 5.99648674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10313336499999 meters 0.28075096912489567 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.01 [[ 9.99996327e-01 -2.70870506e-03 9.14096136e-05 1.04234330e+00] [ 2.70879286e-03 9.99995857e-01 -9.74358388e-04 8.82039160e-02] [-8.87699853e-05 9.74602419e-04 9.99999521e-01 6.37216349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.163133365 meters 0.27987706336955787 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.00 [[ 0.99998621 0.00493309 -0.0018028 1.02462373] [-0.0049367 0.99998581 -0.0020044 0.08272772] [ 0.00179288 0.00201327 0.99999637 0.00443564] [ 0. 0. 0. 1. ]] SLAMing on 104.223133365 meters 0.2807794087311114 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.00 [[ 0.99998522 0.00506947 -0.00196346 1.02521249] [-0.00507265 0.99998583 -0.00161794 0.08112318] [ 0.00195523 0.00162787 0.99999676 0.00390926] [ 0. 0. 0. 1. ]] SLAMing on 104.283133365 meters 0.28043083923273293 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.00 [[ 0.99998458 0.00520601 -0.00193375 1.02526466] [-0.00520842 0.99998566 -0.00124509 0.07958286] [ 0.00192724 0.00125515 0.99999736 0.00358843] [ 0. 0. 0. 1. ]] SLAMing on 104.34313336499999 meters 0.28235268837261185 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.00 [[ 9.99983055e-01 5.39072498e-03 -2.19779731e-03 1.02618802e+00] [-5.39220893e-03 9.99985238e-01 -6.69833343e-04 7.71210403e-02] [ 2.19415398e-03 6.81672975e-04 9.99997361e-01 2.82787498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40313336499999 meters 0.28299006180905567 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:0.00 [[ 9.99982165e-01 5.52065890e-03 -2.27850493e-03 1.02661250e+00] [-5.52141496e-03 9.99984704e-01 -3.25666597e-04 7.56709870e-02] [ 2.27667219e-03 3.38241360e-04 9.99997351e-01 2.25634501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46313336499999 meters 0.283180895949065 Centerline is valid? [False, False] Translation: X:1.05, Y:0.07, Z:0.00 [[ 9.99995024e-01 -2.91215666e-03 -1.21283388e-03 1.04813088e+00] [ 2.91271481e-03 9.99995653e-01 4.58689524e-04 7.45866570e-02] [ 1.21149283e-03 -4.62219881e-04 9.99999159e-01 2.50481172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52313336499999 meters 0.28105882017492323 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.00 [[ 9.99994190e-01 3.36407377e-03 -5.49681310e-04 1.02333660e+00] [-3.36493080e-03 9.99993113e-01 -1.56572609e-03 7.01543633e-02] [ 5.44410306e-04 1.56756663e-03 9.99998623e-01 3.77689010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.583133365 meters 0.28180236489499627 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.00 [[ 9.99993175e-01 3.65767911e-03 -5.21090616e-04 1.02335197e+00] [-3.65804326e-03 9.99993065e-01 -6.99592193e-04 6.66747358e-02] [ 5.18528119e-04 7.01493590e-04 9.99999620e-01 3.53985918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643133365 meters 0.2842437773387907 Centerline is valid? [False, False] Translation: X:1.03, Y:0.06, Z:0.00 [[ 9.99998007e-01 1.40153926e-03 -1.42172391e-03 1.02705577e+00] [-1.40361115e-03 9.99997953e-01 -1.45736054e-03 5.67836793e-02] [ 1.41967845e-03 1.45935318e-03 9.99997927e-01 9.51718558e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.703133365 meters 0.2847210239860235 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.00 [[ 9.99997432e-01 1.70122808e-03 -1.49742007e-03 1.02706099e+00] [-1.70237110e-03 9.99998260e-01 -7.62383811e-04 5.39073590e-02] [ 1.49612048e-03 7.64931018e-04 9.99998588e-01 1.24356954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76313336499999 meters 0.28346602211418737 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.00 [[ 9.99969049e-01 -7.17216709e-03 -3.23435364e-03 1.00771882e+00] [ 7.17419210e-03 9.99974076e-01 6.14929005e-04 5.44109141e-02] [ 3.22985942e-03 -6.38113847e-04 9.99994580e-01 1.56325641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82313336499999 meters 0.2849162929590939 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.00 [[ 9.99996007e-01 4.71811595e-04 -2.78642360e-03 1.03055082e+00] [-4.75044493e-04 9.99999215e-01 -1.15968430e-03 4.83956740e-02] [ 2.78587426e-03 1.16100334e-03 9.99995445e-01 1.41521855e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88313336499999 meters 0.2811449133373342 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.00 [[ 0.99996961 -0.00665528 -0.00406123 1.00911621] [ 0.00666237 0.9999763 0.00173598 0.04892443] [ 0.00404958 -0.00176299 0.99999025 0.00108847] [ 0. 0. 0. 1. ]] SLAMing on 104.943133365 meters 0.28388030821649424 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.00 [[ 9.99970176e-01 -6.45237037e-03 -4.24431825e-03 1.00962867e+00] [ 6.46200880e-03 9.99976565e-01 2.26112196e-03 4.67454773e-02] [ 4.22962919e-03 -2.28848134e-03 9.99988436e-01 8.67043243e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.003133365 meters 0.28308344920404926 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.00 [[ 0.99997252 -0.00609507 -0.00422007 1.00907946] [ 0.00610812 0.99997658 0.00308701 0.04326139] [ 0.00420116 -0.0031127 0.99998633 0.00175712] [ 0. 0. 0. 1. ]] SLAMing on 105.063133365 meters 0.2818613526883915 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.00 [[ 0.99997341 -0.00607765 -0.00403106 1.00848719] [ 0.0060903 0.99997655 0.00313119 0.0430982 ] [ 0.00401194 -0.00315566 0.99998697 0.00207843] [ 0. 0. 0. 1. ]] SLAMing on 105.12313336499999 meters 0.2817444684045808 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.00 [[ 0.99997319 -0.00611878 -0.00402214 1.00851337] [ 0.00613097 0.99997663 0.00302547 0.0435259 ] [ 0.00400353 -0.00305005 0.99998733 0.00197852] [ 0. 0. 0. 1. ]] SLAMing on 105.18313336499999 meters 0.2817491190054045 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:0.00 [[ 0.99997333 -0.00609928 -0.00401713 1.00846026] [ 0.00611164 0.9999766 0.00307348 0.04332694] [ 0.00399829 -0.00309795 0.99998721 0.00206415] [ 0. 0. 0. 1. ]] SLAMing on 105.24313336499999 meters 0.2819962753104718 Centerline is valid? [False, False] Translation: X:1.03, Y:0.04, Z:0.00 [[ 0.99999487 0.00272393 -0.00168533 1.02565146] [-0.00272047 0.99999419 0.00205418 0.03843142] [ 0.00169091 -0.00204958 0.99999647 0.00326814] [ 0. 0. 0. 1. ]] SLAMing on 105.303133365 meters 0.28175869303012846 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.00 [[ 0.99999524 0.00276828 -0.00136449 1.02472679] [-0.00276529 0.99999378 0.0021883 0.03790115] [ 0.00137054 -0.00218452 0.99999667 0.00371183] [ 0. 0. 0. 1. ]] SLAMing on 105.363133365 meters 0.28233824079697695 Centerline is valid? [False, False] Translation: X:1.02, Y:0.04, Z:0.00 [[ 0.99999533 0.00284706 -0.00111466 1.02406884] [-0.00284434 0.99999299 0.00243407 0.03693806] [ 0.00112158 -0.00243089 0.99999642 0.00387587] [ 0. 0. 0. 1. ]] SLAMing on 105.423133365 meters 0.28375871047576845 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.00 [[ 0.99999453 0.00301667 -0.00135445 1.02467778] [-0.00301229 0.99999029 0.0032172 0.03390926] [ 0.00136414 -0.0032131 0.99999391 0.00358953] [ 0. 0. 0. 1. ]] SLAMing on 105.48313336499999 meters 0.28494589697038925 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.00 [[ 0.99999361 0.00325386 -0.00147828 1.02492803] [-0.00324803 0.99998701 0.00392784 0.03107699] [ 0.00149104 -0.00392301 0.99999119 0.0036106 ] [ 0. 0. 0. 1. ]] SLAMing on 105.54313336499999 meters 0.28435393830004174 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.00 [[ 0.99999289 0.00339496 -0.00164189 1.02549283] [-0.00338791 0.99998511 0.00427784 0.02960458] [ 0.00165639 -0.00427224 0.9999895 0.00320253] [ 0. 0. 0. 1. ]] SLAMing on 105.60313336499999 meters 0.28438344727762527 Centerline is valid? [False, False] Translation: X:1.03, Y:0.03, Z:0.00 [[ 0.99999271 0.00342247 -0.00169072 1.02545092] [-0.00341506 0.99998463 0.00436686 0.02929988] [ 0.00170564 -0.00436106 0.99998904 0.00356546] [ 0. 0. 0. 1. ]] SLAMing on 105.663133365 meters 0.28260248570995705 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:0.00 [[ 9.99999277e-01 -4.26449117e-04 -1.12411536e-03 1.02377449e+00] [ 4.27545100e-04 9.99999433e-01 9.74913920e-04 2.73007652e-02] [ 1.12369897e-03 -9.75393825e-04 9.99998893e-01 4.31591778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.723133365 meters 0.28659019119328205 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.01 [[ 9.99995503e-01 1.41589141e-03 -2.64365987e-03 1.06231045e+00] [-1.41379649e-03 9.99998685e-01 7.94132424e-04 2.85011500e-02] [ 2.64478080e-03 -7.90391256e-04 9.99996190e-01 7.25466156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.783133365 meters 0.28352230897917274 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.01 [[ 0.99998235 -0.00522418 -0.00282934 1.0391984 ] [ 0.00523492 0.99997907 0.0038018 0.03234032] [ 0.00280941 -0.00381655 0.99998877 0.00866718] [ 0. 0. 0. 1. ]] SLAMing on 105.84313336499999 meters 0.2845506001729639 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.01 [[ 0.99998168 -0.00532787 -0.00287365 1.03918064] [ 0.00533804 0.99997948 0.0035427 0.03342744] [ 0.00285471 -0.00355797 0.9999896 0.00896353] [ 0. 0. 0. 1. ]] SLAMing on 105.90313336499999 meters 0.2846877796912833 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.01 [[ 0.99999198 0.00348619 -0.00197354 1.05869055] [-0.00348204 0.99999173 0.00210051 0.03100798] [ 0.00198085 -0.00209362 0.99999585 0.00923334] [ 0. 0. 0. 1. ]] SLAMing on 105.96313336499999 meters 0.2833949703650323 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.01 [[ 0.99999256 0.00333417 -0.00194015 1.05864733] [-0.00333082 0.99999296 0.00172708 0.03256323] [ 0.00194589 -0.00172061 0.99999663 0.00918113] [ 0. 0. 0. 1. ]] SLAMing on 106.02313336499999 meters 0.2843650087616916 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.01 [[ 0.99999281 0.00324941 -0.00195381 1.05874201] [-0.00324646 0.99999359 0.0015127 0.03344871] [ 0.00195871 -0.00150635 0.99999695 0.00906255] [ 0. 0. 0. 1. ]] SLAMing on 106.083133365 meters 0.2853887351838693 Centerline is valid? [False, False] Translation: X:1.06, Y:0.03, Z:0.01 [[ 0.99999289 0.00324007 -0.00193007 1.0586581 ] [-0.00323721 0.99999366 0.00148141 0.03358666] [ 0.00193486 -0.00147515 0.99999704 0.0091301 ] [ 0. 0. 0. 1. ]] SLAMing on 106.143133365 meters 0.2862258367333452 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.01 [[ 0.99996802 -0.00600898 -0.0052768 1.04284977] [ 0.00602463 0.99997749 0.00295361 0.0307074 ] [ 0.00525893 -0.00298531 0.99998172 0.00638572] [ 0. 0. 0. 1. ]] SLAMing on 106.203133365 meters 0.2863401124320684 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.01 [[ 0.9999691 -0.00588099 -0.00521573 1.04252651] [ 0.00589827 0.99997715 0.00330347 0.02928413] [ 0.00519618 -0.00333413 0.99998094 0.00674131] [ 0. 0. 0. 1. ]] SLAMing on 106.26313336499999 meters 0.28590648658965767 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.01 [[ 0.99996862 -0.00602205 -0.0051472 1.04209471] [ 0.00603685 0.99997768 0.00286421 0.03108959] [ 0.00512984 -0.00289519 0.99998265 0.00743419] [ 0. 0. 0. 1. ]] SLAMing on 106.32313336499999 meters 0.2841880121503099 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.01 [[ 0.99998416 -0.00223338 -0.00516561 1.0420277 ] [ 0.00226102 0.99998312 0.00535187 0.03787235] [ 0.00515357 -0.00536346 0.99997234 0.0077234 ] [ 0. 0. 0. 1. ]] SLAMing on 106.38313336499999 meters 0.2869049321012342 Centerline is valid? [False, False] Translation: X:1.06, Y:0.04, Z:0.01 [[ 0.99996276 0.00797318 -0.00330258 1.06270939] [-0.00795644 0.99995559 0.00505197 0.04145859] [ 0.00334272 -0.00502551 0.99998179 0.00726646] [ 0. 0. 0. 1. ]] SLAMing on 106.443133365 meters 0.2834851756123437 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.01 [[ 0.99999286 -0.00168944 -0.00337895 1.04241548] [ 0.00170496 0.99998799 0.00459514 0.05175101] [ 0.00337115 -0.00460087 0.99998373 0.00717292] [ 0. 0. 0. 1. ]] SLAMing on 106.503133365 meters 0.2853404231620812 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.01 [[ 0.99997199 0.00703487 -0.00255652 1.0626224 ] [-0.00702797 0.99997167 0.00269647 0.05365725] [ 0.00257542 -0.00267842 0.9999931 0.00769618] [ 0. 0. 0. 1. ]] SLAMing on 106.563133365 meters 0.28751737350143197 Centerline is valid? [False, False] Translation: X:1.06, Y:0.06, Z:0.01 [[ 0.99997346 0.00679902 -0.00261818 1.06301324] [-0.00679349 0.99997468 0.00211707 0.05604272] [ 0.00263251 -0.00209923 0.99999433 0.00726188] [ 0. 0. 0. 1. ]] SLAMing on 106.62313336499999 meters 0.2856217275122718 Centerline is valid? [False, False] Translation: X:1.06, Y:0.06, Z:0.01 [[ 0.99997496 0.00657243 -0.00262436 1.0633283 ] [-0.00656829 0.99997717 0.00158679 0.05824397] [ 0.00263473 -0.00156951 0.9999953 0.00670046] [ 0. 0. 0. 1. ]] SLAMing on 106.68313336499999 meters 0.28793881772517516 Centerline is valid? [False, False] Translation: X:1.06, Y:0.06, Z:0.01 [[ 0.99997624 0.00637193 -0.0026317 1.06344817] [-0.00636906 0.99997912 0.00109707 0.06028302] [ 0.00263864 -0.00108028 0.99999594 0.00654661] [ 0. 0. 0. 1. ]] SLAMing on 106.74313336499999 meters 0.2853311002144912 Centerline is valid? [False, False] Translation: X:1.06, Y:0.06, Z:0.01 [[ 9.99978800e-01 6.02697586e-03 -2.46472708e-03 1.06302648e+00] [-6.02654372e-03 9.99981824e-01 1.82720431e-04 6.40688861e-02] [ 2.46578353e-03 -1.67862771e-04 9.99996946e-01 6.58868775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.803133365 meters 0.2844518955836302 Centerline is valid? [False, False] Translation: X:1.04, Y:0.07, Z:0.00 [[ 9.99992974e-01 -2.72766858e-03 -2.57131999e-03 1.04407970e+00] [ 2.73003132e-03 9.99995854e-01 9.15821766e-04 7.12827710e-02] [ 2.56881128e-03 -9.22835115e-04 9.99996275e-01 4.98405871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.863133365 meters 0.2862594518115787 Centerline is valid? [False, False] Translation: X:1.06, Y:0.07, Z:0.00 [[ 9.99979176e-01 6.14428408e-03 -1.97371291e-03 1.06429316e+00] [-6.14462020e-03 9.99981108e-01 -1.64280398e-04 6.79475603e-02] [ 1.97266623e-03 1.76404694e-04 9.99998039e-01 4.95850734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.923133365 meters 0.28468971362111234 Centerline is valid? [False, False] Translation: X:1.05, Y:0.07, Z:0.00 [[ 0.9999918 -0.00219685 -0.00340241 1.04555333] [ 0.00220104 0.99999682 0.00122805 0.07189261] [ 0.0033997 -0.00123553 0.99999346 0.00346445] [ 0. 0. 0. 1. ]] SLAMing on 106.98313336499999 meters 0.285954957225162 Centerline is valid? [False, False] Translation: X:1.05, Y:0.07, Z:0.00 [[ 0.99999125 -0.00223578 -0.00353507 1.04626387] [ 0.00223974 0.99999687 0.00111684 0.07227347] [ 0.00353256 -0.00112475 0.99999313 0.00253012] [ 0. 0. 0. 1. ]] SLAMing on 107.04313336499999 meters 0.2872490340012977 Centerline is valid? [False, False] Translation: X:1.05, Y:0.07, Z:0.00 [[ 9.99990829e-01 -2.27226855e-03 -3.63011830e-03 1.04664405e+00] [ 2.27598558e-03 9.99996890e-01 1.02013834e-03 7.26622449e-02] [ 3.62778898e-03 -1.02839109e-03 9.99992891e-01 2.21404435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10313336499999 meters 0.28915509874545825 Centerline is valid? [False, False] Translation: X:1.06, Y:0.07, Z:0.00 [[ 9.99977662e-01 6.66609257e-03 -4.87906251e-04 1.06494488e+00] [-6.66602733e-03 9.99977773e-01 1.35222325e-04 7.36750809e-02] [ 4.88796810e-04 -1.31966908e-04 9.99999872e-01 3.12778841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.163133365 meters 0.28420177340340136 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.00 [[ 9.99994265e-01 -3.07870197e-03 1.41155803e-03 1.04201417e+00] [ 3.07902500e-03 9.99995234e-01 -2.26734830e-04 8.08416872e-02] [-1.41085326e-03 2.31079752e-04 9.99998978e-01 3.76879407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223133365 meters 0.2876089493781897 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.00 [[ 9.99994087e-01 -3.19380194e-03 1.27519444e-03 1.04234883e+00] [ 3.19454187e-03 9.99994730e-01 -5.78635717e-04 8.22432276e-02] [-1.27333967e-03 5.82705957e-04 9.99999020e-01 3.77032105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.283133365 meters 0.2849828294412993 Centerline is valid? [False, False] Translation: X:1.04, Y:0.08, Z:0.00 [[ 9.99993933e-01 -3.35270650e-03 9.44890025e-04 1.04335948e+00] [ 3.35375643e-03 9.99993758e-01 -1.11178347e-03 8.43725647e-02] [-9.41156644e-04 1.11494565e-03 9.99998936e-01 3.19001655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34313336499999 meters 0.28659412667923495 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.00 [[ 9.99993431e-01 -3.47260279e-03 1.03863277e-03 1.04309188e+00] [ 3.47409943e-03 9.99992925e-01 -1.44264927e-03 8.57164274e-02] [-1.03361567e-03 1.44624811e-03 9.99998420e-01 3.31835851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40313336499999 meters 0.28512339985337043 Centerline is valid? [False, False] Translation: X:1.04, Y:0.09, Z:0.00 [[ 9.99993130e-01 -3.58780634e-03 9.31280157e-04 1.04350184e+00] [ 3.58942693e-03 9.99992037e-01 -1.74437106e-03 8.69645121e-02] [-9.25014275e-04 1.74770184e-03 9.99998045e-01 3.00015544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46313336499999 meters 0.2857552155603729 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.00 [[ 0.99999203 -0.00383647 0.00110418 1.00710517] [ 0.00383787 0.99999183 -0.00126883 0.08834325] [-0.00109931 0.00127306 0.99999859 -0.00107281] [ 0. 0. 0. 1. ]] SLAMing on 107.52313336499999 meters 0.2850007925094434 Centerline is valid? [False, False] Translation: X:1.03, Y:0.09, Z:-0.00 [[ 0.99999129 0.0030869 0.00280825 1.03021748] [-0.00307736 0.9999895 -0.00339602 0.0856523 ] [-0.0028187 0.00338735 0.99999029 -0.00328507] [ 0. 0. 0. 1. ]] SLAMing on 107.583133365 meters 0.28663677142887733 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99999018 0.00321039 0.00305356 1.0295427 ] [-0.00320138 0.99999052 -0.0029525 0.08393197] [-0.00306301 0.00294269 0.99999098 -0.00306477] [ 0. 0. 0. 1. ]] SLAMing on 107.643133365 meters 0.28898335769276934 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:-0.00 [[ 0.99998057 -0.00598577 0.00173825 1.05533136] [ 0.00598946 0.99997981 -0.0021234 0.07799467] [-0.0017255 0.00213377 0.99999623 -0.00449467] [ 0. 0. 0. 1. ]] SLAMing on 107.703133365 meters 0.28859727488064535 Centerline is valid? [False, False] Translation: X:1.06, Y:0.08, Z:-0.00 [[ 0.99998193 -0.00577841 0.00165586 1.05548941] [ 0.00578107 0.999982 -0.00160435 0.07585594] [-0.00164656 0.00161389 0.99999734 -0.00444919] [ 0. 0. 0. 1. ]] SLAMing on 107.76313336499999 meters 0.2867270509530026 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99995087e-01 3.04714857e-03 7.35897694e-04 1.03307364e+00] [-3.04616315e-03 9.99994467e-01 -1.33649019e-03 7.26467096e-02] [-7.39966107e-04 1.33424196e-03 9.99998836e-01 -3.88886970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82313336499999 meters 0.2884600512929704 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99994924e-01 3.10676010e-03 7.06615334e-04 1.03311473e+00] [-3.10592462e-03 9.99994480e-01 -1.18040553e-03 7.20138902e-02] [-7.10278670e-04 1.17820485e-03 9.99999054e-01 -3.83790732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88313336499999 meters 0.2869114526754812 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99994492e-01 3.19813847e-03 8.87978855e-04 1.03250131e+00] [-3.19730152e-03 9.99994445e-01 -9.42363115e-04 7.10460392e-02] [-8.90987730e-04 9.39518788e-04 9.99999162e-01 -3.44006158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.943133365 meters 0.28756226891478276 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99994469e-01 3.18543660e-03 9.56109607e-04 1.03208241e+00] [-3.18450168e-03 9.99994451e-01 -9.77764942e-04 7.11934430e-02] [-9.59218910e-04 9.74714802e-04 9.99999065e-01 -2.83426119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.003133365 meters 0.2874459584742855 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99994415e-01 3.17171791e-03 1.05361820e-03 1.03168309e+00] [-3.17065070e-03 9.99994460e-01 -1.01303074e-03 7.13435731e-02] [-1.05682541e-03 1.00968443e-03 9.99998932e-01 -2.48402107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.063133365 meters 0.28576017701373785 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99994333e-01 3.18003363e-03 1.10557022e-03 1.03116246e+00] [-3.17893984e-03 9.99994457e-01 -9.89697324e-04 7.12757891e-02] [-1.10871136e-03 9.86177173e-04 9.99998899e-01 -1.54635822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12313336499999 meters 0.28293195970992185 Centerline is valid? [False, False] Translation: X:0.99, Y:0.07, Z:-0.00 [[ 9.99988177e-01 2.74832308e-03 4.01152282e-03 9.88420035e-01] [-2.74615879e-03 9.99996081e-01 -5.44926024e-04 7.49123709e-02] [-4.01300473e-03 5.33903303e-04 9.99991805e-01 -2.36177078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18313336499999 meters 0.28395373538984353 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.00 [[ 9.99963599e-01 -5.02042874e-03 6.89903817e-03 1.00688775e+00] [ 5.02051226e-03 9.99987397e-01 5.21251444e-06 7.90712634e-02] [-6.89897739e-03 2.94243810e-05 9.99976201e-01 -1.63469368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24313336499999 meters 0.2851665166943465 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 9.99960518e-01 3.39364562e-03 8.21256975e-03 1.02617907e+00] [-3.37938326e-03 9.99992759e-01 -1.74990467e-03 7.85603750e-02] [-8.21844884e-03 1.72208216e-03 9.99964745e-01 -7.86685039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.303133365 meters 0.28787826714587794 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.9999629 0.00319475 0.00799913 1.02741129] [-0.00317702 0.99999247 -0.00222775 0.08070835] [-0.00800619 0.00220225 0.99996552 -0.00249137] [ 0. 0. 0. 1. ]] SLAMing on 108.363133365 meters 0.2875721843987017 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99996673 0.00324775 0.00748306 1.02873621] [-0.00323282 0.99999276 -0.00200619 0.07980322] [-0.00748952 0.00198193 0.99996999 -0.00291888] [ 0. 0. 0. 1. ]] SLAMing on 108.423133365 meters 0.2870445683070691 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99996799 0.00332401 0.00727788 1.02938714] [-0.00331156 0.99999303 -0.00172229 0.07868471] [-0.00728355 0.00169814 0.99997203 -0.00341234] [ 0. 0. 0. 1. ]] SLAMing on 108.48313336499999 meters 0.2893143759218965 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99996658 0.00345156 0.00741142 1.02911803] [-0.00344176 0.99999319 -0.00133443 0.07714682] [-0.00741597 0.00130888 0.99997164 -0.00360547] [ 0. 0. 0. 1. ]] SLAMing on 108.54313336499999 meters 0.2883078095384224 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99996711 0.00346755 0.00733219 1.02940718] [-0.00345817 0.99999319 -0.00129213 0.07697719] [-0.00733662 0.00126673 0.99997228 -0.00382321] [ 0. 0. 0. 1. ]] SLAMing on 108.60313336499999 meters 0.2872672703382698 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.00 [[ 9.99963805e-01 -5.42985877e-03 6.55022441e-03 1.00998795e+00] [ 5.43316713e-03 9.99985121e-01 -4.87386218e-04 8.25801171e-02] [-6.54748052e-03 5.22957041e-04 9.99978428e-01 -3.92058805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.663133365 meters 0.28867619758025115 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 0.99996533 0.00331869 0.00763648 1.03014251] [-0.00330806 0.99999354 -0.00140402 0.07843759] [-0.00764109 0.00137871 0.99996986 -0.00390525] [ 0. 0. 0. 1. ]] SLAMing on 108.723133365 meters 0.2864531562780057 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 9.99963208e-01 3.45417238e-03 7.85177769e-03 1.02956563e+00] [-3.44612721e-03 9.99993523e-01 -1.03792925e-03 7.69352659e-02] [-7.85531202e-03 1.01083284e-03 9.99968636e-01 -3.82424060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.783133365 meters 0.2852537899162951 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.00 [[ 0.99997052 -0.00351128 0.00682915 1.00713271] [ 0.00349899 0.99999224 0.00181017 0.07779857] [-0.00683545 -0.00178622 0.99997504 -0.00194953] [ 0. 0. 0. 1. ]] SLAMing on 108.84313336499999 meters 0.286424426172317 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.00 [[ 0.99997075 -0.00346196 0.0068207 1.00701019] [ 0.0034488 0.99999217 0.00194017 0.07726985] [-0.00682736 -0.00191659 0.99997486 -0.00162596] [ 0. 0. 0. 1. ]] SLAMing on 108.90313336499999 meters 0.2868760121327425 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99954569e-01 5.18537024e-03 7.99819366e-03 1.02632073e+00] [-5.19229033e-03 9.99986163e-01 8.44684797e-04 7.32141504e-02] [-7.99370299e-03 -8.86175366e-04 9.99967657e-01 -9.33494095e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96313336499999 meters 0.2847470705306506 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99955605e-01 5.14325757e-03 7.89519562e-03 1.02664837e+00] [-5.14921765e-03 9.99986473e-01 7.34756949e-04 7.36686422e-02] [-7.89130977e-03 -7.75378410e-04 9.99968563e-01 -1.09708876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02313336499999 meters 0.2844561269953225 Centerline is valid? [False, False] Translation: X:1.03, Y:0.07, Z:-0.00 [[ 9.99958990e-01 5.05389648e-03 7.51509710e-03 1.02792539e+00] [-5.05748497e-03 9.99987106e-01 4.58577098e-04 7.49220736e-02] [-7.51268260e-03 -4.96565782e-04 9.99971656e-01 -2.10726218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.083133365 meters 0.2872099578336112 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 9.99961304e-01 4.91128709e-03 7.29862412e-03 1.02856940e+00] [-4.91186588e-03 9.99987935e-01 6.13775121e-05 7.65497962e-02] [-7.29823462e-03 -9.72249997e-05 9.99973363e-01 -2.36049812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.143133365 meters 0.2848388835662166 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.00 [[ 9.99974604e-01 -4.22611675e-03 5.73863283e-03 1.00933356e+00] [ 4.22458740e-03 9.99991038e-01 2.78596456e-04 8.31625801e-02] [-5.73975878e-03 -2.54346025e-04 9.99983495e-01 -2.13148787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.203133365 meters 0.2847542285765794 Centerline is valid? [False, False] Translation: X:1.03, Y:0.08, Z:-0.00 [[ 9.99958448e-01 5.83924085e-03 7.00036251e-03 1.03055775e+00] [-5.84177461e-03 9.99982878e-01 3.41554722e-04 8.34115291e-02] [-6.99824823e-03 -3.82435070e-04 9.99975439e-01 -2.81106799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26313336499999 meters 0.28660609642836227 Centerline is valid? [False, False] Translation: X:1.05, Y:0.09, Z:-0.00 [[ 9.99954834e-01 -2.52129225e-03 9.16372938e-03 1.04970515e+00] [ 2.51716076e-03 9.99996725e-01 4.62358581e-04 8.75599999e-02] [-9.16486511e-03 -4.39271117e-04 9.99957905e-01 -1.79967595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32313336499999 meters 0.28439607661467264 Centerline is valid? [False, False] Translation: X:1.05, Y:0.09, Z:0.00 [[ 9.99950559e-01 1.79228555e-05 9.94375449e-03 1.04581225e+00] [-4.13973970e-05 9.99997213e-01 2.36053141e-03 9.24682054e-02] [-9.94368447e-03 -2.36082635e-03 9.99947773e-01 9.33823395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38313336499999 meters 0.28449757199980374 Centerline is valid? [False, False] Translation: X:1.05, Y:0.09, Z:0.00 [[ 9.99952619e-01 -1.78265842e-04 9.73283283e-03 1.04665061e+00] [ 1.60658423e-04 9.99998349e-01 1.80982636e-03 9.47637364e-02] [-9.73313939e-03 -1.80817695e-03 9.99950997e-01 1.97979371e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.443133365 meters 0.2855388258396688 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:0.00 [[ 9.99952078e-01 -3.62230755e-04 9.78315587e-03 1.04636881e+00] [ 3.49106383e-04 9.99999037e-01 1.34320191e-03 9.67250040e-02] [-9.78363299e-03 -1.33972218e-03 9.99951242e-01 5.71961611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.503133365 meters 0.28410131479167133 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:0.00 [[ 9.99951477e-01 -5.13344515e-04 9.83768135e-03 1.04634518e+00] [ 5.03534688e-04 9.99999374e-01 9.99619519e-04 9.81911142e-02] [-9.83818834e-03 -9.94617401e-04 9.99951109e-01 3.60169755e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.563133365 meters 0.28621300854968085 Centerline is valid? [False, False] Translation: X:1.05, Y:0.10, Z:-0.00 [[ 9.99953581e-01 -6.55748509e-04 9.61278679e-03 1.04719135e+00] [ 6.50192280e-04 9.99999620e-01 5.81117712e-04 9.98259998e-02] [-9.61316420e-03 -5.74840578e-04 9.99953627e-01 -4.14405263e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62313336499999 meters 0.28558848451729846 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:0.00 [[ 9.99972747e-01 4.67134310e-03 5.71694458e-03 1.02685588e+00] [-4.65611238e-03 9.99985584e-01 -2.67455235e-03 1.04176586e-01] [-5.72935591e-03 2.64786072e-03 9.99980081e-01 8.72717441e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68313336499999 meters 0.2842123218164261 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.00 [[ 0.9999728 0.00455301 0.00580213 1.02653571] [-0.00453578 0.99998527 -0.00297997 0.10544813] [-0.00581562 0.00295357 0.99997873 0.00116408] [ 0. 0. 0. 1. ]] SLAMing on 109.74313336499999 meters 0.28360784072931533 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.00 [[ 9.99972902e-01 4.51412222e-03 5.81526596e-03 1.02659547e+00] [-4.49626063e-03 9.99985146e-01 -3.08092172e-03 1.05862109e-01] [-5.82908724e-03 3.05469128e-03 9.99978345e-01 9.66306799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.803133365 meters 0.28290808426533287 Centerline is valid? [False, False] Translation: X:1.01, Y:0.11, Z:0.00 [[ 0.9999749 -0.00492767 0.0050918 1.00518272] [ 0.0049417 0.99998401 -0.00274778 0.1077127 ] [-0.00507818 0.00277287 0.99998326 0.00147082] [ 0. 0. 0. 1. ]] SLAMing on 109.863133365 meters 0.283667809891622 Centerline is valid? [False, False] Translation: X:1.01, Y:0.11, Z:0.00 [[ 0.99997586 -0.00479457 0.00502993 1.00543819] [ 0.00480657 0.99998563 -0.00237483 0.10615477] [-0.00501847 0.00239895 0.99998453 0.00117673] [ 0. 0. 0. 1. ]] SLAMing on 109.923133365 meters 0.2843416461474202 Centerline is valid? [False, False] Translation: X:1.01, Y:0.11, Z:0.00 [[ 0.99997599 -0.00470361 0.00508872 1.00504937] [ 0.00471453 0.9999866 -0.00213638 0.10514735] [-0.0050786 0.00216032 0.99998477 0.00173329] [ 0. 0. 0. 1. ]] SLAMing on 109.98313336499999 meters 0.2850663362124717 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.00 [[ 0.99997561 -0.00468299 0.005181 1.00457905] [ 0.00469382 0.99998682 -0.00208148 0.10490015] [-0.00517119 0.00210574 0.99998441 0.00233535] [ 0. 0. 0. 1. ]] SLAMing on 110.04313336499999 meters 0.2825373446957237 Centerline is valid? [False, False] Translation: X:1.00, Y:0.11, Z:0.00 [[ 0.99997483 -0.0047752 0.00524831 1.00435952] [ 0.00478752 0.99998581 -0.00233673 0.10593801] [-0.00523707 0.0023618 0.9999835 0.00248696] [ 0. 0. 0. 1. ]] SLAMing on 110.10313336499999 meters 0.2852679243560506 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.00 [[ 0.99996884 -0.00302123 0.00729381 1.04766826] [ 0.00303285 0.99999415 -0.00158236 0.10615111] [-0.00728899 0.00160443 0.99997215 0.00135432] [ 0. 0. 0. 1. ]] SLAMing on 110.163133365 meters 0.2845335812035368 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.00 [[ 9.99968232e-01 -6.20817363e-04 7.94664697e-03 1.04359539e+00] [ 6.21440907e-04 9.99999804e-01 -7.59973667e-05 1.12350184e-01] [-7.94659824e-03 8.09333239e-05 9.99968422e-01 4.86939170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223133365 meters 0.2818900373327621 Centerline is valid? [False, False] Translation: X:1.02, Y:0.11, Z:0.00 [[ 0.99995543 0.0072632 0.00603134 1.02385768] [-0.00725471 0.99997266 -0.00142803 0.11342697] [-0.00604155 0.00138421 0.99998079 0.00403041] [ 0. 0. 0. 1. ]] SLAMing on 110.283133365 meters 0.28245758544290844 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.00 [[ 9.99978372e-01 -9.71459736e-04 6.50476158e-03 1.04507401e+00] [ 9.76270152e-04 9.99999252e-01 -7.36387984e-04 1.16574023e-01] [-6.50404134e-03 7.42722462e-04 9.99978573e-01 4.65830607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34313336499999 meters 0.28458650986210443 Centerline is valid? [False, False] Translation: X:1.07, Y:0.11, Z:0.00 [[ 0.99996857 0.00588608 0.00531089 1.06876464] [-0.00587035 0.99997835 -0.002973 0.10975126] [-0.00532827 0.00294173 0.99998148 0.00347725] [ 0. 0. 0. 1. ]] SLAMing on 110.40313336499999 meters 0.28287316733410045 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.00 [[ 0.99998854 -0.00277439 0.00390272 1.04885947] [ 0.00278188 0.9999943 -0.00191424 0.11173615] [-0.00389739 0.00192508 0.99999055 0.00320178] [ 0. 0. 0. 1. ]] SLAMing on 110.46313336499999 meters 0.28553693255562385 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.00 [[ 0.99998836 -0.0028066 0.00392483 1.04858618] [ 0.00281445 0.99999405 -0.00199642 0.11208053] [-0.00391921 0.00200744 0.9999903 0.00371905] [ 0. 0. 0. 1. ]] SLAMing on 110.52313336499999 meters 0.28403582153731266 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.00 [[ 0.99998827 -0.0030153 0.0037899 1.04890978] [ 0.00302538 0.9999919 -0.00265647 0.11468613] [-0.00378186 0.0026679 0.99998929 0.00376173] [ 0. 0. 0. 1. ]] SLAMing on 110.583133365 meters 0.2832378428948577 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.00 [[ 0.99998814 -0.00323449 0.0036411 1.04923211] [ 0.00324658 0.99998921 -0.00332142 0.11733445] [-0.00363032 0.0033332 0.99998786 0.00391108] [ 0. 0. 0. 1. ]] SLAMing on 110.643133365 meters 0.28294154533931065 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.00 [[ 9.99992681e-01 9.15931522e-04 3.71468744e-03 1.04894950e+00] [-9.18066734e-04 9.99999414e-01 5.73138089e-04 1.19099658e-01] [-3.71416031e-03 -5.76544225e-04 9.99992936e-01 4.14721080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.703133365 meters 0.28346043456946546 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.00 [[ 9.99993095e-01 5.70196248e-04 3.67223818e-03 1.04913038e+00] [-5.69253578e-04 9.99999805e-01 -2.57741834e-04 1.22545324e-01] [-3.67238443e-03 2.55649620e-04 9.99993224e-01 4.08201644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76313336499999 meters 0.28237815412824513 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.00 [[ 9.99993021e-01 3.89850239e-04 3.71565614e-03 1.04902740e+00] [-3.87221220e-04 9.99999674e-01 -7.08244890e-04 1.24409042e-01] [-3.71593104e-03 7.06801166e-04 9.99992846e-01 4.12311310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82313336499999 meters 0.2850271955516914 Centerline is valid? [False, False] Translation: X:1.09, Y:0.13, Z:0.01 [[ 9.99999398e-01 3.01437553e-04 1.05541430e-03 1.08917119e+00] [-2.99729701e-04 9.99998646e-01 -1.61796598e-03 1.26678351e-01] [-1.05590058e-03 1.61764866e-03 9.99998134e-01 7.13083081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88313336499999 meters 0.2851589091595878 Centerline is valid? [False, False] Translation: X:1.09, Y:0.13, Z:0.01 [[ 9.99999638e-01 -1.01848982e-04 8.44907754e-04 1.08975538e+00] [ 1.03998142e-04 9.99996759e-01 -2.54400880e-03 1.30519765e-01] [-8.44645910e-04 2.54409574e-03 9.99996407e-01 7.13737452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943133365 meters 0.2833830297103673 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99982076e-01 -5.97558531e-03 3.73268694e-04 1.06705540e+00] [ 5.97543983e-03 9.99982071e-01 3.89637919e-04 1.36930810e-01] [-3.75590317e-04 -3.87400490e-04 9.99999854e-01 8.18540154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.003133365 meters 0.28475954177552787 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99998155e-01 -1.82290618e-03 6.05637334e-04 1.06625693e+00] [ 1.82036141e-03 9.99989623e-01 4.17611584e-03 1.38878156e-01] [-6.13243717e-04 -4.17500566e-03 9.99991097e-01 8.70154826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.063133365 meters 0.28402513733410856 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99998015e-01 -1.92561520e-03 5.12537452e-04 1.06666471e+00] [ 1.92359664e-03 9.99990505e-01 3.91015177e-03 1.39990621e-01] [-5.20062033e-04 -3.90915809e-03 9.99992224e-01 8.31312052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12313336499999 meters 0.2828595556983452 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99980174e-01 6.26257897e-03 -6.56415061e-04 1.04765548e+00] [-6.26078366e-03 9.99976750e-01 2.70228744e-03 1.37070694e-01] [ 6.73323088e-04 -2.69812419e-03 9.99996133e-01 7.10679220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18313336499999 meters 0.2860286909361785 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99996970e-01 -2.35344270e-03 7.22413090e-04 1.06868533e+00] [ 2.35100326e-03 9.99991594e-01 3.35927109e-03 1.37395812e-01] [-7.30312869e-04 -3.35756252e-03 9.99994097e-01 7.71306935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24313336499999 meters 0.28363888277074784 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99997235e-01 -2.21983556e-03 7.75824192e-04 1.06822826e+00] [ 2.21696225e-03 9.99990753e-01 3.68500269e-03 1.36027113e-01] [-7.83997118e-04 -3.68327253e-03 9.99992909e-01 8.37155607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.303133365 meters 0.28762524768156417 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99997468e-01 -2.13515095e-03 7.11201023e-04 1.06850099e+00] [ 2.13236709e-03 9.99990151e-01 3.89233286e-03 1.35172499e-01] [-7.19504737e-04 -3.89080646e-03 9.99992172e-01 8.10077614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.363133365 meters 0.28699726942757126 Centerline is valid? [False, False] Translation: X:1.07, Y:0.13, Z:0.01 [[ 9.99997687e-01 -2.08974311e-03 5.08537261e-04 1.06905735e+00] [ 2.08768826e-03 9.99989788e-01 4.00823644e-03 1.34700197e-01] [-5.16908252e-04 -4.00716550e-03 9.99991838e-01 7.93542374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423133365 meters 0.28487817801829574 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:0.01 [[ 9.99997580e-01 -2.16951162e-03 3.64427968e-04 1.06928458e+00] [ 2.16811834e-03 9.99990501e-01 3.78105102e-03 1.35627624e-01] [-3.72627541e-04 -3.78025175e-03 9.99992785e-01 8.21797778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48313336499999 meters 0.2820376016240564 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99998683 0.00497864 -0.00124633 1.04572145] [-0.00497696 0.9999867 0.00135305 0.1412137 ] [ 0.00125305 -0.00134683 0.99999831 0.01033158] [ 0. 0. 0. 1. ]] SLAMing on 111.54313336499999 meters 0.28297506508846076 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99987382e-01 4.85845384e-03 -1.27741234e-03 1.04586079e+00] [-4.85712346e-03 9.99987661e-01 1.04251193e-03 1.42501596e-01] [ 1.28246157e-03 -1.03629422e-03 9.99998641e-01 1.02240659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60313336499999 meters 0.2835234556252026 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99998723 0.00487482 -0.00133091 1.0460038 ] [-0.00487338 0.99998754 0.00108508 0.14232997] [ 0.00133619 -0.00107858 0.99999853 0.01018928] [ 0. 0. 0. 1. ]] SLAMing on 111.663133365 meters 0.2836808783649155 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99998706 0.00492275 -0.00128316 1.04578422] [-0.0049212 0.99998716 0.00121045 0.14182027] [ 0.0012891 -0.00120412 0.99999844 0.01041036] [ 0. 0. 0. 1. ]] SLAMing on 111.723133365 meters 0.2842713932329556 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:0.01 [[ 9.99996772e-01 2.53222253e-03 -2.07997572e-04 1.04019821e+00] [-2.53238805e-03 9.99996474e-01 -7.99404670e-04 1.38484529e-01] [ 2.05972568e-04 7.99928820e-04 9.99999659e-01 1.44546756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.783133365 meters 0.2819896481716171 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:0.01 [[ 9.99996826e-01 2.50970433e-03 -2.23578164e-04 1.04017696e+00] [-2.50989459e-03 9.99996485e-01 -8.54841319e-04 1.38718702e-01] [ 2.21431979e-04 8.55399763e-04 9.99999610e-01 1.45881484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84313336499999 meters 0.2841284452069804 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:0.01 [[ 0.99999075 -0.0036807 0.00222642 1.06105955] [ 0.00367703 0.99999188 0.0016498 0.1395958 ] [-0.00223247 -0.0016416 0.99999616 0.01429085] [ 0. 0. 0. 1. ]] SLAMing on 111.90313336499999 meters 0.28402433098317925 Centerline is valid? [False, False] Translation: X:1.06, Y:0.14, Z:0.01 [[ 9.99990712e-01 -3.94270713e-03 1.74116417e-03 1.06247790e+00] [ 3.94152188e-03 9.99991998e-01 6.83628562e-04 1.43493456e-01] [-1.74384559e-03 -6.76759376e-04 9.99998250e-01 1.37315437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96313336499999 meters 0.2837127160799087 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99989729e-01 -4.16627946e-03 1.78446999e-03 1.06244463e+00] [ 4.16606816e-03 9.99991314e-01 1.22114819e-04 1.45810118e-01] [-1.78496326e-03 -1.14679342e-04 9.99998400e-01 1.36244530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02313336499999 meters 0.2838782968685157 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99998008e-01 -2.02381949e-04 1.98576428e-03 1.06180407e+00] [ 1.95612949e-04 9.99994172e-01 3.40836541e-03 1.49172306e-01] [-1.98644250e-03 -3.40797018e-03 9.99992220e-01 1.39631480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.083133365 meters 0.283715508388991 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99998514e-01 -1.83359625e-04 1.71405226e-03 1.06271851e+00] [ 1.77400391e-04 9.99993942e-01 3.47619892e-03 1.48860674e-01] [-1.71467927e-03 -3.47588969e-03 9.99992489e-01 1.32111121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.143133365 meters 0.28508241185680794 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99997975e-01 -7.63853379e-05 2.01106109e-03 1.06216918e+00] [ 6.85269344e-05 9.99992364e-01 3.90736962e-03 1.47173223e-01] [-2.01134420e-03 -3.90722389e-03 9.99990344e-01 1.28264341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203133365 meters 0.28819097753983264 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99998053e-01 5.15505585e-05 1.97276102e-03 1.06210932e+00] [-5.98968867e-05 9.99991048e-01 4.23096004e-03 1.45824799e-01] [-1.97252525e-03 -4.23106996e-03 9.99989104e-01 1.31273213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26313336499999 meters 0.2857114719981846 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99998420e-01 -1.65987417e-06 1.77742326e-03 1.06266781e+00] [-5.62455477e-06 9.99991602e-01 4.09829570e-03 1.46373588e-01] [-1.77741514e-03 -4.09829923e-03 9.99990022e-01 1.29522016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32313336499999 meters 0.2855260202633104 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99997913e-01 -4.36395771e-05 2.04238015e-03 1.06172307e+00] [ 3.56567508e-05 9.99992361e-01 3.90846307e-03 1.47155850e-01] [-2.04253511e-03 -3.90838209e-03 9.99990276e-01 1.38028901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38313336499999 meters 0.28219977865242907 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:0.01 [[ 0.99995725 0.00915412 0.00130013 1.03963946] [-0.00915854 0.99995215 0.00343791 0.14963195] [-0.0012686 -0.00344967 0.99999325 0.01379072] [ 0. 0. 0. 1. ]] SLAMing on 112.443133365 meters 0.2819886388349836 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:0.01 [[ 9.99987105e-01 4.86359750e-03 1.46135305e-03 1.03909474e+00] [-4.86213693e-03 9.99987678e-01 -1.00135988e-03 1.50734724e-01] [-1.46620525e-03 9.94241670e-04 9.99998431e-01 1.40843551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503133365 meters 0.28190426942760793 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:0.01 [[ 0.99998794 0.0046962 0.00143862 1.03899923] [-0.00469413 0.99998795 -0.00143984 0.15255848] [-0.00144536 0.00143307 0.99999793 0.01447883] [ 0. 0. 0. 1. ]] SLAMing on 112.563133365 meters 0.2833365742313737 Centerline is valid? [False, False] Translation: X:1.04, Y:0.16, Z:0.01 [[ 0.99998949 0.00443632 0.00115575 1.0400114 ] [-0.00443388 0.99998794 -0.00211149 0.15543664] [-0.00116511 0.00210635 0.9999971 0.01385758] [ 0. 0. 0. 1. ]] SLAMing on 112.62313336499999 meters 0.28263232202515737 Centerline is valid? [False, False] Translation: X:1.04, Y:0.16, Z:0.01 [[ 0.99999026 0.00427462 0.00109705 1.0399959 ] [-0.00427186 0.99998774 -0.00250583 0.15709295] [-0.00110774 0.00250112 0.99999626 0.01425299] [ 0. 0. 0. 1. ]] SLAMing on 112.68313336499999 meters 0.28350693877379285 Centerline is valid? [False, False] Translation: X:1.06, Y:0.16, Z:0.02 [[ 0.99999063 -0.00352998 0.00250713 1.05878873] [ 0.00353324 0.99999292 -0.00129729 0.16118249] [-0.00250253 0.00130614 0.99999602 0.01639175] [ 0. 0. 0. 1. ]] SLAMing on 112.74313336499999 meters 0.2827527499579607 Centerline is valid? [False, False] Translation: X:1.04, Y:0.16, Z:0.02 [[ 0.99998339 0.00519725 0.00249256 1.03723746] [-0.00519145 0.99998381 -0.00232994 0.16124284] [-0.00250463 0.00231696 0.99999418 0.01621173] [ 0. 0. 0. 1. ]] SLAMing on 112.803133365 meters 0.28231792671808154 Centerline is valid? [False, False] Translation: X:1.04, Y:0.16, Z:0.02 [[ 0.99998442 0.00503331 0.00241336 1.03738677] [-0.00502666 0.99998358 -0.00275047 0.16297607] [-0.00242716 0.00273829 0.99999331 0.01634994] [ 0. 0. 0. 1. ]] SLAMing on 112.863133365 meters 0.28449036180359727 Centerline is valid? [False, False] Translation: X:1.04, Y:0.17, Z:0.02 [[ 0.99998586 0.0048213 0.00224372 1.03774256] [-0.00481373 0.99998275 -0.00336477 0.16545846] [-0.0022599 0.00335392 0.99999182 0.01651628] [ 0. 0. 0. 1. ]] SLAMing on 112.923133365 meters 0.28258382437040075 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.02 [[ 0.99998365 -0.00312958 0.00478513 1.05457064] [ 0.00314389 0.9999906 -0.00298548 0.17497084] [-0.00477574 0.00300047 0.99998409 0.01864918] [ 0. 0. 0. 1. ]] SLAMing on 112.98313336499999 meters 0.28133349091657006 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.02 [[ 0.99997992 -0.00144681 0.00617004 1.04885662] [ 0.00145547 0.99999796 -0.00139942 0.17427202] [-0.006168 0.00140837 0.99997999 0.02212228] [ 0. 0. 0. 1. ]] SLAMing on 113.04313336499999 meters 0.28185595410690883 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.02 [[ 0.99997906 -0.00144073 0.00630883 1.0486151 ] [ 0.00144948 0.99999799 -0.00138228 0.17420134] [-0.00630683 0.0013914 0.99997914 0.02189887] [ 0. 0. 0. 1. ]] SLAMing on 113.10313336499999 meters 0.28217402121907115 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.02 [[ 0.99997845 -0.0014505 0.00640346 1.04809751] [ 0.00145952 0.99999795 -0.00140506 0.1743301 ] [-0.00640141 0.00141437 0.99997851 0.0226041 ] [ 0. 0. 0. 1. ]] SLAMing on 113.163133365 meters 0.2805887403751042 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:0.02 [[ 0.99997926 -0.00148901 0.00626643 1.04827577] [ 0.00149861 0.99999771 -0.001526 0.1748058 ] [-0.00626415 0.00153536 0.9999792 0.02294634] [ 0. 0. 0. 1. ]] SLAMing on 113.223133365 meters 0.28128183257161066 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:0.02 [[ 0.99998339 -0.00150761 0.00556226 1.05017146] [ 0.00151755 0.99999726 -0.001783 0.175933 ] [-0.00555956 0.00179141 0.99998294 0.02209112] [ 0. 0. 0. 1. ]] SLAMing on 113.283133365 meters 0.28065605815086453 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:0.02 [[ 0.99998403 -0.00164529 0.00540591 1.0506168 ] [ 0.00165773 0.99999599 -0.00229747 0.17791989] [-0.00540211 0.0023064 0.99998275 0.02187543] [ 0. 0. 0. 1. ]] SLAMing on 113.34313336499999 meters 0.2792006187828182 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:0.02 [[ 0.99998604 -0.00189131 0.00493482 1.05191149] [ 0.00190781 0.99999259 -0.00334253 0.18179194] [-0.00492846 0.0033519 0.99998224 0.02126807] [ 0. 0. 0. 1. ]] SLAMing on 113.40313336499999 meters 0.27981508657536963 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:0.02 [[ 0.99998624 -0.00206993 0.00482066 1.05251118] [ 0.00208855 0.99999036 -0.00386144 0.18394717] [-0.00481262 0.00387146 0.99998093 0.02042589] [ 0. 0. 0. 1. ]] SLAMing on 113.46313336499999 meters 0.28273821124765486 Centerline is valid? [False, False] Translation: X:1.10, Y:0.19, Z:0.02 [[ 9.99983354e-01 -8.75929482e-04 5.70306317e-03 1.09738461e+00] [ 8.91360582e-04 9.99995948e-01 -2.70377708e-03 1.85552572e-01] [-5.70067174e-03 2.70881556e-03 9.99980082e-01 1.88148425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52313336499999 meters 0.28231508332582694 Centerline is valid? [False, False] Translation: X:1.10, Y:0.19, Z:0.02 [[ 9.99983195e-01 -8.52103244e-04 5.73443066e-03 1.09720940e+00] [ 8.67277954e-04 9.99996128e-01 -2.64427914e-03 1.85301391e-01] [-5.73215525e-03 2.64920805e-03 9.99980062e-01 1.90363307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.583133365 meters 0.2820969378952401 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:0.02 [[ 9.99982371e-01 -7.11981539e-04 5.89489493e-03 1.09656374e+00] [ 7.25282453e-04 9.99997196e-01 -2.25451436e-03 1.83635058e-01] [-5.89327323e-03 2.25875008e-03 9.99980083e-01 1.96294841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.643133365 meters 0.28260593861367994 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:0.02 [[ 9.99981099e-01 -3.85308234e-04 6.13625679e-03 1.09604635e+00] [ 3.92381214e-04 9.99999260e-01 -1.15149176e-03 1.79307271e-01] [-6.13580857e-03 1.15387774e-03 9.99980510e-01 1.94849513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703133365 meters 0.2810374646765676 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:0.02 [[ 9.99981037e-01 -7.65809970e-05 6.15796870e-03 1.09603547e+00] [ 7.88623420e-05 9.99999928e-01 -3.70228426e-04 1.76122966e-01] [-6.15793991e-03 3.70707037e-04 9.99980971e-01 1.93670681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76313336499999 meters 0.2797412873825157 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99981886e-01 1.70504475e-04 6.01654699e-03 1.09646567e+00] [-1.71909455e-04 9.99999958e-01 2.33002949e-04 1.73637725e-01] [-6.01650701e-03 -2.34033029e-04 9.99981873e-01 1.91920132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82313336499999 meters 0.2801105150466498 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99983857e-01 4.31442620e-04 5.66566893e-03 1.09718358e+00] [-4.36668081e-04 9.99999480e-01 9.21097860e-04 1.70907259e-01] [-5.66526858e-03 -9.23557008e-04 9.99983526e-01 1.93953543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88313336499999 meters 0.28223975020343417 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99981720e-01 5.25626735e-04 6.02362082e-03 1.09612991e+00] [-5.32898550e-04 9.99999131e-01 1.20567522e-03 1.69834147e-01] [-6.02298185e-03 -1.20886315e-03 9.99981131e-01 1.99810344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943133365 meters 0.27992123384561074 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99979297e-01 4.91869349e-04 6.41586543e-03 1.09505540e+00] [-4.98896385e-04 9.99999277e-01 1.09370477e-03 1.70296854e-01] [-6.41532283e-03 -1.09688298e-03 9.99978820e-01 2.04040240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003133365 meters 0.27963573848603257 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99980580e-01 4.48511979e-04 6.21597220e-03 1.09561993e+00] [-4.54496916e-04 9.99999435e-01 9.61452959e-04 1.70828284e-01] [-6.21553746e-03 -9.64259427e-04 9.99980218e-01 2.01169025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063133365 meters 0.2809144132339519 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.02 [[ 9.99979976e-01 5.26255424e-04 6.30647486e-03 1.09531039e+00] [-5.33652828e-04 9.99999172e-01 1.17136032e-03 1.69986290e-01] [-6.30585320e-03 -1.17470233e-03 9.99979428e-01 2.03427188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12313336499999 meters 0.27960687835388603 Centerline is valid? [False, False] Translation: X:1.09, Y:0.17, Z:0.02 [[ 9.99978050e-01 7.14923099e-04 6.58692434e-03 1.09433482e+00] [-7.26135618e-04 9.99998291e-01 1.70000475e-03 1.67746433e-01] [-6.58569771e-03 -1.70475043e-03 9.99976861e-01 2.11224456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18313336499999 meters 0.27912900822324727 Centerline is valid? [False, False] Translation: X:1.09, Y:0.17, Z:0.02 [[ 9.99977289e-01 8.99755509e-04 6.67914584e-03 1.09418631e+00] [-9.14784942e-04 9.99997056e-01 2.24748897e-03 1.65555669e-01] [-6.67710399e-03 -2.25354791e-03 9.99975169e-01 2.09584022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24313336499999 meters 0.2800816356786535 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:0.02 [[ 0.99997782 0.00111311 0.00656734 1.09457537] [-0.00113196 0.99999525 0.00286742 0.16304325] [-0.00656412 -0.00287479 0.99997432 0.02068762] [ 0. 0. 0. 1. ]] SLAMing on 114.303133365 meters 0.27977522326922 Centerline is valid? [False, False] Translation: X:1.09, Y:0.16, Z:0.02 [[ 0.99997828 0.00146226 0.00642715 1.0949547 ] [-0.0014872 0.99999138 0.00387693 0.15898883] [-0.00642143 -0.0038864 0.99997183 0.0206504 ] [ 0. 0. 0. 1. ]] SLAMing on 114.363133365 meters 0.2823998393900541 Centerline is valid? [False, False] Translation: X:1.10, Y:0.16, Z:0.02 [[ 9.99987363e-01 -2.52006388e-06 5.02739318e-03 1.10046004e+00] [-1.08612053e-05 9.99996458e-01 2.66164242e-03 1.56753916e-01] [-5.02738208e-03 -2.66166339e-03 9.99983820e-01 1.77401731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.423133365 meters 0.27937428599387326 Centerline is valid? [False, False] Translation: X:1.08, Y:0.15, Z:0.02 [[ 9.99982509e-01 4.86426798e-03 3.36459638e-03 1.07809029e+00] [-4.86244754e-03 9.99988028e-01 -5.49025796e-04 1.51435879e-01] [-3.36722671e-03 5.32656020e-04 9.99994189e-01 1.85385299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48313336499999 meters 0.2809505893287678 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:0.02 [[ 0.99997955 -0.00263308 0.0058288 1.09724055] [ 0.00262387 0.9999953 0.0015875 0.14814351] [-0.00583296 -0.00157218 0.99998175 0.0190452 ] [ 0. 0. 0. 1. ]] SLAMing on 114.54313336499999 meters 0.2799411170357047 Centerline is valid? [False, False] Translation: X:1.08, Y:0.14, Z:0.02 [[ 9.99971249e-01 5.13457798e-03 5.58001342e-03 1.07765076e+00] [-5.13974179e-03 9.99986376e-01 9.11465599e-04 1.39138766e-01] [-5.57525741e-03 -9.40119222e-04 9.99984016e-01 1.79118384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60313336499999 meters 0.2806290313084834 Centerline is valid? [False, False] Translation: X:1.08, Y:0.14, Z:0.02 [[ 0.99996929 0.00545132 0.00563073 1.07763915] [-0.00546064 0.99998374 0.00164164 0.13613406] [-0.00562169 -0.00167233 0.9999828 0.01770531] [ 0. 0. 0. 1. ]] SLAMing on 114.663133365 meters 0.28028315031870377 Centerline is valid? [False, False] Translation: X:1.06, Y:0.13, Z:0.02 [[ 0.99998389 -0.00412583 0.0038973 1.05643191] [ 0.00411701 0.99998895 0.00226921 0.13106579] [-0.00390662 -0.00225313 0.99998983 0.0180295 ] [ 0. 0. 0. 1. ]] SLAMing on 114.723133365 meters 0.2807529676075625 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:0.02 [[ 9.99993943e-01 2.28429002e-03 2.62617699e-03 1.07997998e+00] [-2.28466591e-03 9.99997380e-01 1.40139474e-04 1.20819211e-01] [-2.62584999e-03 -1.46138562e-04 9.99996542e-01 1.73133355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783133365 meters 0.281166523766555 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:0.02 [[ 9.99993216e-01 2.56031128e-03 2.64806214e-03 1.07991974e+00] [-2.56238072e-03 9.99996414e-01 7.78395002e-04 1.18188464e-01] [-2.64605972e-03 -7.85175065e-04 9.99996191e-01 1.73525468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84313336499999 meters 0.28104305224073495 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:0.02 [[ 0.99999255 0.00276353 0.00269678 1.07999968] [-0.00276695 0.99999538 0.00126176 0.11617847] [-0.00269328 -0.00126921 0.99999557 0.0169523 ] [ 0. 0. 0. 1. ]] SLAMing on 114.90313336499999 meters 0.28046001884205185 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.02 [[ 0.99999574 -0.00118577 0.00266675 1.08009451] [ 0.00119138 0.99999708 -0.0021029 0.11223746] [-0.00266425 0.00210607 0.99999423 0.01687249] [ 0. 0. 0. 1. ]] SLAMing on 114.96313336499999 meters 0.2812987481148845 Centerline is valid? [False, False] Translation: X:1.08, Y:0.11, Z:0.02 [[ 9.99996104e-01 -8.24590383e-04 2.66687780e-03 1.07990368e+00] [ 8.27341137e-04 9.99999127e-01 -1.03051266e-03 1.07973870e-01] [-2.66602572e-03 1.03271506e-03 9.99995913e-01 1.72990569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02313336499999 meters 0.2808463150024201 Centerline is valid? [False, False] Translation: X:1.08, Y:0.10, Z:0.02 [[ 9.99996703e-01 -4.58350996e-04 2.52675716e-03 1.08002399e+00] [ 4.58169562e-04 9.99999892e-01 7.23834610e-05 1.03620208e-01] [-2.52679007e-03 -7.12255391e-05 9.99996805e-01 1.77472467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083133365 meters 0.2798698813714204 Centerline is valid? [False, False] Translation: X:1.08, Y:0.10, Z:0.02 [[ 9.99997202e-01 -1.13991552e-04 2.36274662e-03 1.08046373e+00] [ 1.11621346e-04 9.99999491e-01 1.00326441e-03 9.98775143e-02] [-2.36285978e-03 -1.00299787e-03 9.99996705e-01 1.76637830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143133365 meters 0.2792203539710088 Centerline is valid? [False, False] Translation: X:1.08, Y:0.10, Z:0.02 [[ 9.99997411e-01 2.17658151e-04 2.26508360e-03 1.08042945e+00] [-2.21703908e-04 9.99998380e-01 1.78604241e-03 9.66845838e-02] [-2.26469119e-03 -1.78653996e-03 9.99995840e-01 1.82870702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20313336499999 meters 0.28095563947337426 Centerline is valid? [False, False] Translation: X:1.08, Y:0.10, Z:0.02 [[ 9.99997640e-01 3.63027066e-04 2.14189098e-03 1.08083040e+00] [-3.67607065e-04 9.99997646e-01 2.13829088e-03 9.52167018e-02] [-2.14110968e-03 -2.13907321e-03 9.99995420e-01 1.80868808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26313336499999 meters 0.28141034434075174 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99997782e-01 5.49291515e-04 2.03328596e-03 1.08112698e+00] [-5.54504226e-04 9.99996559e-01 2.56401283e-03 9.34476303e-02] [-2.03187057e-03 -2.56513461e-03 9.99994646e-01 1.80727539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32313336499999 meters 0.28137509057037013 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99997528e-01 6.88242288e-04 2.11419391e-03 1.08077581e+00] [-6.94381035e-04 9.99995542e-01 2.90422680e-03 9.20618348e-02] [-2.11218567e-03 -2.90568768e-03 9.99993548e-01 1.84155331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38313336499999 meters 0.27988683911860124 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99992496e-01 -1.80381738e-03 3.42844410e-03 1.07504851e+00] [ 1.80064255e-03 9.99997947e-01 9.28888578e-04 8.86559377e-02] [-3.43011261e-03 -9.22708205e-04 9.99993691e-01 2.22625209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.443133365 meters 0.27968202946770326 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99992848e-01 -1.76737519e-03 3.34374557e-03 1.07529189e+00] [ 1.76395068e-03 9.99997917e-01 1.02682529e-03 8.82462808e-02] [-3.34555339e-03 -1.02091975e-03 9.99993882e-01 2.21865533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.503133365 meters 0.28127422557553616 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99993270e-01 -1.76483523e-03 3.21635444e-03 1.07582523e+00] [ 1.76149737e-03 9.99997907e-01 1.04031552e-03 8.81544939e-02] [-3.21818370e-03 -1.03464292e-03 9.99994286e-01 2.16426448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.563133365 meters 0.2803964057973664 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99993238e-01 -1.79275261e-03 3.21077725e-03 1.07588602e+00] [ 1.78964405e-03 9.99997927e-01 9.70778275e-04 8.84384999e-02] [-3.21251096e-03 -9.65025562e-04 9.99994374e-01 2.15308955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62313336499999 meters 0.2798296449662648 Centerline is valid? [False, False] Translation: X:1.08, Y:0.09, Z:0.02 [[ 9.99993263e-01 -1.82030287e-03 3.18750848e-03 1.07600995e+00] [ 1.81742662e-03 9.99997939e-01 9.05015131e-04 8.87083236e-02] [-3.18914931e-03 -8.99215972e-04 9.99994510e-01 2.13835899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68313336499999 meters 0.2827080338819604 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.02 [[ 9.99998693e-01 -1.27651480e-03 9.92557852e-04 1.11603226e+00] [ 1.27658366e-03 9.99999183e-01 -6.87489393e-05 9.01572796e-02] [-9.92469282e-04 7.00159326e-05 9.99999505e-01 2.40221109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74313336499999 meters 0.28299422952231534 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.02 [[ 9.99998860e-01 -1.15962236e-03 9.67032489e-04 1.11597742e+00] [ 1.15938291e-03 9.99999297e-01 2.48144185e-04 8.88715642e-02] [-9.67319563e-04 -2.47022741e-04 9.99999502e-01 2.42907422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.803133365 meters 0.2799905095425421 Centerline is valid? [False, False] Translation: X:1.08, Y:0.08, Z:0.02 [[ 9.99987103e-01 -4.42654599e-03 2.48984202e-03 1.07624598e+00] [ 4.42707282e-03 9.99990179e-01 -2.06120467e-04 8.06107232e-02] [-2.48890517e-03 2.17140520e-04 9.99996879e-01 2.23982886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.863133365 meters 0.27919387027251485 Centerline is valid? [False, False] Translation: X:1.08, Y:0.08, Z:0.02 [[ 9.99987848e-01 -4.21755955e-03 2.55270309e-03 1.07577335e+00] [ 4.21656305e-03 9.99991032e-01 3.95624097e-04 7.81841361e-02] [-2.55434876e-03 -3.84855656e-04 9.99996664e-01 2.31432653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.923133365 meters 0.2805030803351253 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.03 [[ 9.99997171e-01 1.97082747e-03 -1.33163828e-03 1.09196180e+00] [-1.97173979e-03 9.99997822e-01 -6.84146264e-04 7.21703638e-02] [ 1.33028704e-03 6.86769973e-04 9.99998879e-01 2.68711979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98313336499999 meters 0.2808599969423945 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.03 [[ 9.99996458e-01 2.19398095e-03 -1.50705106e-03 1.09270061e+00] [-2.19417464e-03 9.99997585e-01 -1.26876399e-04 6.97003080e-02] [ 1.50676906e-03 1.30182682e-04 9.99998856e-01 2.62350681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04313336499999 meters 0.2801622182376017 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:0.03 [[ 0.99999704 -0.00175106 -0.00168668 1.09311477] [ 0.00174529 0.99999264 -0.00341708 0.0654735 ] [ 0.00169265 0.00341412 0.99999274 0.02624759] [ 0. 0. 0. 1. ]] SLAMing on 116.10313336499999 meters 0.2813580857380357 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 0.99999719 -0.00148344 -0.00184818 1.0936845 ] [ 0.0014783 0.99999504 -0.00277949 0.06270649] [ 0.00185229 0.00277675 0.99999443 0.02590858] [ 0. 0. 0. 1. ]] SLAMing on 116.163133365 meters 0.2814617545130573 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 0.99999734 -0.0012678 -0.00192829 1.09372416] [ 0.00126342 0.99999663 -0.00226949 0.06057085] [ 0.00193116 0.00226705 0.99999557 0.02625898] [ 0. 0. 0. 1. ]] SLAMing on 116.223133365 meters 0.2835406246307275 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99998353e-01 -1.04683398e-03 -1.48240072e-03 1.09229644e+00] [ 1.04432842e-03 9.99998027e-01 -1.68996887e-03 5.84216362e-02] [ 1.48416691e-03 1.68841797e-03 9.99997473e-01 2.72625548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.283133365 meters 0.2825027449408046 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99998480e-01 -9.43528292e-04 -1.46622905e-03 1.09209316e+00] [ 9.41397263e-04 9.99998501e-01 -1.45341869e-03 5.74192806e-02] [ 1.46759819e-03 1.45203618e-03 9.99997869e-01 2.76021584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34313336499999 meters 0.2837092014306414 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99998507e-01 -8.71061460e-04 -1.49269782e-03 1.09205423e+00] [ 8.69154866e-04 9.99998806e-01 -1.27745338e-03 5.66850924e-02] [ 1.49380878e-03 1.27615408e-03 9.99998070e-01 2.78349093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40313336499999 meters 0.2830813186295433 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99998091e-01 -7.74198666e-04 -1.79391941e-03 1.09295419e+00] [ 7.72430374e-04 9.99999215e-01 -9.86197530e-04 5.53759921e-02] [ 1.79468152e-03 9.84809970e-04 9.99997905e-01 2.74252886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46313336499999 meters 0.28266851644735097 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.03 [[ 9.99997915e-01 -7.03415726e-04 -1.91707305e-03 1.09334494e+00] [ 7.01890458e-04 9.99999437e-01 -7.96180273e-04 5.45559184e-02] [ 1.91763201e-03 7.94833037e-04 9.99997845e-01 2.72407737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52313336499999 meters 0.2819422045435967 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.03 [[ 9.99998186e-01 -5.42289378e-04 -1.82568264e-03 1.09287365e+00] [ 5.41715593e-04 9.99999804e-01 -3.14764917e-04 5.26597101e-02] [ 1.82585298e-03 3.13775346e-04 9.99998284e-01 2.78376313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.583133365 meters 0.2829520890813984 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.03 [[ 9.99998264e-01 -5.60450429e-04 -1.77689218e-03 1.09272595e+00] [ 5.59806044e-04 9.99999777e-01 -3.63123807e-04 5.28661702e-02] [ 1.77709529e-03 3.62128462e-04 9.99998355e-01 2.78942932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.643133365 meters 0.28167443736700315 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.03 [[ 9.99998372e-01 -6.18796938e-04 -1.69515166e-03 1.09245529e+00] [ 6.17922859e-04 9.99999676e-01 -5.16109380e-04 5.35261290e-02] [ 1.69547048e-03 5.15061067e-04 9.99998430e-01 2.80436799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70313336499999 meters 0.2818755247984257 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99998228e-01 -8.14979919e-04 -1.69682046e-03 1.09249407e+00] [ 8.13268762e-04 9.99999160e-01 -1.00889466e-03 5.55792652e-02] [ 1.69764126e-03 1.00751290e-03 9.99998051e-01 2.79559631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76313336499999 meters 0.2823461739675212 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99997946e-01 -8.30885697e-04 -1.84857374e-03 1.09282577e+00] [ 8.28946631e-04 9.99999106e-01 -1.04947200e-03 5.57173987e-02] [ 1.84944408e-03 1.04793747e-03 9.99997741e-01 2.80391478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82313336499999 meters 0.2826452232718286 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.03 [[ 9.99997623e-01 -7.59343133e-04 -2.04380643e-03 1.09311151e+00] [ 7.57603815e-04 9.99999350e-01 -8.51659041e-04 5.49476804e-02] [ 2.04445180e-03 8.50108622e-04 9.99997549e-01 2.84009836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88313336499999 meters 0.28215689090573537 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99997699e-01 -7.97322206e-04 -1.99163001e-03 1.09296198e+00] [ 7.95440227e-04 9.99999237e-01 -9.45557309e-04 5.53505282e-02] [ 1.99238240e-03 9.43970910e-04 9.99997570e-01 2.84419749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.943133365 meters 0.2828832987581107 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.03 [[ 9.99997464e-01 -8.76180503e-04 -2.07486992e-03 1.09323496e+00] [ 8.73759348e-04 9.99998937e-01 -1.16751362e-03 5.62184575e-02] [ 2.07589066e-03 1.16569773e-03 9.99997166e-01 2.82484657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.003133365 meters 0.2807107270306024 Centerline is valid? [False, False] Translation: X:1.05, Y:0.05, Z:0.03 [[ 9.99999061e-01 -1.03880400e-03 -8.94116462e-04 1.05481138e+00] [ 1.03870163e-03 9.99999454e-01 -1.14954101e-04 5.49081462e-02] [ 8.94235389e-04 1.14025273e-04 9.99999594e-01 2.55278364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.063133365 meters 0.28155373568777087 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999285e-01 -1.10952977e-03 -4.45034429e-04 1.05370872e+00] [ 1.10935368e-03 9.99999306e-01 -3.95729690e-04 5.61346680e-02] [ 4.45473194e-04 3.95235707e-04 9.99999823e-01 2.57063889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12313336499999 meters 0.2831959049957871 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999245e-01 -1.17214859e-03 -3.67980234e-04 1.05349904e+00] [ 1.17194183e-03 9.99999156e-01 -5.61597380e-04 5.68457859e-02] [ 3.68638199e-04 5.61165705e-04 9.99999775e-01 2.57514996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18313336499999 meters 0.28256664761696 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999200e-01 -1.21406946e-03 -3.54273606e-04 1.05331082e+00] [ 1.21383281e-03 9.99999041e-01 -6.67430103e-04 5.73155245e-02] [ 3.55083572e-04 6.66999540e-04 9.99999715e-01 2.60834686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24313336499999 meters 0.28202846157905254 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999280e-01 -1.18006744e-03 -2.17374366e-04 1.05278275e+00] [ 1.17994085e-03 9.99999135e-01 -5.81589959e-04 5.69864713e-02] [ 2.18060493e-04 5.81333051e-04 9.99999807e-01 2.66246008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.303133365 meters 0.28202274915061193 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999264e-01 -1.11866523e-03 -4.70361939e-04 1.05356059e+00] [ 1.11848028e-03 9.99999297e-01 -3.93285494e-04 5.61740544e-02] [ 4.70801563e-04 3.92759114e-04 9.99999812e-01 2.61763933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363133365 meters 0.2832213191235008 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999202e-01 -1.09723039e-03 -6.25974607e-04 1.05411983e+00] [ 1.09701989e-03 9.99999342e-01 -3.36522205e-04 5.58879767e-02] [ 6.26343438e-04 3.35835230e-04 9.99999747e-01 2.57858827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423133365 meters 0.28461790454322905 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.03 [[ 9.99999028e-01 -1.11155366e-03 -8.41508571e-04 1.05470911e+00] [ 1.11124457e-03 9.99999315e-01 -3.67681032e-04 5.59854387e-02] [ 8.41916692e-04 3.66745553e-04 9.99999578e-01 2.56341400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48313336499999 meters 0.28091703125024103 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.02 [[ 0.99999754 -0.00154399 0.00159521 1.0141626 ] [ 0.00154182 0.99999789 0.00136082 0.05252938] [-0.00159731 -0.00135836 0.9999978 0.02355053] [ 0. 0. 0. 1. ]] SLAMing on 117.54313336499999 meters 0.2833366937960795 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 0.99997538 0.00538341 0.00450192 1.03381381] [-0.00537726 0.99998459 -0.00137755 0.05166948] [-0.00450927 0.00135331 0.99998892 0.0231553 ] [ 0. 0. 0. 1. ]] SLAMing on 117.60313336499999 meters 0.28055176503894874 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.02 [[ 9.99988076e-01 -3.63575205e-03 3.26021561e-03 1.01465877e+00] [ 3.63564804e-03 9.99993390e-01 3.78279683e-05 5.24415188e-02] [-3.26033160e-03 -2.59745207e-05 9.99994685e-01 2.27739736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.663133365 meters 0.2813868996598997 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.02 [[ 9.99988243e-01 -3.50813899e-03 3.34768123e-03 1.01440426e+00] [ 3.50692798e-03 9.99993783e-01 3.67549079e-04 5.10879619e-02] [-3.34894983e-03 -3.55804681e-04 9.99994329e-01 2.28948586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.723133365 meters 0.2816051526971141 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:0.02 [[ 9.99988481e-01 -3.36072283e-03 3.42676851e-03 1.01403662e+00] [ 3.35825191e-03 9.99994097e-01 7.26566144e-04 4.96121827e-02] [-3.42919007e-03 -7.15049823e-04 9.99993865e-01 2.33175056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.783133365 meters 0.28380444690879797 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 0.99997029 0.00420057 0.00646334 1.03440638] [-0.00418992 0.99998984 -0.00165993 0.05246907] [-0.00647025 0.0016328 0.99997773 0.02205471] [ 0. 0. 0. 1. ]] SLAMing on 117.84313336499999 meters 0.2843669755190338 Centerline is valid? [False, False] Translation: X:1.03, Y:0.05, Z:0.02 [[ 0.9999705 0.00402861 0.00654016 1.03443994] [-0.00401425 0.99998951 -0.00220809 0.05458217] [-0.00654899 0.00218177 0.99997618 0.02149656] [ 0. 0. 0. 1. ]] SLAMing on 117.90313336499999 meters 0.2845322887612936 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.02 [[ 0.9999724 0.0037674 0.00640353 1.03524417] [-0.00374784 0.99998829 -0.00306323 0.05793975] [-0.006415 0.00303915 0.99997481 0.02033249] [ 0. 0. 0. 1. ]] SLAMing on 117.96313336499999 meters 0.2820806517129306 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.02 [[ 9.99983777e-01 -2.40619610e-03 5.16295334e-03 1.01299051e+00] [ 2.40677527e-03 9.99997098e-01 -1.05966547e-04 6.40150781e-02] [-5.16268338e-03 1.18390896e-04 9.99986666e-01 2.15076448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02313336499999 meters 0.28288732606617095 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.02 [[ 9.99984107e-01 -2.54086327e-03 5.03281296e-03 1.01321997e+00] [ 2.54328882e-03 9.99996653e-01 -4.75606238e-04 6.55058876e-02] [-5.03158766e-03 4.88398576e-04 9.99987222e-01 2.16478436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.083133365 meters 0.2837126654808678 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.02 [[ 9.99983143e-01 -2.53412201e-03 5.22413467e-03 1.01285768e+00] [ 2.53653132e-03 9.99996680e-01 -4.54614158e-04 6.54298944e-02] [-5.22296528e-03 4.67857676e-04 9.99986251e-01 2.14555124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.143133365 meters 0.28101086452575935 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 9.99978383e-01 5.49924607e-03 3.60447956e-03 9.94138258e-01] [-5.49573229e-03 9.99984414e-01 -9.84018845e-04 6.03054304e-02] [-3.60983474e-03 9.64188318e-04 9.99993020e-01 2.09143431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20313336499999 meters 0.2816547858279147 Centerline is valid? [False, False] Translation: X:1.00, Y:0.06, Z:0.02 [[ 9.99978956e-01 5.64698148e-03 3.19347434e-03 9.95176109e-01] [-5.64551475e-03 9.99983954e-01 -4.68117723e-04 5.82076101e-02] [-3.19606655e-03 4.50079065e-04 9.99994791e-01 2.06528160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26313336499999 meters 0.28079231831294793 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 9.99978045e-01 5.78553899e-03 3.23060407e-03 9.94940150e-01] [-5.78522756e-03 9.99983260e-01 -1.05736566e-04 5.67393688e-02] [-3.23116173e-03 8.70444646e-05 9.99994776e-01 2.09709778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32313336499999 meters 0.28106400519516184 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.02 [[ 9.99978095e-01 -1.68356474e-03 6.40112879e-03 1.01170562e+00] [ 1.67826231e-03 9.99998244e-01 8.33639858e-04 6.21493707e-02] [-6.40252104e-03 -8.22878824e-04 9.99979165e-01 2.17549121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38313336499999 meters 0.28285087613490834 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:0.02 [[ 9.99976624e-01 -1.79244357e-03 6.59841235e-03 1.01155351e+00] [ 1.78975963e-03 9.99998313e-01 4.12637932e-04 6.36959834e-02] [-6.59914085e-03 -4.00818714e-04 9.99978145e-01 2.10692133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443133365 meters 0.2836091722223306 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.02 [[ 9.99976838e-01 -2.08964272e-03 6.47736441e-03 1.01232599e+00] [ 2.09372693e-03 9.99997614e-01 -6.23817821e-04 6.73819117e-02] [-6.47604540e-03 6.37365205e-04 9.99978827e-01 1.98485035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503133365 meters 0.2855038698388335 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.02 [[ 0.99997673 -0.00235967 0.00640142 1.01281054] [ 0.00237006 0.99999589 -0.0016154 0.07112672] [-0.00639759 0.00163054 0.99997821 0.01904123] [ 0. 0. 0. 1. ]] SLAMing on 118.563133365 meters 0.28581410655139716 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.02 [[ 0.9999742 -0.00273099 0.0066438 1.01211161] [ 0.00274824 0.99999287 -0.00258852 0.07517702] [-0.00663669 0.00260671 0.99997458 0.01921085] [ 0. 0. 0. 1. ]] SLAMing on 118.62313336499999 meters 0.2839596421474406 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.02 [[ 0.99997391 -0.00277612 0.00666952 1.01204869] [ 0.00279421 0.99999244 -0.00270589 0.07566305] [-0.00666196 0.00272445 0.9999741 0.01918683] [ 0. 0. 0. 1. ]] SLAMing on 118.68313336499999 meters 0.2855830416732307 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:0.02 [[ 0.9999732 -0.00272336 0.00679569 1.01173212] [ 0.00274085 0.99999295 -0.00256496 0.07510588] [-0.00678866 0.00258352 0.99997362 0.01924768] [ 0. 0. 0. 1. ]] SLAMing on 118.74313336499999 meters 0.27965841887041265 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:0.02 [[ 0.99997436 -0.00505813 0.00506992 0.966454 ] [ 0.00507303 0.99998284 -0.00293003 0.06722764] [-0.00505501 0.00295567 0.99998286 0.02180351] [ 0. 0. 0. 1. ]] SLAMing on 118.803133365 meters 0.2826323206596265 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:0.02 [[ 0.99997023 -0.00329691 0.00697569 1.01013762] [ 0.00331413 0.99999148 -0.00245948 0.06761725] [-0.00696752 0.00248252 0.99997264 0.02071914] [ 0. 0. 0. 1. ]] SLAMing on 118.863133365 meters 0.2811957642374742 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99998069 0.00401661 0.00474255 0.99332488] [-0.00400202 0.99998724 -0.00308208 0.05771194] [-0.00475486 0.00306304 0.999984 0.01901533] [ 0. 0. 0. 1. ]] SLAMing on 118.923133365 meters 0.2810220784770347 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99997976 0.00418081 0.00479604 0.99304149] [-0.00416812 0.99998779 -0.00265437 0.05595228] [-0.00480708 0.00263432 0.99998498 0.01936661] [ 0. 0. 0. 1. ]] SLAMing on 118.98313336499999 meters 0.2814409694658767 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99997999 0.00419223 0.00473795 0.99320668] [-0.00417985 0.99998783 -0.00262011 0.05580476] [-0.00474887 0.00260025 0.99998534 0.01930149] [ 0. 0. 0. 1. ]] SLAMing on 119.04313336499999 meters 0.28191180643363234 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99997784 0.00418363 0.00517863 0.99210238] [-0.00416982 0.99998773 -0.00267371 0.05608953] [-0.00518975 0.00265205 0.99998302 0.01955792] [ 0. 0. 0. 1. ]] SLAMing on 119.10313336499999 meters 0.28169765186050594 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99997734 0.00422634 0.00523941 0.99174093] [-0.00421293 0.99998783 -0.0025687 0.05567181] [-0.00525021 0.00254656 0.99998298 0.02003879] [ 0. 0. 0. 1. ]] SLAMing on 119.163133365 meters 0.2817752471154487 Centerline is valid? [False, False] Translation: X:0.99, Y:0.06, Z:0.02 [[ 0.99997915 0.00420931 0.00489627 0.99291265] [-0.00419669 0.99998785 -0.00258614 0.05558232] [-0.0049071 0.00256553 0.99998467 0.01909317] [ 0. 0. 0. 1. ]] SLAMing on 119.223133365 meters 0.2808109681528362 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:0.02 [[ 0.99998285 -0.00501631 0.00302281 0.97430809] [ 0.00502042 0.99998649 -0.00135097 0.05382105] [-0.00301599 0.00136612 0.99999452 0.01795812] [ 0. 0. 0. 1. ]] SLAMing on 119.283133365 meters 0.2798514677476816 Centerline is valid? [False, False] Translation: X:0.97, Y:0.05, Z:0.02 [[ 0.99998339 -0.00495967 0.00293522 0.97444124] [ 0.00496323 0.99998696 -0.00120386 0.05322009] [-0.00292921 0.0012184 0.99999497 0.01814514] [ 0. 0. 0. 1. ]] SLAMing on 119.34313336499999 meters 0.28100193424623987 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.02 [[ 0.99998933 0.00385277 0.00254738 0.99402582] [-0.00384697 0.99999 -0.00227928 0.04771459] [-0.00255614 0.00226946 0.99999416 0.02006713] [ 0. 0. 0. 1. ]] SLAMing on 119.40313336499999 meters 0.28126604749102135 Centerline is valid? [False, False] Translation: X:0.99, Y:0.05, Z:0.02 [[ 0.99998871 0.00401184 0.00254799 0.99396957] [-0.00400704 0.99999019 -0.00188805 0.04610927] [-0.00255554 0.00187782 0.99999497 0.02019963] [ 0. 0. 0. 1. ]] SLAMing on 119.46313336499999 meters 0.2804758210276446 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.02 [[ 0.99998723 0.00418813 0.00282899 0.99324389] [-0.00418401 0.99999018 -0.00146159 0.04433193] [-0.00283508 0.00144973 0.99999493 0.02034387] [ 0. 0. 0. 1. ]] SLAMing on 119.52313336499999 meters 0.2809446377300798 Centerline is valid? [False, False] Translation: X:0.99, Y:0.04, Z:0.02 [[ 0.99998678 0.00419202 0.00297794 0.99296956] [-0.0041877 0.99999017 -0.00145414 0.04429939] [-0.002984 0.00144165 0.99999451 0.02014365] [ 0. 0. 0. 1. ]] SLAMing on 119.583133365 meters 0.2832061145794426 Centerline is valid? [False, False] Translation: X:1.02, Y:0.05, Z:0.02 [[ 0.99999372 -0.00102943 0.00339212 1.0177823 ] [ 0.00102388 0.99999813 0.00163846 0.04523516] [-0.0033938 -0.00163498 0.9999929 0.01799157] [ 0. 0. 0. 1. ]] SLAMing on 119.643133365 meters 0.28127734365955803 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99994161e-01 3.40476036e-03 -2.93912393e-04 9.97924280e-01] [-3.40530650e-03 9.99992438e-01 -1.87809919e-03 4.55845877e-02] [ 2.87515693e-04 1.87908909e-03 9.99998193e-01 1.81826575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70313336499999 meters 0.2817218895009537 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99994150e-01 3.40960437e-03 -2.73729337e-04 9.97649651e-01] [-3.41010958e-03 9.99992443e-01 -1.86693782e-03 4.55755363e-02] [ 2.67361749e-04 1.86786034e-03 9.99998220e-01 1.86899620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76313336499999 meters 0.28272477937870877 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99994656e-01 3.25525347e-03 -3.02882578e-04 9.97902245e-01] [-3.25594236e-03 9.99992049e-01 -2.30245774e-03 4.73018857e-02] [ 2.95385086e-04 2.30343160e-03 9.99997303e-01 1.82665536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82313336499999 meters 0.2817304937352631 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99994909e-01 3.16999876e-03 -3.64962550e-04 9.98181755e-01] [-3.17090633e-03 9.99991813e-01 -2.51362127e-03 4.81504990e-02] [ 3.56991386e-04 2.51476573e-03 9.99996774e-01 1.79886346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88313336499999 meters 0.2821898610188039 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99995036e-01 3.09982295e-03 -5.64930302e-04 9.98658237e-01] [-3.10132659e-03 9.99991598e-01 -2.68047563e-03 4.88314279e-02] [ 5.56616555e-04 2.68221436e-03 9.99996248e-01 1.80080409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.943133365 meters 0.2811392313839481 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99994798e-01 3.16942398e-03 -5.99302569e-04 9.98489418e-01] [-3.17090828e-03 9.99991867e-01 -2.49218685e-03 4.80880426e-02] [ 5.91398898e-04 2.49407422e-03 9.99996715e-01 1.85903038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.003133365 meters 0.27925583061194353 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:0.02 [[ 9.99986244e-01 -4.89027852e-03 -1.89633989e-03 9.77670245e-01] [ 4.88997752e-03 9.99988031e-01 -1.63328672e-04 4.60552874e-02] [ 1.89711592e-03 1.54053366e-04 9.99998189e-01 1.88817065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.063133365 meters 0.2807813229296618 Centerline is valid? [False, False] Translation: X:1.00, Y:0.04, Z:0.02 [[ 9.99992074e-01 3.75309293e-03 1.32930021e-03 9.95782680e-01] [-3.75180624e-03 9.99992492e-01 -9.69123356e-04 4.33630949e-02] [-1.33292744e-03 9.64128397e-04 9.99998647e-01 1.90668382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12313336499999 meters 0.2786804306854746 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:0.02 [[ 9.99982478e-01 -5.91613818e-03 2.05946381e-04 9.75920106e-01] [ 5.91622786e-03 9.99982403e-01 -4.37615455e-04 4.54562679e-02] [-2.03353763e-04 4.38826213e-04 9.99999883e-01 1.88395875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18313336499999 meters 0.2804125606118545 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99991482e-01 4.12707423e-03 -5.26217758e-05 9.98538641e-01] [-4.12711610e-03 9.99991146e-01 -8.22056126e-04 4.54501080e-02] [ 4.92286232e-05 8.22266300e-04 9.99999661e-01 1.84675969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24313336499999 meters 0.2812018648934417 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99991820e-01 4.04410008e-03 7.00734346e-05 9.98468105e-01] [-4.04402334e-03 9.99991258e-01 -1.06269336e-03 4.64096400e-02] [-7.43704603e-05 1.06240129e-03 9.99999433e-01 1.79453223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.303133365 meters 0.28116819708499086 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99992297e-01 3.92397828e-03 9.58606686e-05 9.98557594e-01] [-3.92384217e-03 9.99991348e-01 -1.38105817e-03 4.76898540e-02] [-1.01279081e-04 1.38067139e-03 9.99999042e-01 1.75840374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.363133365 meters 0.2807934003591678 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99992530e-01 3.86376762e-03 1.04650221e-04 9.98732874e-01] [-3.86360291e-03 9.99991365e-01 -1.53082963e-03 4.82988556e-02] [-1.10564087e-04 1.53041387e-03 9.99998823e-01 1.71431620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.423133365 meters 0.2817071254930957 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99992565e-01 3.85274773e-03 1.60502775e-04 9.98552444e-01] [-3.85249217e-03 9.99991357e-01 -1.56327081e-03 4.84394374e-02] [-1.66524276e-04 1.56264085e-03 9.99998765e-01 1.72405094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48313336499999 meters 0.2806188336008049 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99992586e-01 3.84526838e-03 2.04725034e-04 9.98347956e-01] [-3.84493921e-03 9.99991353e-01 -1.58467196e-03 4.85421113e-02] [-2.10816753e-04 1.58387305e-03 9.99998723e-01 1.74561514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54313336499999 meters 0.28019522902898997 Centerline is valid? [False, False] Translation: X:1.00, Y:0.05, Z:0.02 [[ 9.99993034e-01 3.73198735e-03 7.13291210e-05 9.99017668e-01] [-3.73184712e-03 9.99991280e-01 -1.87421227e-03 4.97177833e-02] [-7.83230355e-05 1.87393302e-03 9.99998241e-01 1.66498832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60313336499999 meters 0.27921997762958006 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:0.02 [[ 0.9999927 -0.00276076 -0.00264089 0.9792716 ] [ 0.00276353 0.99999563 0.00104547 0.05210655] [ 0.002638 -0.00105276 0.99999597 0.01647525] [ 0. 0. 0. 1. ]] SLAMing on 120.663133365 meters 0.2825813767699322 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.02 [[ 9.99999416e-01 -9.66993359e-04 -4.82765597e-04 1.02081913e+00] [ 9.67276787e-04 9.99999360e-01 5.87205245e-04 6.21918359e-02] [ 4.82197464e-04 -5.87671870e-04 9.99999711e-01 1.64247682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.723133365 meters 0.28127160551986213 Centerline is valid? [False, False] Translation: X:1.02, Y:0.06, Z:0.02 [[ 9.99999259e-01 -1.17576679e-03 -3.14225497e-04 1.02028507e+00] [ 1.17579317e-03 9.99999305e-01 8.37709725e-05 6.43125694e-02] [ 3.14126784e-04 -8.41403746e-05 9.99999947e-01 1.65890359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.783133365 meters 0.28035911757998355 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.02 [[ 9.99999014e-01 -1.37699727e-03 -2.75109604e-04 1.02022208e+00] [ 1.37688583e-03 9.99998970e-01 -4.04849530e-04 6.63320613e-02] [ 2.75666797e-04 4.04470337e-04 9.99999880e-01 1.64787449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84313336499999 meters 0.2816386539087793 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.02 [[ 9.99998665e-01 -1.59324955e-03 -3.61454452e-04 1.02054636e+00] [ 1.59291539e-03 9.99998305e-01 -9.22905406e-04 6.84680699e-02] [ 3.62924258e-04 9.22328408e-04 9.99999509e-01 1.62295696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90313336499999 meters 0.28136360619797585 Centerline is valid? [False, False] Translation: X:1.02, Y:0.07, Z:0.02 [[ 9.99997797e-01 -2.05300440e-03 -4.36221815e-04 1.02105885e+00] [ 2.05210118e-03 9.99995771e-01 -2.06100198e-03 7.31068221e-02] [ 4.40451217e-04 2.06010227e-03 9.99997781e-01 1.55749886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96313336499999 meters 0.2809296680270705 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.02 [[ 9.99997182e-01 -2.35243381e-03 -3.19118589e-04 1.02075221e+00] [ 2.35153385e-03 9.99993338e-01 -2.79179151e-03 7.61263702e-02] [ 3.25683967e-04 2.79103322e-03 9.99996052e-01 1.55655874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02313336499999 meters 0.2788347239485264 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.02 [[ 9.99996638e-01 -2.58823749e-03 -1.60713763e-04 1.02016792e+00] [ 2.58768418e-03 9.99991032e-01 -3.35252613e-03 7.84740830e-02] [ 1.69389456e-04 3.35209899e-03 9.99994367e-01 1.59172735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.083133365 meters 0.2792985791403905 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.02 [[ 9.99999057e-01 1.36631723e-03 -1.36891207e-04 1.01988310e+00] [-1.36634064e-03 9.99999052e-01 -1.71043656e-04 8.26053902e-02] [ 1.36657377e-04 1.71230535e-04 9.99999976e-01 1.63341327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.143133365 meters 0.2796400889134133 Centerline is valid? [False, False] Translation: X:1.02, Y:0.08, Z:0.02 [[ 9.99999177e-01 1.27740605e-03 -1.20397511e-04 1.01980810e+00] [-1.27745291e-03 9.99999108e-01 -3.89949404e-04 8.35170704e-02] [ 1.19899280e-04 3.90102885e-04 9.99999917e-01 1.63924999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20313336499999 meters 0.2793424020219911 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.02 [[ 9.99999389e-01 1.10125291e-03 -9.85590674e-05 1.01982771e+00] [-1.10133378e-03 9.99999054e-01 -8.24243815e-04 8.53085905e-02] [ 9.76512732e-05 8.24351858e-04 9.99999655e-01 1.62166450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26313336499999 meters 0.27996555849020377 Centerline is valid? [False, False] Translation: X:1.02, Y:0.09, Z:0.02 [[ 9.99999547e-01 9.50736292e-04 -5.50239455e-05 1.01988783e+00] [-9.50800241e-04 9.99998859e-01 -1.17407276e-03 8.67573431e-02] [ 5.39076491e-05 1.17412454e-03 9.99999309e-01 1.58516272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32313336499999 meters 0.27759839780785317 Centerline is valid? [False, False] Translation: X:1.00, Y:0.09, Z:0.01 [[ 9.99968860e-01 -7.76716017e-03 -1.39625872e-03 1.00010750e+00] [ 7.76668729e-03 9.99969780e-01 -3.43780885e-04 9.01969160e-02] [ 1.39888673e-03 3.32925874e-04 9.99998966e-01 1.46405859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38313336499999 meters 0.27851207288629726 Centerline is valid? [False, False] Translation: X:1.00, Y:0.10, Z:0.01 [[ 0.99998378 -0.00520429 -0.00231491 1.00442209] [ 0.00520744 0.99998552 0.00135583 0.09635595] [ 0.00230782 -0.00136787 0.9999964 0.01158144] [ 0. 0. 0. 1. ]] SLAMing on 121.443133365 meters 0.279901680398842 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:0.01 [[ 9.99985152e-01 4.39038245e-03 -3.22799133e-03 1.02794315e+00] [-4.38915703e-03 9.99990293e-01 3.86607038e-04 9.88068324e-02] [ 3.22965735e-03 -3.72433136e-04 9.99994715e-01 1.11066481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.503133365 meters 0.27938185848747793 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:0.01 [[ 9.99986594e-01 3.92324359e-03 -3.37945440e-03 1.02871436e+00] [-3.92568082e-03 9.99992039e-01 -7.14859749e-04 1.03498086e-01] [ 3.37662293e-03 7.28116825e-04 9.99994034e-01 1.03610411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.563133365 meters 0.27923070581452863 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:0.01 [[ 0.99998739 0.00378778 -0.00329838 1.02842347] [-0.00379128 0.99999226 -0.00105477 0.10492274] [ 0.00329436 0.00106726 0.999994 0.01054573] [ 0. 0. 0. 1. ]] SLAMing on 121.62313336499999 meters 0.27875776666800806 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.01 [[ 0.99998739 0.00376233 -0.00332781 1.0282575 ] [-0.00376611 0.99999227 -0.00113275 0.10525598] [ 0.00332353 0.00114526 0.99999382 0.01111395] [ 0. 0. 0. 1. ]] SLAMing on 121.68313336499999 meters 0.2779800847797371 Centerline is valid? [False, False] Translation: X:1.03, Y:0.10, Z:0.01 [[ 0.99998747 0.00379818 -0.00326072 1.02790674] [-0.00380159 0.99999223 -0.00103936 0.10489689] [ 0.00325674 0.00105174 0.99999414 0.01154548] [ 0. 0. 0. 1. ]] SLAMing on 121.74313336499999 meters 0.2773272069240575 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.01 [[ 0.99998741 0.00368046 -0.00341026 1.02842531] [-0.00368499 0.99999233 -0.00132567 0.10609407] [ 0.00340535 0.00133822 0.99999331 0.01118724] [ 0. 0. 0. 1. ]] SLAMing on 121.803133365 meters 0.27951038459129945 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:0.01 [[ 0.99998779 0.00357794 -0.00340861 1.02844214] [-0.00358338 0.99999231 -0.00159175 0.10720044] [ 0.00340288 0.00160394 0.99999292 0.01114091] [ 0. 0. 0. 1. ]] SLAMing on 121.863133365 meters 0.278642171537956 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.01 [[ 9.99993420e-01 -3.56354407e-03 -6.78380101e-04 1.04499212e+00] [ 3.56353121e-03 9.99993650e-01 -2.01643806e-05 1.12306181e-01] [ 6.78447651e-04 1.77468193e-05 9.99999770e-01 1.32525211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.923133365 meters 0.2785353047913815 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.01 [[ 9.99993576e-01 -3.55231995e-03 -4.79396612e-04 1.04418588e+00] [ 3.55232122e-03 9.99993690e-01 1.78398616e-06 1.12247501e-01] [ 4.79387250e-04 -3.48694546e-06 9.99999885e-01 1.40358902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98313336499999 meters 0.27900354002758004 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.01 [[ 9.99993196e-01 -3.63061712e-03 -6.53836718e-04 1.04468984e+00] [ 3.63047251e-03 9.99993385e-01 -2.22233659e-04 1.13152059e-01] [ 6.54639238e-04 2.19858410e-04 9.99999762e-01 1.37763630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04313336499999 meters 0.27796820365249014 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.01 [[ 9.99993045e-01 -3.70667110e-03 -4.11898569e-04 1.04397893e+00] [ 3.70649019e-03 9.99993035e-01 -4.39089028e-04 1.14042570e-01] [ 4.13523259e-04 4.37559276e-04 9.99999819e-01 1.40742183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10313336499999 meters 0.27971983460857197 Centerline is valid? [False, False] Translation: X:1.04, Y:0.11, Z:0.01 [[ 9.99992816e-01 -3.77126273e-03 -3.81860747e-04 1.04393796e+00] [ 3.77102521e-03 9.99992697e-01 -6.20838154e-04 1.14776948e-01] [ 3.84199302e-04 6.19393687e-04 9.99999734e-01 1.39794426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.163133365 meters 0.279076120251936 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.01 [[ 9.99992059e-01 -3.90259110e-03 -8.07655045e-04 1.04519889e+00] [ 3.90174105e-03 9.99991835e-01 -1.05139625e-03 1.16504724e-01] [ 8.11751621e-04 1.04823664e-03 9.99999121e-01 1.30929141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223133365 meters 0.28209492507279826 Centerline is valid? [False, False] Translation: X:1.07, Y:0.12, Z:0.01 [[ 9.99978792e-01 6.46640418e-03 -7.75384204e-04 1.06892668e+00] [-6.46762834e-03 9.99977826e-01 -1.58680680e-03 1.23336969e-01] [ 7.65106076e-04 1.59178804e-03 9.99998440e-01 1.19436423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283133365 meters 0.2816510205926309 Centerline is valid? [False, False] Translation: X:1.07, Y:0.13, Z:0.01 [[ 9.99980542e-01 6.19153051e-03 -7.62074099e-04 1.06908717e+00] [-6.19336377e-03 9.99977875e-01 -2.42723696e-03 1.26796946e-01] [ 7.47028927e-04 2.43190953e-03 9.99996764e-01 1.15558241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34313336499999 meters 0.28195368770241047 Centerline is valid? [False, False] Translation: X:1.07, Y:0.13, Z:0.01 [[ 9.99982004e-01 5.94631171e-03 -7.96218537e-04 1.06930124e+00] [-5.94871420e-03 9.99977656e-01 -3.04980152e-03 1.29381173e-01] [ 7.78065675e-04 3.05448311e-03 9.99995032e-01 1.12533032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40313336499999 meters 0.2811370793413394 Centerline is valid? [False, False] Translation: X:1.07, Y:0.13, Z:0.01 [[ 9.99983028e-01 5.77056320e-03 -8.02490900e-04 1.06920468e+00] [-5.77333388e-03 9.99977229e-01 -3.49423096e-03 1.31221463e-01] [ 7.82308946e-04 3.49880471e-03 9.99993573e-01 1.14628763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46313336499999 meters 0.2797769196393173 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 0.99999381 -0.00266343 -0.00229926 1.04940302] [ 0.00265773 0.9999934 -0.0024769 0.13470262] [ 0.00230584 0.00247078 0.99999429 0.01084643] [ 0. 0. 0. 1. ]] SLAMing on 122.52313336499999 meters 0.28128980551125987 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99999328 -0.00280896 -0.00235537 1.04951224] [ 0.0028023 0.99999208 -0.00282636 0.13616045] [ 0.00236329 0.00281974 0.99999323 0.01088346] [ 0. 0. 0. 1. ]] SLAMing on 122.583133365 meters 0.2800111564522038 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:0.01 [[ 0.99998023 0.00546519 -0.00310918 1.02879224] [-0.00547681 0.99997799 -0.00374377 0.1344674 ] [ 0.00308865 0.00376072 0.99998816 0.01005918] [ 0. 0. 0. 1. ]] SLAMing on 122.643133365 meters 0.2811539042682272 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.999996 -0.00213628 -0.00185263 1.0475601 ] [ 0.00213146 0.99999435 -0.00259754 0.13962231] [ 0.00185817 0.00259358 0.99999491 0.012167 ] [ 0. 0. 0. 1. ]] SLAMing on 122.70313336499999 meters 0.27990083152635287 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99999594 -0.00218961 -0.00182521 1.04754884] [ 0.00218462 0.99999389 -0.00272916 0.14015691] [ 0.00183117 0.00272516 0.99999461 0.01203439] [ 0. 0. 0. 1. ]] SLAMing on 122.76313336499999 meters 0.28124633417972533 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 0.99999548 -0.00232845 -0.00190334 1.04785854] [ 0.00232259 0.99999256 -0.00307862 0.14157777] [ 0.00191049 0.00307418 0.99999345 0.01174447] [ 0. 0. 0. 1. ]] SLAMing on 122.82313336499999 meters 0.28001040097425245 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:0.01 [[ 0.99999869 -0.00116243 -0.00112443 1.00991052] [ 0.00116059 0.999998 -0.00163133 0.14290321] [ 0.00112632 0.00163003 0.99999804 0.00851657] [ 0. 0. 0. 1. ]] SLAMing on 122.88313336499999 meters 0.2820179412613607 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99999715e-01 -5.31930081e-04 -5.36608186e-04 1.04571972e+00] [ 5.30739448e-04 9.99997403e-01 -2.21652029e-03 1.49873051e-01] [ 5.37785826e-04 2.21623485e-03 9.99997400e-01 1.28473562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.943133365 meters 0.28132215757424417 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99999750e-01 -5.78295407e-04 -4.07885072e-04 1.04522452e+00] [ 5.77338427e-04 9.99997090e-01 -2.34242912e-03 1.50411409e-01] [ 4.09238501e-04 2.34219305e-03 9.99997173e-01 1.32670441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.003133365 meters 0.27991733992139045 Centerline is valid? [False, False] Translation: X:1.03, Y:0.15, Z:0.01 [[ 9.99959406e-01 -8.79372782e-03 -1.96393158e-03 1.02590760e+00] [ 8.79246017e-03 9.99961132e-01 -6.53167888e-04 1.50023473e-01] [ 1.96959903e-03 6.35873583e-04 9.99997858e-01 1.19646891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.063133365 meters 0.2798088811026706 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99998880e-01 -1.04009854e-04 -1.49304170e-03 1.04560275e+00] [ 1.01561052e-04 9.99998650e-01 -1.64012531e-03 1.46073205e-01] [ 1.49321027e-03 1.63997184e-03 9.99997540e-01 1.29295783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12313336499999 meters 0.2804037394342598 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99998638e-01 6.28940211e-05 -1.64924427e-03 1.04586113e+00] [-6.47925665e-05 9.99999335e-01 -1.15113265e-03 1.44107108e-01] [ 1.64917078e-03 1.15123794e-03 9.99997977e-01 1.32249533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18313336499999 meters 0.2811830603893752 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99998427e-01 1.99920670e-04 -1.76233205e-03 1.04639448e+00] [-2.01338712e-04 9.99999656e-01 -8.04498611e-04 1.42612464e-01] [ 1.76217060e-03 8.04852172e-04 9.99998123e-01 1.26712066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24313336499999 meters 0.27975054976173425 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99998997e-01 1.94943248e-04 -1.40269854e-03 1.04551736e+00] [-1.96117567e-04 9.99999630e-01 -8.37097130e-04 1.42767452e-01] [ 1.40253483e-03 8.37371385e-04 9.99998666e-01 1.27418511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.303133365 meters 0.28052265022522477 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99999210e-01 1.45238290e-04 -1.24878886e-03 1.04507645e+00] [-1.46466388e-04 9.99999506e-01 -9.83396059e-04 1.43376837e-01] [ 1.24864541e-03 9.83578187e-04 9.99998737e-01 1.29125726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.363133365 meters 0.2802219497024279 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99999092e-01 -4.48451809e-05 -1.34705276e-03 1.04542589e+00] [ 4.27507727e-05 9.99998790e-01 -1.55479642e-03 1.45665575e-01] [ 1.34712086e-03 1.55473742e-03 9.99997884e-01 1.25922361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.423133365 meters 0.2824901627208431 Centerline is valid? [False, False] Translation: X:1.07, Y:0.15, Z:0.01 [[ 9.99985684e-01 -5.33052470e-03 -4.66675727e-04 1.06859739e+00] [ 5.33127729e-03 9.99984466e-01 1.62655898e-03 1.49791973e-01] [ 4.57998065e-04 -1.62902367e-03 9.99998568e-01 1.14568486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48313336499999 meters 0.28065025805162797 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99994754e-01 3.23715776e-03 -1.10300961e-04 1.04757635e+00] [-3.23705556e-03 9.99994343e-01 9.14494032e-04 1.46184228e-01] [ 1.13260698e-04 -9.14132185e-04 9.99999576e-01 1.17886549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54313336499999 meters 0.2796598826124381 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:0.01 [[ 9.99994656e-01 3.26912797e-03 -6.07201655e-06 1.04686619e+00] [-3.26912018e-03 9.99994147e-01 1.00917407e-03 1.45854106e-01] [ 9.37110018e-06 -1.00914882e-03 9.99999491e-01 1.29693799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60313336499999 meters 0.28036454941510763 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99994010e-01 3.37026792e-03 -7.88313284e-04 1.04893651e+00] [-3.36906377e-03 9.99993164e-01 1.52387319e-03 1.43733431e-01] [ 7.93443756e-04 -1.52120819e-03 9.99998528e-01 1.20685645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.663133365 meters 0.2808979561582662 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99993606e-01 3.48971416e-03 -7.80567766e-04 1.04868769e+00] [-3.48828665e-03 9.99992255e-01 1.82275073e-03 1.42487873e-01] [ 7.86922599e-04 -1.82001623e-03 9.99998034e-01 1.25708833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723133365 meters 0.28082695103061417 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99993753e-01 3.47869084e-03 -6.26047590e-04 1.04813731e+00] [-3.47756590e-03 9.99992353e-01 1.78909484e-03 1.42656192e-01] [ 6.32266510e-04 -1.78690655e-03 9.99998204e-01 1.29758798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.783133365 meters 0.2811734788840316 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99993688e-01 3.40557829e-03 -1.01304733e-03 1.04941440e+00] [-3.40396785e-03 9.99992947e-01 1.58719690e-03 1.43414517e-01] [ 1.01844551e-03 -1.58373850e-03 9.99998227e-01 1.19765289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84313336499999 meters 0.2817562879188281 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99993511e-01 3.46509366e-03 -9.85461330e-04 1.04925882e+00] [-3.46338043e-03 9.99992497e-01 1.73493373e-03 1.42804977e-01] [ 9.91465644e-04 -1.73150944e-03 9.99998009e-01 1.21747818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90313336499999 meters 0.28272880902374187 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99992585e-01 3.80847351e-03 -5.69955834e-04 1.04789621e+00] [-3.80688920e-03 9.99988957e-01 2.75546005e-03 1.38408411e-01] [ 5.80443637e-04 -2.75326986e-03 9.99996041e-01 1.30674812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96313336499999 meters 0.28189618761872554 Centerline is valid? [False, False] Translation: X:1.05, Y:0.14, Z:0.01 [[ 9.99999814e-01 -3.76327578e-04 -4.79135567e-04 1.04756094e+00] [ 3.75753076e-04 9.99999211e-01 -1.19856419e-03 1.37274182e-01] [ 4.79586242e-04 1.19838393e-03 9.99999167e-01 1.31917363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02313336499999 meters 0.2814129382803044 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999749e-01 -1.64754044e-04 -6.88593392e-04 1.04824430e+00] [ 1.64321954e-04 9.99999790e-01 -6.27507175e-04 1.34866755e-01] [ 6.88696631e-04 6.27393867e-04 9.99999566e-01 1.28492092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.083133365 meters 0.2821544529791 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999563e-01 2.30456170e-05 -9.34383823e-04 1.04884833e+00] [-2.31751466e-05 9.99999990e-01 -1.38615037e-04 1.32850121e-01] [ 9.34380620e-04 1.38636631e-04 9.99999554e-01 1.28749502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.143133365 meters 0.28075631449076854 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999481e-01 1.49048498e-04 -1.00742247e-03 1.04899105e+00] [-1.48864416e-04 9.99999972e-01 1.82798461e-04 1.31514090e-01] [ 1.00744968e-03 -1.82648397e-04 9.99999476e-01 1.29561121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20313336499999 meters 0.2808695206428712 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999840e-01 3.20757342e-04 -4.65399807e-04 1.04760086e+00] [-3.20408832e-04 9.99999668e-01 7.48721130e-04 1.29235732e-01] [ 4.65639810e-04 -7.48571892e-04 9.99999611e-01 1.34760606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26313336499999 meters 0.27987927398638757 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999871e-01 4.64026938e-04 -2.06574922e-04 1.04683587e+00] [-4.63777661e-04 9.99999166e-01 1.20513050e-03 1.27468350e-01] [ 2.07133963e-04 -1.20503454e-03 9.99999252e-01 1.39489701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32313336499999 meters 0.28041584545388143 Centerline is valid? [False, False] Translation: X:1.05, Y:0.13, Z:0.01 [[ 9.99999767e-01 5.95304880e-04 -3.32821093e-04 1.04708606e+00] [-5.94751860e-04 9.99998447e-01 1.65924848e-03 1.25704323e-01] [ 3.33808334e-04 -1.65905015e-03 9.99998568e-01 1.40617663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38313336499999 meters 0.27954043800220313 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.01 [[ 9.99999574e-01 7.46809828e-04 -5.42439498e-04 1.04761020e+00] [-7.45603773e-04 9.99997257e-01 2.22019897e-03 1.23527480e-01] [ 5.44096077e-04 -2.21979358e-03 9.99997388e-01 1.39492310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.443133365 meters 0.2798136298700738 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.01 [[ 9.99999066e-01 9.85254575e-04 -9.47132192e-04 1.04851387e+00] [-9.82206199e-04 9.99994354e-01 3.21362762e-03 1.19746520e-01] [ 9.50293085e-04 -3.21269434e-03 9.99994388e-01 1.39130877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.503133365 meters 0.2800331074581191 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.01 [[ 0.9999985 0.00120771 -0.00124005 1.04934087] [-0.00120289 0.99999174 0.00388222 0.11699248] [ 0.00124473 -0.00388072 0.9999917 0.01361988] [ 0. 0. 0. 1. ]] SLAMing on 124.563133365 meters 0.2803475068714293 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.01 [[ 0.99999817 0.00135555 -0.00134726 1.04962903] [-0.00134979 0.99998998 0.00426904 0.11539828] [ 0.00135303 -0.00426722 0.99998998 0.01353688] [ 0. 0. 0. 1. ]] SLAMing on 124.62313336499999 meters 0.27971684268769037 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.01 [[ 0.99999783 0.00146635 -0.0014824 1.05001734] [-0.00145955 0.99998844 0.00458124 0.11410256] [ 0.0014891 -0.00457907 0.99998841 0.01339528] [ 0. 0. 0. 1. ]] SLAMing on 124.68313336499999 meters 0.2809173001010269 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.01 [[ 0.99999784 0.00151335 -0.00142137 1.04981332] [-0.00150665 0.99998781 0.00470267 0.11359786] [ 0.00142846 -0.00470052 0.99998793 0.0135226 ] [ 0. 0. 0. 1. ]] SLAMing on 124.74313336499999 meters 0.28107793247832624 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.01 [[ 0.99999807 0.00152146 -0.00124272 1.04923133] [-0.00151557 0.99998769 0.00472547 0.11353062] [ 0.0012499 -0.00472358 0.99998806 0.01388413] [ 0. 0. 0. 1. ]] SLAMing on 124.803133365 meters 0.2814226590880085 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:0.01 [[ 9.99998578e-01 1.51654258e-03 -7.37559111e-04 1.04777089e+00] [-1.51305477e-03 9.99987779e-01 4.70664484e-03 1.13535027e-01] [ 7.44687924e-04 -4.70552218e-03 9.99988652e-01 1.47540978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863133365 meters 0.2801934754600035 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:0.02 [[ 9.99977050e-01 5.73746667e-03 -3.60293889e-03 1.02525102e+00] [-5.73453655e-03 9.99983219e-01 8.23063526e-04 1.15612798e-01] [ 3.60760073e-03 -8.02383452e-04 9.99993171e-01 1.60903319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923133365 meters 0.28055098101969833 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.02 [[ 0.99999087 -0.00256922 -0.00341456 1.04696969] [ 0.00257491 0.9999953 0.00166221 0.11664582] [ 0.00341027 -0.00167099 0.99999279 0.01703139] [ 0. 0. 0. 1. ]] SLAMing on 124.98313336499999 meters 0.2796603427868032 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:0.02 [[ 0.99999128 -0.00251291 -0.0033358 1.04668809] [ 0.00251895 0.99999519 0.0018079 0.11605557] [ 0.00333124 -0.00181629 0.9999928 0.01723616] [ 0. 0. 0. 1. ]] SLAMing on 125.04313336499999 meters 0.28057592702235656 Centerline is valid? [False, False] Translation: X:1.07, Y:0.11, Z:0.02 [[ 0.99997787 0.0063687 -0.00192347 1.06553677] [-0.00636572 0.99997853 0.00155154 0.10807306] [ 0.00193331 -0.00153926 0.99999695 0.01753253] [ 0. 0. 0. 1. ]] SLAMing on 125.10313336499999 meters 0.2815518567684963 Centerline is valid? [False, False] Translation: X:1.07, Y:0.11, Z:0.02 [[ 0.99997674 0.00653094 -0.00196634 1.06586305] [-0.00652711 0.9999768 0.00194909 0.10640711] [ 0.00197902 -0.00193621 0.99999617 0.01702264] [ 0. 0. 0. 1. ]] SLAMing on 125.163133365 meters 0.2801891861569578 Centerline is valid? [False, False] Translation: X:1.07, Y:0.10, Z:0.02 [[ 0.99999498 0.00240945 -0.00205856 1.06595816] [-0.00241297 0.99999563 -0.00170574 0.10419139] [ 0.00205444 0.0017107 0.99999643 0.01708898] [ 0. 0. 0. 1. ]] SLAMing on 125.223133365 meters 0.2809761792975112 Centerline is valid? [False, False] Translation: X:1.07, Y:0.10, Z:0.02 [[ 0.99999432 0.00259281 -0.00215242 1.06608975] [-0.00259544 0.99999589 -0.00122052 0.10224676] [ 0.00214925 0.0012261 0.99999694 0.01726974] [ 0. 0. 0. 1. ]] SLAMing on 125.283133365 meters 0.28110112220351724 Centerline is valid? [False, False] Translation: X:1.07, Y:0.10, Z:0.01 [[ 9.99993700e-01 1.97192856e-05 -3.54971116e-03 1.07093789e+00] [-2.92097955e-05 9.99996426e-01 -2.67356864e-03 9.54758000e-02] [ 3.54964575e-03 2.67365548e-03 9.99990126e-01 1.48528113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34313336499999 meters 0.280592385636904 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.02 [[ 9.99993218e-01 1.57925250e-04 -3.67946880e-03 1.07110670e+00] [-1.66515986e-04 9.99997261e-01 -2.33458689e-03 9.40988029e-02] [ 3.67909003e-03 2.33518375e-03 9.99990506e-01 1.51428695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40313336499999 meters 0.28060392935052264 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.02 [[ 9.99993206e-01 3.54860146e-04 -3.66897132e-03 1.07111478e+00] [-3.61554133e-04 9.99998271e-01 -1.82398371e-03 9.20274564e-02] [ 3.66831772e-03 1.82529785e-03 9.99991606e-01 1.50606894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46313336499999 meters 0.2813957267445968 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.02 [[ 9.99993180e-01 6.86078011e-04 -3.62891118e-03 1.07098906e+00] [-6.89876028e-04 9.99999216e-01 -1.04545142e-03 8.88178376e-02] [ 3.62819107e-03 1.04794779e-03 9.99992869e-01 1.51077218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52313336499999 meters 0.282842474048041 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.02 [[ 9.99993164e-01 8.42004056e-04 -3.60031165e-03 1.07088654e+00] [-8.44438513e-04 9.99999416e-01 -6.74712892e-04 8.72758230e-02] [ 3.59974143e-03 6.77748521e-04 9.99993291e-01 1.51680020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.583133365 meters 0.28129342238700034 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.01 [[ 9.99993192e-01 9.59368968e-04 -3.56300762e-03 1.07090206e+00] [-9.60767283e-04 9.99999462e-01 -3.90762673e-04 8.60808237e-02] [ 3.56263082e-03 3.94183233e-04 9.99993576e-01 1.49319900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.643133365 meters 0.28101457111758044 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.01 [[ 9.99993055e-01 9.98289175e-04 -3.59084348e-03 1.07105773e+00] [-9.99332062e-04 9.99999459e-01 -2.88647028e-04 8.56566952e-02] [ 3.59055339e-03 2.92233468e-04 9.99993511e-01 1.47353685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70313336499999 meters 0.2810513838082138 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.02 [[ 9.99994281e-01 9.65651701e-04 -3.24108413e-03 1.07010594e+00] [-9.67025034e-04 9.99999443e-01 -4.22185878e-04 8.62300966e-02] [ 3.24067464e-03 4.25317673e-04 9.99994659e-01 1.50669192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76313336499999 meters 0.28114391790428456 Centerline is valid? [False, False] Translation: X:1.07, Y:0.09, Z:0.01 [[ 9.99994329e-01 8.51411862e-04 -3.25828692e-03 1.07045671e+00] [-8.53923324e-04 9.99999339e-01 -7.69478635e-04 8.75652842e-02] [ 3.25762962e-03 7.72256599e-04 9.99994396e-01 1.43093386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82313336499999 meters 0.2833667868491545 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.01 [[ 0.99998905 -0.00413589 -0.00219173 1.09409611] [ 0.00414123 0.99998845 0.00243938 0.08992539] [ 0.00218162 -0.00244843 0.99999462 0.0126234 ] [ 0. 0. 0. 1. ]] SLAMing on 125.88313336499999 meters 0.2823762316686335 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:0.01 [[ 0.99998947 -0.00411692 -0.00202951 1.09339264] [ 0.00412195 0.99998843 0.00248019 0.08979137] [ 0.00201927 -0.00248852 0.99999486 0.01332484] [ 0. 0. 0. 1. ]] SLAMing on 125.943133365 meters 0.28147154238912253 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.01 [[ 0.9999882 0.00368513 -0.00316655 1.0740067 ] [-0.00367947 0.99999162 0.00179263 0.08442736] [ 0.00317313 -0.00178096 0.99999338 0.01229749] [ 0. 0. 0. 1. ]] SLAMing on 126.003133365 meters 0.28204895187711604 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.01 [[ 0.99998759 0.00382282 -0.00319504 1.07403932] [-0.00381599 0.99999043 0.00214185 0.08299291] [ 0.0032032 -0.00212964 0.9999926 0.01238285] [ 0. 0. 0. 1. ]] SLAMing on 126.063133365 meters 0.2805614664616121 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.01 [[ 0.99998702 0.00400272 -0.00315102 1.07370047] [-0.00399456 0.99998867 0.00258928 0.08117266] [ 0.00316135 -0.00257666 0.99999168 0.01287402] [ 0. 0. 0. 1. ]] SLAMing on 126.12313336499999 meters 0.28088162261252314 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.01 [[ 9.99994939e-01 -1.22120762e-04 -3.17916103e-03 1.07373055e+00] [ 1.18578519e-04 9.99999372e-01 -1.11437144e-03 7.91361792e-02] [ 3.17929512e-03 1.11398882e-03 9.99994326e-01 1.28407292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18313336499999 meters 0.28128688178102007 Centerline is valid? [False, False] Translation: X:1.07, Y:0.08, Z:0.01 [[ 9.99994603e-01 7.48816180e-06 -3.28538348e-03 1.07417876e+00] [-1.00947168e-05 9.99999685e-01 -7.93363354e-04 7.77708113e-02] [ 3.28537650e-03 7.93392238e-04 9.99994288e-01 1.24350535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24313336499999 meters 0.2828703682508259 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.01 [[ 9.99987823e-01 -4.93373535e-03 1.08957627e-04 1.09536068e+00] [ 4.93342149e-03 9.99984147e-01 2.71413105e-03 7.35753185e-02] [-1.22346704e-04 -2.71356047e-03 9.99996311e-01 1.12235963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.303133365 meters 0.28244310734970934 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:0.01 [[ 9.99989158e-01 -4.63008204e-03 -4.97074557e-04 1.09687687e+00] [ 4.63192703e-03 9.99982139e-01 3.77703633e-03 6.92063478e-02] [ 4.79577691e-04 -3.77929779e-03 9.99992743e-01 1.10351977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.363133365 meters 0.2813747549116987 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.01 [[ 9.99996246e-01 2.55691376e-03 9.85317384e-04 1.07751578e+00] [-2.55985540e-03 9.99992236e-01 2.99586108e-03 5.89246568e-02] [-9.77649575e-04 -2.99837210e-03 9.99995027e-01 9.77253313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.423133365 meters 0.28144372041077315 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.01 [[ 0.99999522 0.00286256 0.0011718 1.07655672] [-0.00286707 0.99998841 0.0038682 0.05524438] [-0.00116071 -0.00387154 0.99999183 0.01090695] [ 0. 0. 0. 1. ]] SLAMing on 126.48313336499999 meters 0.2819045720944149 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99999468 0.00302628 0.00121867 1.07645984] [-0.00303143 0.9999864 0.00424435 0.05369585] [-0.00120581 -0.00424802 0.99999025 0.01088145] [ 0. 0. 0. 1. ]] SLAMing on 126.54313336499999 meters 0.2817587880445321 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99999473 0.00305441 0.00109799 1.07706829] [-0.00305913 0.99998597 0.00432407 0.05331077] [-0.00108477 -0.0043274 0.99999005 0.01013583] [ 0. 0. 0. 1. ]] SLAMing on 126.60313336499999 meters 0.2836286606273075 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 0.99998384 -0.00468472 0.00322037 1.09609568] [ 0.00466794 0.99997559 0.00519846 0.05685169] [-0.00324464 -0.00518334 0.9999813 0.01022667] [ 0. 0. 0. 1. ]] SLAMing on 126.663133365 meters 0.2818979171644133 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998984 0.003059 0.00330994 1.07524872] [-0.00307346 0.99998571 0.00437357 0.05297019] [-0.00329651 -0.0043837 0.99998496 0.00939188] [ 0. 0. 0. 1. ]] SLAMing on 126.723133365 meters 0.28049981024683895 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998986 0.00311158 0.00325427 1.07568848] [-0.00312625 0.99998494 0.00451052 0.05233917] [-0.00324019 -0.00452064 0.99998453 0.00869236] [ 0. 0. 0. 1. ]] SLAMing on 126.783133365 meters 0.2822360732506821 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998946 0.00313242 0.00335601 1.07542797] [-0.00314773 0.99998462 0.00456567 0.05213531] [-0.00334166 -0.00457618 0.99998395 0.0087276 ] [ 0. 0. 0. 1. ]] SLAMing on 126.84313336499999 meters 0.2820663970309844 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998925 0.00319966 0.00335455 1.07529723] [-0.00321552 0.99998362 0.00473564 0.05146866] [-0.00333935 -0.00474638 0.99998316 0.00902595] [ 0. 0. 0. 1. ]] SLAMing on 126.90313336499999 meters 0.28259353042961566 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998934 0.00334026 0.00318814 1.07602291] [-0.00335652 0.99998132 0.00510724 0.04980719] [-0.00317102 -0.00511789 0.99998188 0.00835889] [ 0. 0. 0. 1. ]] SLAMing on 126.96313336499999 meters 0.28182212679375623 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.999989 0.00355491 0.00305994 1.07653906] [-0.00357225 0.99997749 0.00567987 0.04737069] [-0.00303968 -0.00569074 0.99997919 0.00788445] [ 0. 0. 0. 1. ]] SLAMing on 127.02313336499999 meters 0.28169748278256285 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 9.99995166e-01 -6.08147241e-04 3.04929038e-03 1.07654087e+00] [ 6.02683137e-04 9.99998212e-01 1.79252520e-03 4.56371821e-02] [-3.05037504e-03 -1.79067878e-03 9.99993744e-01 7.90583422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.083133365 meters 0.28317545236288083 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.01 [[ 9.99995005e-01 -1.47667885e-04 3.15716797e-03 1.07590442e+00] [ 1.38555751e-04 9.99995825e-01 2.88619720e-03 4.11049006e-02] [-3.15758099e-03 -2.88574534e-03 9.99990851e-01 8.58214603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143133365 meters 0.2825292375848655 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.01 [[ 9.99995179e-01 -4.60525402e-05 3.10468145e-03 1.07621776e+00] [ 3.62672697e-05 9.99995033e-01 3.15176185e-03 3.99896675e-02] [-3.10481118e-03 -3.15163406e-03 9.99990214e-01 8.17996571e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20313336499999 meters 0.28423729955186156 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:0.01 [[ 9.99962357e-01 7.62244732e-03 4.14517422e-03 1.09782303e+00] [-7.62425450e-03 9.99970847e-01 4.20342655e-04 4.06753863e-02] [-4.14184933e-03 -4.51930695e-04 9.99991320e-01 7.13247841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26313336499999 meters 0.28283462715316005 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99999109 -0.00142324 0.00397521 1.07829899] [ 0.00141694 0.99999774 0.00158742 0.04561654] [-0.00397746 -0.00158177 0.99999084 0.00592554] [ 0. 0. 0. 1. ]] SLAMing on 127.32313336499999 meters 0.2821275152963496 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99998973 -0.00154455 0.00425999 1.07741047] [ 0.00153921 0.99999803 0.00125516 0.04710504] [-0.00426192 -0.00124859 0.99999014 0.00640717] [ 0. 0. 0. 1. ]] SLAMing on 127.38313336499999 meters 0.2821750511113868 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99999022 -0.00153093 0.00414984 1.07770306] [ 0.00152554 0.99999799 0.00130236 0.04690433] [-0.00415183 -0.00129601 0.99999054 0.00632504] [ 0. 0. 0. 1. ]] SLAMing on 127.443133365 meters 0.2827943403955205 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.01 [[ 0.99999162 -0.00144046 0.00383207 1.07852417] [ 0.0014342 0.99999763 0.0016373 0.04555464] [-0.00383442 -0.00163179 0.99999132 0.00613859] [ 0. 0. 0. 1. ]] SLAMing on 127.503133365 meters 0.2814742310500329 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.01 [[ 0.99999334 -0.00122606 0.00343698 1.07944418] [ 0.0012176 0.99999623 0.00246265 0.04237689] [-0.00343999 -0.00245844 0.99999106 0.00605705] [ 0. 0. 0. 1. ]] SLAMing on 127.563133365 meters 0.2816478864739806 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.01 [[ 9.99993453e-01 -1.08140118e-03 3.45317217e-03 1.07938730e+00] [ 1.07162167e-03 9.99995414e-01 2.83263214e-03 4.08512767e-02] [-3.45621954e-03 -2.82891310e-03 9.99990026e-01 6.10923356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62313336499999 meters 0.2818117604534093 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.01 [[ 9.99992864e-01 -1.04278239e-03 3.63104746e-03 1.07898369e+00] [ 1.03215871e-03 9.99995185e-01 2.92643610e-03 4.04685332e-02] [-3.63408161e-03 -2.92266740e-03 9.99989126e-01 6.06438760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68313336499999 meters 0.282239984988787 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.00 [[ 0.99999419 -0.00115989 0.0032052 1.08047799] [ 0.00115162 0.99999601 0.00257977 0.04166354] [-0.00320818 -0.00257606 0.99999154 0.0046481 ] [ 0. 0. 0. 1. ]] SLAMing on 127.74313336499999 meters 0.28284597178341914 Centerline is valid? [False, False] Translation: X:1.08, Y:0.04, Z:0.00 [[ 0.99999362 -0.00132404 0.00331763 1.08024785] [ 0.00131715 0.99999698 0.00207684 0.04368716] [-0.00332037 -0.00207246 0.99999234 0.00454726] [ 0. 0. 0. 1. ]] SLAMing on 127.803133365 meters 0.2834087026526661 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.00 [[ 0.99999327 -0.00152714 0.00333582 1.08044982] [ 0.00152201 0.99999766 0.0015374 0.04585746] [-0.00333816 -0.00153231 0.99999325 0.00397252] [ 0. 0. 0. 1. ]] SLAMing on 127.863133365 meters 0.28228386319157306 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.00 [[ 9.99992385e-01 -1.80038010e-03 3.46254468e-03 1.08006523e+00] [ 1.79723071e-03 9.99997969e-01 9.12455543e-04 4.85172789e-02] [-3.46418041e-03 -9.06225603e-04 9.99993589e-01 4.05302809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.923133365 meters 0.281592784553356 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.00 [[ 9.99992348e-01 -2.00546373e-03 3.35895030e-03 1.08029412e+00] [ 2.00413085e-03 9.99997912e-01 4.00132653e-04 5.06069044e-02] [-3.35974574e-03 -3.93397815e-04 9.99994279e-01 4.06651530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98313336499999 meters 0.28183411071526 Centerline is valid? [False, False] Translation: X:1.08, Y:0.05, Z:0.00 [[ 9.99992264e-01 -2.30143050e-03 3.18997197e-03 1.08091982e+00] [ 2.30243167e-03 9.99997301e-01 -3.10212699e-04 5.35093863e-02] [-3.18924943e-03 3.17554992e-04 9.99994864e-01 3.57960545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043133365 meters 0.2806573441495668 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.00 [[ 9.99991803e-01 -2.45223723e-03 3.22178564e-03 1.08076960e+00] [ 2.45442397e-03 9.99996760e-01 -6.74955011e-04 5.50205781e-02] [-3.22012005e-03 6.82857106e-04 9.99994582e-01 3.70936459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103133365 meters 0.28020846629216806 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.01 [[ 9.99989718e-01 -2.48161767e-03 3.79553667e-03 1.07887851e+00] [ 2.48493828e-03 9.99996534e-01 -8.70406107e-04 5.59891810e-02] [-3.79336350e-03 8.79828832e-04 9.99992418e-01 5.34662313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.163133365 meters 0.281136928041475 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.01 [[ 9.99988617e-01 -2.41397685e-03 4.11565481e-03 1.07791029e+00] [ 2.41678088e-03 9.99996851e-01 -6.76469744e-04 5.52574844e-02] [-4.11400887e-03 6.86408679e-04 9.99991302e-01 5.92939065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.223133365 meters 0.2785067061923604 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998525 0.00513847 0.00176093 1.05956957] [-0.00513579 0.99998565 -0.00152677 0.05113004] [-0.00176875 0.0015177 0.99999728 0.004967 ] [ 0. 0. 0. 1. ]] SLAMing on 128.283133365 meters 0.2786375796859043 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.01 [[ 0.99998497 0.00513634 0.00191677 1.05910481] [-0.00513341 0.99998566 -0.00152896 0.05119012] [-0.0019246 0.00151909 0.99999699 0.00517634] [ 0. 0. 0. 1. ]] SLAMing on 128.343133365 meters 0.2785781662222051 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998516 0.00511349 0.00187936 1.05930394] [-0.00511052 0.99998568 -0.00158603 0.05140129] [-0.00188744 0.0015764 0.99999698 0.0049375 ] [ 0. 0. 0. 1. ]] SLAMing on 128.403133365 meters 0.27824040919131204 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998551 0.00509188 0.001745 1.05988034] [-0.00508903 0.99998571 -0.00163504 0.05155601] [-0.0017533 0.00162614 0.99999714 0.00436162] [ 0. 0. 0. 1. ]] SLAMing on 128.463133365 meters 0.2779409574849682 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998524 0.00512391 0.00180591 1.05982071] [-0.0051211 0.99998568 -0.00155406 0.05121895] [-0.00181384 0.00154479 0.99999716 0.00416142] [ 0. 0. 0. 1. ]] SLAMing on 128.52313336499998 meters 0.27805775963202545 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998569 0.00509655 0.00162373 1.06050022] [-0.00509392 0.99998571 -0.00162047 0.05143345] [-0.00163196 0.00161217 0.99999737 0.00358822] [ 0. 0. 0. 1. ]] SLAMing on 128.58313336499998 meters 0.2778187974010952 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99993965e-01 -3.47421031e-03 -1.65119365e-05 1.04215249e+00] [ 3.47420686e-03 9.99993944e-01 -2.04340549e-04 5.49903669e-02] [ 1.72217585e-05 2.04281949e-04 9.99999979e-01 2.19895583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64313336499998 meters 0.2768879045432249 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 9.99993920e-01 -3.48531846e-03 -1.10941008e-04 1.04241747e+00] [ 3.48529237e-03 9.99993899e-01 -2.34497130e-04 5.50964926e-02] [ 1.11757629e-04 2.34109042e-04 9.99999966e-01 2.08319827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70313336499999 meters 0.27909971952330137 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998476 0.00537414 0.00126493 1.06044058] [-0.00537212 0.99998429 -0.00159947 0.0515962 ] [-0.00127351 0.00159265 0.99999792 0.00348195] [ 0. 0. 0. 1. ]] SLAMing on 128.763133365 meters 0.27862949419990723 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 0.99998468 0.00541675 0.00113556 1.06081842] [-0.00541508 0.99998425 -0.001473 0.05106679] [-0.00114352 0.00146683 0.99999827 0.00329668] [ 0. 0. 0. 1. ]] SLAMing on 128.823133365 meters 0.27739768148613075 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99988108e-01 -4.40436107e-03 -2.09415219e-03 1.04456546e+00] [ 4.40356525e-03 9.99990230e-01 -3.84482431e-04 4.61683371e-02] [ 2.09582513e-03 3.75256123e-04 9.99997733e-01 1.04505316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.883133365 meters 0.277623321200403 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 9.99988984e-01 -4.19003561e-03 -2.11532327e-03 1.04441121e+00] [ 4.19069478e-03 9.99991172e-01 3.07279936e-04 4.34459356e-02] [ 2.11401708e-03 -3.16141225e-04 9.99997715e-01 1.49196774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.943133365 meters 0.2779856002354921 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 0.99999015 -0.00392048 -0.00208269 1.04415537] [ 0.00392282 0.99999168 0.00111994 0.04023409] [ 0.00207828 -0.0011281 0.9999972 0.00187068] [ 0. 0. 0. 1. ]] SLAMing on 129.003133365 meters 0.2779960031723082 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 0.99999188 -0.00348674 -0.00202272 1.04362712] [ 0.003491 0.99999169 0.00210599 0.03618108] [ 0.00201536 -0.00211303 0.99999574 0.00250301] [ 0. 0. 0. 1. ]] SLAMing on 129.063133365 meters 0.2784241841915717 Centerline is valid? [False, False] Translation: X:1.04, Y:0.03, Z:0.00 [[ 0.99999279 -0.00335762 -0.00177298 1.04271535] [ 0.00336198 0.99999132 0.00246266 0.03481851] [ 0.00176469 -0.0024686 0.9999954 0.00331707] [ 0. 0. 0. 1. ]] SLAMing on 129.123133365 meters 0.2788427693242019 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 0.9999931 -0.00337285 -0.00155538 1.04201369] [ 0.00337657 0.99999144 0.00239334 0.0351118 ] [ 0.0015473 -0.00239858 0.99999593 0.00380722] [ 0. 0. 0. 1. ]] SLAMing on 129.183133365 meters 0.27844224198303225 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 9.99993838e-01 -3.35293087e-03 -1.03974860e-03 1.04068720e+00] [ 3.35521589e-03 9.99991943e-01 2.20376103e-03 3.61342817e-02] [ 1.03235117e-03 -2.20723603e-03 9.99997031e-01 4.13533474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.243133365 meters 0.27893798814554716 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 0.99999309 -0.00354686 -0.00111077 1.04091307] [ 0.00354867 0.99999237 0.00163444 0.03840819] [ 0.00110496 -0.00163837 0.99999805 0.00403787] [ 0. 0. 0. 1. ]] SLAMing on 129.30313336499998 meters 0.27896636298812333 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 0.99999219 -0.00373865 -0.00128195 1.04133767] [ 0.00374014 0.99999233 0.0011615 0.04037452] [ 0.0012776 -0.00116629 0.9999985 0.00402391] [ 0. 0. 0. 1. ]] SLAMing on 129.36313336499998 meters 0.2776045600932578 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 9.99991494e-01 -3.89366122e-03 -1.36093549e-03 1.04151662e+00] [ 3.89473679e-03 9.99992105e-01 7.88562350e-04 4.19173706e-02] [ 1.35785435e-03 -7.93856128e-04 9.99998763e-01 4.05471635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42313336499998 meters 0.2767150118224331 Centerline is valid? [False, False] Translation: X:1.04, Y:0.04, Z:0.00 [[ 9.99990176e-01 -4.20341800e-03 -1.40688575e-03 1.04195270e+00] [ 4.20353629e-03 9.99991162e-01 8.11361028e-05 4.48363370e-02] [ 1.40653226e-03 -8.70492010e-05 9.99999007e-01 3.41435837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.483133365 meters 0.27835057324404205 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 9.99988303e-01 4.83224583e-03 2.06811403e-04 1.06136973e+00] [-4.83195732e-03 9.99987383e-01 -1.37351585e-03 4.63798814e-02] [-2.13445960e-04 1.37250048e-03 9.99999035e-01 3.72370438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543133365 meters 0.27614068981123235 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99990732e-01 -4.04749091e-03 -1.46740781e-03 1.04328676e+00] [ 4.04639376e-03 9.99991532e-01 -7.49872746e-04 5.37314477e-02] [ 1.47043049e-03 7.43928087e-04 9.99998642e-01 2.73792067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603133365 meters 0.27838484948599546 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.99998986 -0.00419056 -0.00164684 1.04384606] [ 0.00418868 0.99999057 -0.00114485 0.05532974] [ 0.00165162 0.00113794 0.99999799 0.0024309 ] [ 0. 0. 0. 1. ]] SLAMing on 129.663133365 meters 0.27804200932705786 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.99998929 -0.00431818 -0.00166472 1.04385307] [ 0.00431562 0.9999895 -0.00154181 0.05691755] [ 0.00167136 0.00153461 0.99999743 0.00252336] [ 0. 0. 0. 1. ]] SLAMing on 129.723133365 meters 0.27629239622299 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.999989 -0.00440849 -0.0015989 1.04343446] [ 0.00440559 0.99998865 -0.00181371 0.05801619] [ 0.00160688 0.00180664 0.99999708 0.00317196] [ 0. 0. 0. 1. ]] SLAMing on 129.783133365 meters 0.2761420413106096 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.9999885 -0.00444319 -0.00180526 1.04393558] [ 0.00443974 0.99998831 -0.00191375 0.05842275] [ 0.00181374 0.00190572 0.99999654 0.00310109] [ 0. 0. 0. 1. ]] SLAMing on 129.843133365 meters 0.27798032249308285 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.99998872 -0.00432647 -0.00195758 1.04448847] [ 0.00432331 0.99998935 -0.00161623 0.05713663] [ 0.00196455 0.00160775 0.99999678 0.00267147] [ 0. 0. 0. 1. ]] SLAMing on 129.903133365 meters 0.2775652221468408 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.99998938 -0.00416367 -0.0019744 1.0442102 ] [ 0.0041613 0.99999062 -0.00120481 0.05546606] [ 0.0019794 0.00119658 0.99999733 0.00339883] [ 0. 0. 0. 1. ]] SLAMing on 129.963133365 meters 0.2771353248249678 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.9999889 -0.00414053 -0.00225045 1.04476702] [ 0.004138 0.9999908 -0.00113052 0.05517564] [ 0.00225511 0.0011212 0.99999683 0.00358499] [ 0. 0. 0. 1. ]] SLAMing on 130.02313336499998 meters 0.27844382905861936 Centerline is valid? [False, False] Translation: X:1.05, Y:0.06, Z:0.00 [[ 0.99998864 -0.00415278 -0.00234001 1.04511713] [ 0.00415007 0.99999072 -0.00115965 0.05526789] [ 0.0023448 0.00114992 0.99999659 0.00322175] [ 0. 0. 0. 1. ]] SLAMing on 130.08313336499998 meters 0.278785712233846 Centerline is valid? [False, False] Translation: X:1.04, Y:0.06, Z:0.00 [[ 0.99998926 -0.00417847 -0.00200743 1.04423525] [ 0.00417598 0.9999905 -0.00124638 0.05568098] [ 0.00201262 0.00123799 0.99999721 0.00346861] [ 0. 0. 0. 1. ]] SLAMing on 130.14313336499998 meters 0.2771492273539194 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 0.99998974 -0.00410842 -0.00190907 1.04362585] [ 0.00410636 0.99999099 -0.00108035 0.05498969] [ 0.00191349 0.0010725 0.99999759 0.00428079] [ 0. 0. 0. 1. ]] SLAMing on 130.20313336499999 meters 0.277865792703798 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99989913e-01 -3.97676832e-03 -2.08807621e-03 1.04411716e+00] [ 3.97528374e-03 9.99991843e-01 -7.14651438e-04 5.34491432e-02] [ 2.09090119e-03 7.06343533e-04 9.99997565e-01 4.14891973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263133365 meters 0.2784220122053658 Centerline is valid? [False, False] Translation: X:1.04, Y:0.05, Z:0.00 [[ 9.99990171e-01 -3.80428120e-03 -2.27726302e-03 1.04465942e+00] [ 3.80386346e-03 9.99992748e-01 -1.87744271e-04 5.12844946e-02] [ 2.27796074e-03 1.79080028e-04 9.99997389e-01 3.93485979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323133365 meters 0.27919585216978177 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 9.99996578e-01 2.53258776e-03 6.55888767e-04 1.06482694e+00] [-2.53051373e-03 9.99991856e-01 -3.14392271e-03 4.96646732e-02] [-6.63845686e-04 3.14225221e-03 9.99994843e-01 3.86665591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383133365 meters 0.27857154762828484 Centerline is valid? [False, False] Translation: X:1.06, Y:0.05, Z:0.00 [[ 9.99996576e-01 2.52956588e-03 6.70996445e-04 1.06469835e+00] [-2.52744022e-03 9.99991845e-01 -3.15006264e-03 4.97169019e-02] [-6.78959264e-04 3.14835595e-03 9.99994813e-01 4.07464840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443133365 meters 0.27994051373752227 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.00 [[ 9.99994700e-01 -2.99046670e-03 -1.28741399e-03 1.08956235e+00] [ 2.98983091e-03 9.99995408e-01 -4.95495089e-04 5.38232126e-02] [ 1.28888984e-03 4.91643313e-04 9.99999049e-01 3.13197531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503133365 meters 0.27777900620100227 Centerline is valid? [False, False] Translation: X:1.07, Y:0.06, Z:0.01 [[ 0.99999016 0.00283201 -0.00341419 1.06582983] [-0.00284254 0.99999121 -0.00308252 0.05601079] [ 0.00340543 0.0030922 0.99998942 0.00564336] [ 0. 0. 0. 1. ]] SLAMing on 130.563133365 meters 0.27843783103204034 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.01 [[ 0.99998636 -0.00465909 -0.002362 1.08504912] [ 0.00465412 0.99998696 -0.00210316 0.06035719] [ 0.00237177 0.00209214 0.999995 0.00722362] [ 0. 0. 0. 1. ]] SLAMing on 130.623133365 meters 0.27901592244287315 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.01 [[ 0.99998639 -0.00461174 -0.00243952 1.08539335] [ 0.00460691 0.99998742 -0.00198277 0.05982187] [ 0.00244864 0.0019715 0.99999506 0.00688803] [ 0. 0. 0. 1. ]] SLAMing on 130.683133365 meters 0.27794655667243084 Centerline is valid? [False, False] Translation: X:1.09, Y:0.06, Z:0.01 [[ 0.99998646 -0.00457827 -0.00247478 1.08548753] [ 0.00457358 0.99998774 -0.00189883 0.05946582] [ 0.00248344 0.00188748 0.99999513 0.00687244] [ 0. 0. 0. 1. ]] SLAMing on 130.743133365 meters 0.27955900018199514 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998879 0.00448312 -0.00152125 1.10411639] [-0.00448749 0.99998579 -0.00287932 0.05470595] [ 0.00150832 0.00288612 0.9999947 0.00819387] [ 0. 0. 0. 1. ]] SLAMing on 130.80313336499998 meters 0.278350772910672 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.01 [[ 9.99985806e-01 -4.20499367e-03 -3.27202683e-03 1.08556307e+00] [ 4.20148466e-03 9.99990592e-01 -1.07856487e-03 5.36798293e-02] [ 3.27653141e-03 1.06480219e-03 9.99994065e-01 6.87417116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86313336499998 meters 0.27909718814501167 Centerline is valid? [False, False] Translation: X:1.09, Y:0.05, Z:0.01 [[ 9.99986185e-01 -4.13192091e-03 -3.24926512e-03 1.08554810e+00] [ 4.12902189e-03 9.99991072e-01 -8.98413106e-04 5.29203949e-02] [ 3.25294828e-03 8.84984407e-04 9.99994318e-01 6.79162862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92313336499998 meters 0.2804129649836495 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998704 0.00478096 -0.00175229 1.10457581] [-0.00478497 0.99998593 -0.00228788 0.05218509] [ 0.00174133 0.00229623 0.99999585 0.00794426] [ 0. 0. 0. 1. ]] SLAMing on 130.983133365 meters 0.2793248762387477 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998734 0.00470566 -0.0017827 1.10458151] [-0.00471006 0.99998586 -0.00246745 0.05296339] [ 0.00177106 0.00247581 0.99999537 0.00810062] [ 0. 0. 0. 1. ]] SLAMing on 131.043133365 meters 0.2802350384570416 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998704 0.00474431 -0.00184889 1.1043824 ] [-0.00474868 0.99998592 -0.00237 0.05260989] [ 0.00183762 0.00237875 0.99999548 0.00887977] [ 0. 0. 0. 1. ]] SLAMing on 131.103133365 meters 0.27869059513292144 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998697 0.00475768 -0.00184789 1.10431963] [-0.00476199 0.99998593 -0.00233734 0.05248484] [ 0.00183674 0.00234611 0.99999556 0.00900943] [ 0. 0. 0. 1. ]] SLAMing on 131.163133365 meters 0.2785436308462234 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998723 0.00467319 -0.00192131 1.10469052] [-0.00467809 0.9999858 -0.00255231 0.05333795] [ 0.00190936 0.00256127 0.9999949 0.0085773 ] [ 0. 0. 0. 1. ]] SLAMing on 131.223133365 meters 0.27913815517073937 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:0.01 [[ 0.99998785 0.0045466 -0.00190586 1.10466475] [-0.00455216 0.99998537 -0.00292052 0.05485517] [ 0.00189255 0.00292916 0.99999392 0.00855424] [ 0. 0. 0. 1. ]] SLAMing on 131.283133365 meters 0.2798474276319385 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 0.99998825 0.00449097 -0.00182706 1.10427844] [-0.00449654 0.99998521 -0.00305839 0.05547167] [ 0.0018133 0.00306657 0.99999365 0.00897008] [ 0. 0. 0. 1. ]] SLAMing on 131.343133365 meters 0.27809848418526867 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:0.01 [[ 9.99993666e-01 -2.26678702e-03 -2.74414842e-03 1.08255905e+00] [ 2.26776663e-03 9.99997366e-01 3.53920030e-04 5.59492183e-02] [ 2.74333893e-03 -3.60140877e-04 9.99996172e-01 9.54971054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.403133365 meters 0.2800110722923251 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 9.99989570e-01 4.54277315e-03 -4.72568558e-04 1.10287651e+00] [-4.54418386e-03 9.99985090e-01 -3.02823529e-03 5.75624740e-02] [ 4.58804926e-04 3.03035114e-03 9.99995303e-01 9.15058652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.463133365 meters 0.2805830483647737 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 9.99990026e-01 4.44426968e-03 -4.43980497e-04 1.10272006e+00] [-4.44569940e-03 9.99984762e-01 -3.27290316e-03 5.86210854e-02] [ 4.29428068e-04 3.27484432e-03 9.99994545e-01 9.33338790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52313336499998 meters 0.2792225573310779 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 9.99990512e-01 4.34069071e-03 -3.66929509e-04 1.10260505e+00] [-4.34196208e-03 9.99984314e-01 -3.53817098e-03 5.97247426e-02] [ 3.51565647e-04 3.53973060e-03 9.99993673e-01 9.18032792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58313336499998 meters 0.27861454917639944 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:0.01 [[ 9.99990870e-01 4.24956459e-03 -4.48116192e-04 1.10273409e+00] [-4.25122158e-03 9.99983880e-01 -3.76393849e-03 6.06657632e-02] [ 4.32113869e-04 3.76580917e-03 9.99992816e-01 9.33222873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64313336499998 meters 0.2794811365887462 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99995425e-01 -2.94378533e-03 6.95368179e-04 1.12159941e+00] [ 2.94551677e-03 9.99992531e-01 -2.50220161e-03 6.59673581e-02] [-6.87997042e-04 2.50423838e-03 9.99996628e-01 1.09180158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70313336499999 meters 0.27855826864314587 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99995417e-01 -2.95916474e-03 6.39344864e-04 1.12171894e+00] [ 2.96078241e-03 9.99992380e-01 -2.54423613e-03 6.61325272e-02] [-6.31811179e-04 2.54611743e-03 9.99996559e-01 1.09474588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763133365 meters 0.27919567984542315 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99995049e-01 -3.10240597e-03 5.26255746e-04 1.12225373e+00] [ 3.10391274e-03 9.99991016e-01 -2.88695468e-03 6.75449264e-02] [-5.17294512e-04 2.88857384e-03 9.99995694e-01 1.04030058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823133365 meters 0.27921891991535186 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99994318e-01 -3.31819320e-03 5.94742793e-04 1.12192189e+00] [ 3.32024442e-03 9.99988427e-01 -3.48175954e-03 7.00440764e-02] [-5.83182759e-04 3.48371444e-03 9.99993762e-01 1.07505702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.883133365 meters 0.2788287090521328 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99993919e-01 -3.42170181e-03 6.74073307e-04 1.12156530e+00] [ 3.42421036e-03 9.99987083e-01 -3.75616892e-03 7.12243836e-02] [-6.61212110e-04 3.75845424e-03 9.99992718e-01 1.11061785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.943133365 meters 0.2783482514197778 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99999286e-01 9.73524686e-04 6.93424296e-04 1.12134232e+00] [-9.74020835e-04 9.99999270e-01 7.15527507e-04 7.05956827e-02] [-6.92727206e-04 -7.16202405e-04 9.99999504e-01 1.14741173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.003133365 meters 0.27859421084825325 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99999252e-01 1.00137524e-03 7.02852824e-04 1.12109865e+00] [-1.00191949e-03 9.99999198e-01 7.74420347e-04 7.03337408e-02] [-7.02076775e-04 -7.75123969e-04 9.99999453e-01 1.19353611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.063133365 meters 0.28028627829839714 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99999397e-01 8.89361424e-04 6.43757325e-04 1.12134764e+00] [-8.89675790e-04 9.99999485e-01 4.88207643e-04 7.15065414e-02] [-6.43322800e-04 -4.88780084e-04 9.99999674e-01 1.16615899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.123133365 meters 0.28094523385067005 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:0.01 [[ 9.99999425e-01 6.91276141e-04 8.19635176e-04 1.12162971e+00] [-6.91127152e-04 9.99999745e-01 -1.82044236e-04 7.44323404e-02] [-8.19760810e-04 1.81477660e-04 9.99999648e-01 1.02905917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.183133365 meters 0.2810509271437302 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:0.01 [[ 9.99999641e-01 4.47444814e-04 7.20059656e-04 1.12198476e+00] [-4.46830606e-04 9.99999536e-01 -8.52929649e-04 7.71709320e-02] [-7.20440961e-04 8.52607597e-04 9.99999377e-01 9.97357339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.243133365 meters 0.28275099417751637 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.01 [[ 0.99998804 -0.00470191 -0.00134737 1.14600894] [ 0.00470437 0.99998726 0.00182996 0.08473405] [ 0.00133875 -0.00183627 0.99999742 0.00990808] [ 0. 0. 0. 1. ]] SLAMing on 132.30313336499998 meters 0.28096286795453357 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:0.01 [[ 0.99998955 0.0043263 0.00147665 1.12030634] [-0.00432912 0.99998881 0.00190877 0.08426975] [-0.00146837 -0.00191514 0.99999709 0.01126067] [ 0. 0. 0. 1. ]] SLAMing on 132.36313336499998 meters 0.2786162406151442 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.01 [[ 0.99999033 0.00414872 0.0014602 1.12018444] [-0.00415086 0.99999031 0.00146438 0.08612563] [-0.00145412 -0.00147043 0.99999786 0.0115566 ] [ 0. 0. 0. 1. ]] SLAMing on 132.42313336499998 meters 0.27975810066054163 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.01 [[ 9.99991359e-01 3.96272473e-03 1.25654910e-03 1.12103676e+00] [-3.96396047e-03 9.99991661e-01 9.82480420e-04 8.80819372e-02] [-1.25264532e-03 -9.87452841e-04 9.99998728e-01 1.06226987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.483133365 meters 0.2784329134761187 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.01 [[ 9.99992661e-01 3.62243400e-03 1.24731252e-03 1.12103251e+00] [-3.62264777e-03 9.99993424e-01 1.69171110e-04 9.15331933e-02] [-1.24669151e-03 -1.73688443e-04 9.99999208e-01 1.06104414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543133365 meters 0.28038614043633636 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 9.99991168e-01 -4.12372618e-03 8.11366909e-04 1.14059219e+00] [ 4.12306408e-03 9.99991167e-01 8.16020876e-04 9.86889739e-02] [-8.14724789e-04 -8.12668352e-04 9.99999338e-01 1.18290107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.603133365 meters 0.2786257452941434 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.01 [[ 9.99994332e-01 3.32115660e-03 -5.53929966e-04 1.12136407e+00] [-3.32145282e-03 9.99994341e-01 -5.34701879e-04 9.59317939e-02] [ 5.52151003e-04 5.36538700e-04 9.99999704e-01 1.07140843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.663133365 meters 0.2801468671243079 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 0.99999566 -0.00210249 0.00206617 1.14305951] [ 0.00209755 0.99999494 0.00239296 0.0965216 ] [-0.00207119 -0.00238862 0.999995 0.00957797] [ 0. 0. 0. 1. ]] SLAMing on 132.723133365 meters 0.27966108409999413 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 0.99999541 -0.00205595 0.00222582 1.14232558] [ 0.00205035 0.99999474 0.00251414 0.09609912] [-0.00223098 -0.00250956 0.99999436 0.01041692] [ 0. 0. 0. 1. ]] SLAMing on 132.783133365 meters 0.27982869322487713 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 0.9999956 -0.0019793 0.00220764 1.142379 ] [ 0.0019733 0.99999437 0.00271515 0.09526902] [-0.002213 -0.00271078 0.99999388 0.01040793] [ 0. 0. 0. 1. ]] SLAMing on 132.843133365 meters 0.2773800503801724 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.01 [[ 9.99995762e-01 2.76509856e-03 9.10811331e-04 1.11914983e+00] [-2.76450610e-03 9.99995967e-01 -6.51086357e-04 9.26530249e-02] [-9.12607975e-04 6.48565654e-04 9.99999373e-01 1.19362528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.903133365 meters 0.27889668248993815 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.01 [[ 0.99999202 -0.00326209 0.0023052 1.14118454] [ 0.00325735 0.99999258 0.00205464 0.09280398] [-0.00231188 -0.00204712 0.99999523 0.0110247 ] [ 0. 0. 0. 1. ]] SLAMing on 132.963133365 meters 0.27803536952463664 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:0.01 [[ 0.99998217 0.00475346 0.00361357 1.1188476 ] [-0.00475889 0.99998756 0.00149711 0.08824869] [-0.00360641 -0.00151427 0.99999235 0.01071533] [ 0. 0. 0. 1. ]] SLAMing on 133.02313336499998 meters 0.28037239501960476 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.01 [[ 0.99998468 -0.00389237 0.00393452 1.13929128] [ 0.0038865 0.99999133 0.0014977 0.09378819] [-0.00394031 -0.00148238 0.99999114 0.01027519] [ 0. 0. 0. 1. ]] SLAMing on 133.08313336499998 meters 0.2801322305090843 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.01 [[ 0.99998441 -0.00398609 0.00390985 1.1394976 ] [ 0.00398123 0.99999129 0.001252 0.09477978] [-0.00391481 -0.00123642 0.99999157 0.00991643] [ 0. 0. 0. 1. ]] SLAMing on 133.14313336499998 meters 0.2817162600988916 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 9.99983645e-01 -4.25040816e-03 3.82680189e-03 1.13989560e+00] [ 4.24877976e-03 9.99990880e-01 4.33553481e-04 9.80442290e-02] [-3.82860977e-03 -4.17287152e-04 9.99992584e-01 9.36647090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20313336499999 meters 0.2795159831822121 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.01 [[ 9.99979288e-01 4.48306855e-03 4.61787824e-03 1.11668993e+00] [-4.48436654e-03 9.99989909e-01 2.70763691e-04 9.62170009e-02] [-4.61661779e-03 -2.91466341e-04 9.99989301e-01 1.01406769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263133365 meters 0.27831883325406326 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:0.01 [[ 9.99979451e-01 4.33962065e-03 4.71869454e-03 1.11639568e+00] [-4.33928203e-03 9.99990582e-01 -8.19952242e-05 9.77273414e-02] [-4.71900592e-03 6.15177928e-05 9.99988864e-01 1.02201941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323133365 meters 0.27979895239139346 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 9.99978194e-01 -1.03884562e-03 6.52165867e-03 1.13882256e+00] [ 1.01989766e-03 9.99995252e-01 2.90804387e-03 1.00053280e-01] [-6.52464871e-03 -2.90132903e-03 9.99974505e-01 8.72024573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.383133365 meters 0.2802399428631753 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 0.9999778 -0.00119491 0.0065548 1.13875634] [ 0.00117829 0.99999608 0.00253838 0.10164902] [-0.00655781 -0.0025306 0.9999753 0.00864638] [ 0. 0. 0. 1. ]] SLAMing on 133.443133365 meters 0.2818306257379847 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:0.01 [[ 0.9999782 -0.00136698 0.00646056 1.13932875] [ 0.00135348 0.99999689 0.00209297 0.10348949] [-0.0064634 -0.00208418 0.99997694 0.00779282] [ 0. 0. 0. 1. ]] SLAMing on 133.503133365 meters 0.2826487273175952 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:0.01 [[ 0.99997828 -0.00152933 0.00641118 1.13953408] [ 0.00151848 0.99999741 0.0016962 0.10517802] [-0.00641375 -0.00168643 0.99997801 0.00759027] [ 0. 0. 0. 1. ]] SLAMing on 133.563133365 meters 0.2808894472159072 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:0.01 [[ 0.99997629 -0.0016821 0.00667724 1.13881147] [ 0.00167355 0.99999777 0.00128628 0.10694755] [-0.00667939 -0.00127507 0.99997688 0.00772195] [ 0. 0. 0. 1. ]] SLAMing on 133.623133365 meters 0.28096326562436097 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:0.01 [[ 9.99974830e-01 -1.89157740e-03 6.83826703e-03 1.13849137e+00] [ 1.88630556e-03 9.99997919e-01 7.77300070e-04 1.09100187e-01] [-6.83972312e-03 -7.64381444e-04 9.99976317e-01 7.54249425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.683133365 meters 0.28084984061427504 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:0.01 [[ 9.99973993e-01 -2.02513535e-03 6.92190699e-03 1.13819416e+00] [ 2.02201640e-03 9.99997851e-01 4.57560022e-04 1.10488233e-01] [-6.92281874e-03 -4.43551913e-04 9.99975939e-01 7.70791127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.743133365 meters 0.27965874779256983 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:0.01 [[ 9.99972900e-01 -2.21717423e-03 7.02026725e-03 1.13782862e+00] [ 2.21737934e-03 9.99997541e-01 -2.14337370e-05 1.12531052e-01] [-7.02020247e-03 3.69997517e-05 9.99975357e-01 7.95304698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80313336499998 meters 0.27952290725532075 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:0.01 [[ 0.99997488 0.00170111 0.00688092 1.1382601 ] [-0.00172428 0.99999286 0.00336284 0.11653081] [-0.00687515 -0.00337462 0.99997067 0.00760947] [ 0. 0. 0. 1. ]] SLAMing on 133.86313336499998 meters 0.28039634138035074 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:0.01 [[ 0.99997469 0.00132588 0.00699047 1.1379959 ] [-0.00134207 0.99999643 0.00231099 0.12090633] [-0.00698738 -0.00232032 0.9999729 0.007528 ] [ 0. 0. 0. 1. ]] SLAMing on 133.92313336499998 meters 0.2788146170441507 Centerline is valid? [False, False] Translation: X:1.14, Y:0.13, Z:0.01 [[ 9.99972730e-01 9.29584083e-04 7.32629172e-03 1.13713989e+00] [-9.38092069e-04 9.99998890e-01 1.15794415e-03 1.25764776e-01] [-7.32520718e-03 -1.16478531e-03 9.99972492e-01 7.51426522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.983133365 meters 0.28051220153403067 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 0.99996663 -0.00329308 0.00747578 1.15687427] [ 0.00326069 0.99998526 0.00434032 0.14075048] [-0.00748997 -0.0043158 0.99996264 0.00802308] [ 0. 0. 0. 1. ]] SLAMing on 134.043133365 meters 0.28070540744472167 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:0.01 [[ 0.99996398 -0.00374358 0.00761703 1.15655093] [ 0.00372007 0.99998828 0.00309803 0.14588286] [-0.00762854 -0.00306958 0.99996619 0.0078666 ] [ 0. 0. 0. 1. ]] SLAMing on 134.103133365 meters 0.27881018933977303 Centerline is valid? [False, False] Translation: X:1.13, Y:0.15, Z:0.01 [[ 9.99986040e-01 2.49266352e-03 4.65891352e-03 1.13485339e+00] [-2.49336123e-03 9.99996881e-01 1.43957310e-04 1.53450856e-01] [-4.65854016e-03 -1.55571655e-04 9.99989137e-01 9.26233032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.163133365 meters 0.2795739744803094 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:0.01 [[ 0.99998673 0.00185418 0.00480605 1.13451115] [-0.00184771 0.99999738 -0.00135196 0.15988068] [-0.00480854 0.00134306 0.99998754 0.00914283] [ 0. 0. 0. 1. ]] SLAMing on 134.223133365 meters 0.28067789997386183 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 9.99972717e-01 -5.60491297e-03 4.81140397e-03 1.15280749e+00] [ 5.60587874e-03 9.99984269e-01 -1.87260695e-04 1.69067253e-01] [-4.81027870e-03 2.14227734e-04 9.99988408e-01 1.15267805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.283133365 meters 0.27952648683221293 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 9.99971855e-01 -5.72272891e-03 4.85166025e-03 1.15293658e+00] [ 5.72505084e-03 9.99983504e-01 -4.64832155e-04 1.70219871e-01] [-4.84892011e-03 4.92595074e-04 9.99988123e-01 1.10220793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.343133365 meters 0.2788389784763998 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 9.99970119e-01 -5.77523165e-03 5.13878713e-03 1.15212315e+00] [ 5.77852130e-03 9.99983109e-01 -6.25543867e-04 1.70884621e-01] [-5.13508767e-03 6.55219766e-04 9.99986601e-01 1.13797562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.403133365 meters 0.27925034738051735 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 9.99969551e-01 -5.81162893e-03 5.20788589e-03 1.15191506e+00] [ 5.81542758e-03 9.99982835e-01 -7.14556796e-04 1.71281560e-01] [-5.20364376e-03 7.44821121e-04 9.99986184e-01 1.14484665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.463133365 meters 0.2797939802559542 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 9.99969581e-01 -5.82898040e-03 5.18272030e-03 1.15215955e+00] [ 5.83298925e-03 9.99982700e-01 -7.58724139e-04 1.71435826e-01] [-5.17820805e-03 7.88931811e-04 9.99986282e-01 1.10577022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52313336499998 meters 0.277767818150911 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:0.01 [[ 0.99998968 0.00203515 0.00406298 1.13286195] [-0.0020276 0.99999621 -0.00186262 0.16669148] [-0.00406676 0.00185437 0.99999001 0.00982443] [ 0. 0. 0. 1. ]] SLAMing on 134.58313336499998 meters 0.2777048339393778 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:0.01 [[ 0.99999009 0.00222789 0.00385543 1.13366011] [-0.00222257 0.99999657 -0.00138391 0.16453215] [-0.0038585 0.00137532 0.99999161 0.00918343] [ 0. 0. 0. 1. ]] SLAMing on 134.64313336499998 meters 0.2772954419134105 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99984577e-01 -5.52955899e-03 5.20031199e-04 1.11559554e+00] [ 5.52937846e-03 9.99984652e-01 3.47945849e-04 1.62022618e-01] [-5.21947205e-04 -3.45065033e-04 9.99999804e-01 8.13447098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70313336499999 meters 0.2802027213731992 Centerline is valid? [False, False] Translation: X:1.16, Y:0.16, Z:0.01 [[ 0.99998467 -0.00367469 0.00414109 1.1575591 ] [ 0.00366727 0.99999166 0.00179812 0.16031863] [-0.00414766 -0.00178291 0.99998981 0.00794204] [ 0. 0. 0. 1. ]] SLAMing on 134.763133365 meters 0.2793256641160666 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:0.01 [[ 0.99996421 0.00490712 0.00689189 1.13304118] [-0.00491777 0.99998674 0.00152999 0.156499 ] [-0.00688429 -0.00156382 0.99997508 0.00759785] [ 0. 0. 0. 1. ]] SLAMing on 134.823133365 meters 0.28187992961264036 Centerline is valid? [False, False] Translation: X:1.13, Y:0.16, Z:0.01 [[ 9.99969151e-01 4.69810217e-03 6.29479349e-03 1.13498064e+00] [-4.70322780e-03 9.99988620e-01 7.99710151e-04 1.59344440e-01] [-6.29096474e-03 -8.29291329e-04 9.99979868e-01 5.86285389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.883133365 meters 0.28055973259075423 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.00 [[ 0.99999148 -0.00330531 0.00247203 1.11796279] [ 0.0033022 0.99999375 0.00126326 0.16455109] [-0.00247619 -0.00125508 0.99999615 0.00429357] [ 0. 0. 0. 1. ]] SLAMing on 134.943133365 meters 0.280246629301815 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:0.00 [[ 9.99989630e-01 -3.73050716e-03 2.61223489e-03 1.11754196e+00] [ 3.73014764e-03 9.99993033e-01 1.42487901e-04 1.69233742e-01] [-2.61274825e-03 -1.32742402e-04 9.99996578e-01 4.32690721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.003133365 meters 0.2804862337568891 Centerline is valid? [False, False] Translation: X:1.14, Y:0.17, Z:0.00 [[ 0.99997624 0.00475286 0.00499368 1.13739267] [-0.0047466 0.99998793 -0.00126579 0.17274397] [-0.00499964 0.00124206 0.99998673 0.00428363] [ 0. 0. 0. 1. ]] SLAMing on 135.063133365 meters 0.28055122942958477 Centerline is valid? [False, False] Translation: X:1.12, Y:0.18, Z:0.00 [[ 9.99986688e-01 -3.37265700e-03 3.90491821e-03 1.11867475e+00] [ 3.37419675e-03 9.99994232e-01 -3.87789278e-04 1.80408070e-01] [-3.90358780e-03 4.00960078e-04 9.99992301e-01 2.44960538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.123133365 meters 0.27836453800868927 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:0.00 [[ 9.99997091e-01 -2.04205027e-03 1.28370711e-03 1.07537104e+00] [ 2.04119602e-03 9.99997695e-01 6.66416958e-04 1.85950357e-01] [-1.28506501e-03 -6.63794721e-04 9.99998954e-01 3.71468144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.183133365 meters 0.2795380409325196 Centerline is valid? [False, False] Translation: X:1.10, Y:0.19, Z:0.00 [[ 0.99998505 0.00404388 0.0036805 1.09833784] [-0.00403362 0.99998797 -0.00279279 0.1929469 ] [-0.00369175 0.0027779 0.99998933 0.00152378] [ 0. 0. 0. 1. ]] SLAMing on 135.243133365 meters 0.2789322569582413 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 0.9999859 0.00383594 0.00367309 1.09837824] [-0.00382381 0.99998723 -0.00330359 0.19508313] [-0.00368571 0.0032895 0.9999878 0.00141266] [ 0. 0. 0. 1. ]] SLAMing on 135.30313336499998 meters 0.2788340698783024 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 0.99998556 0.00378333 0.00381703 1.0976809 ] [-0.00377015 0.99998692 -0.00345538 0.19574664] [-0.00383005 0.00344093 0.99998675 0.00227759] [ 0. 0. 0. 1. ]] SLAMing on 135.36313336499998 meters 0.27905631164088357 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 0.99998561 0.00382971 0.00375615 1.09771117] [-0.0038173 0.99998724 -0.00330737 0.19510596] [-0.00376877 0.00329299 0.99998748 0.00255579] [ 0. 0. 0. 1. ]] SLAMing on 135.42313336499998 meters 0.27890607458985195 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 0.99998573 0.00383103 0.00372444 1.09793902] [-0.00381874 0.99998727 -0.00329954 0.19508992] [-0.00373703 0.00328527 0.99998762 0.00221638] [ 0. 0. 0. 1. ]] SLAMing on 135.483133365 meters 0.278536804300489 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:0.00 [[ 9.99986184e-01 -5.21294648e-03 6.75852027e-04 1.07755775e+00] [ 5.21547074e-03 9.99979223e-01 -3.78858258e-03 1.96904312e-01] [-6.56088306e-04 3.79205512e-03 9.99992595e-01 2.77047370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543133365 meters 0.27968786954533026 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 0.99999013 0.00428928 0.00116045 1.10085032] [-0.00428488 0.99998373 -0.00376493 0.19707248] [-0.00117658 0.00375992 0.99999224 0.00207604] [ 0. 0. 0. 1. ]] SLAMing on 135.603133365 meters 0.2800977282272593 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 9.99990210e-01 4.30650837e-03 1.01722909e-03 1.10136056e+00] [-4.30269815e-03 9.99983829e-01 -3.71863624e-03 1.96867174e-01] [-1.03322698e-03 3.71422300e-03 9.99992568e-01 1.69784545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663133365 meters 0.2794055503017831 Centerline is valid? [False, False] Translation: X:1.10, Y:0.20, Z:0.00 [[ 9.99989595e-01 4.46132371e-03 9.52531825e-04 1.10142407e+00] [-4.45812531e-03 9.99984505e-01 -3.33391677e-03 1.95263898e-01] [-9.67390747e-04 3.32963557e-03 9.99993989e-01 1.90289483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723133365 meters 0.27800133948063194 Centerline is valid? [False, False] Translation: X:1.07, Y:0.19, Z:0.00 [[ 0.99998087 -0.00522703 0.00330574 1.07455954] [ 0.00523498 0.99998342 -0.00240091 0.18954263] [-0.00329314 0.00241817 0.99999165 0.00380965] [ 0. 0. 0. 1. ]] SLAMing on 135.783133365 meters 0.2792667203497843 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:0.01 [[ 0.99999317 0.00313076 0.0019649 1.09554142] [-0.00312498 0.99999081 -0.00293588 0.1805935 ] [-0.00197407 0.00292972 0.99999376 0.00517309] [ 0. 0. 0. 1. ]] SLAMing on 135.843133365 meters 0.27929752402224006 Centerline is valid? [False, False] Translation: X:1.08, Y:0.18, Z:0.00 [[ 9.99987984e-01 -4.25586304e-03 -2.43310124e-03 1.07888758e+00] [ 4.25384397e-03 9.99990604e-01 -8.34409960e-04 1.75180660e-01] [ 2.43662951e-03 8.24049900e-04 9.99996692e-01 3.79785948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.903133365 meters 0.2795530162531559 Centerline is valid? [False, False] Translation: X:1.08, Y:0.17, Z:0.00 [[ 9.99989828e-01 -3.79346179e-03 -2.43980852e-03 1.07918495e+00] [ 3.79415405e-03 9.99992763e-01 2.79169686e-04 1.70593166e-01] [ 2.43873184e-03 -2.88423856e-04 9.99996985e-01 3.39104042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.963133365 meters 0.28050734426354706 Centerline is valid? [False, False] Translation: X:1.08, Y:0.17, Z:0.00 [[ 9.99990113e-01 -3.65730159e-03 -2.52930558e-03 1.07954352e+00] [ 3.65887899e-03 9.99993115e-01 6.19300924e-04 1.69168442e-01] [ 2.52702320e-03 -6.28549224e-04 9.99996610e-01 3.12241844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02313336499998 meters 0.28183030060463937 Centerline is valid? [False, False] Translation: X:1.08, Y:0.17, Z:0.00 [[ 9.99989730e-01 -3.63778639e-03 -2.70314376e-03 1.08034638e+00] [ 3.63962327e-03 9.99993149e-01 6.74926668e-04 1.68867236e-01] [ 2.70067000e-03 -6.84758161e-04 9.99996119e-01 2.15877118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08313336499998 meters 0.2806027207066664 Centerline is valid? [False, False] Translation: X:1.08, Y:0.17, Z:0.00 [[ 9.99990555e-01 -3.64188306e-03 -2.37203406e-03 1.07935790e+00] [ 3.64343311e-03 9.99993152e-01 6.49474630e-04 1.69057640e-01] [ 2.36965251e-03 -6.58110844e-04 9.99996976e-01 2.68284523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14313336499998 meters 0.2829510544429577 Centerline is valid? [False, False] Translation: X:1.10, Y:0.17, Z:0.00 [[ 9.99987901e-01 4.62075762e-03 -1.68728628e-03 1.09950265e+00] [-4.62228545e-03 9.99988910e-01 -9.02726421e-04 1.66504032e-01] [ 1.68309629e-03 9.10514618e-04 9.99998169e-01 3.61878687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20313336499999 meters 0.281730740129749 Centerline is valid? [False, False] Translation: X:1.08, Y:0.17, Z:0.00 [[ 9.99975358e-01 -4.32034951e-03 -5.53336518e-03 1.08236901e+00] [ 4.31846264e-03 9.99990613e-01 -3.52900239e-04 1.65447967e-01] [ 5.53483789e-03 3.28995912e-04 9.99984629e-01 2.28374623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263133365 meters 0.2810121733701138 Centerline is valid? [False, False] Translation: X:1.10, Y:0.16, Z:0.00 [[ 9.99984330e-01 4.82310706e-03 -2.84212780e-03 1.10124456e+00] [-4.82379847e-03 9.99988337e-01 -2.36465869e-04 1.62411392e-01] [ 2.84095416e-03 2.50172015e-04 9.99995933e-01 3.23686178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323133365 meters 0.280334705917731 Centerline is valid? [False, False] Translation: X:1.10, Y:0.16, Z:0.00 [[ 9.99984296e-01 4.89200222e-03 -2.73431565e-03 1.10070450e+00] [-4.89207658e-03 9.99988034e-01 -2.05073069e-05 1.61546141e-01] [ 2.73418261e-03 3.38834663e-05 9.99996262e-01 3.96321233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383133365 meters 0.2790600809524008 Centerline is valid? [False, False] Translation: X:1.08, Y:0.16, Z:0.00 [[ 0.99998478 -0.00350356 -0.00426303 1.08108762] [ 0.0035095 0.99999288 0.00138669 0.16097752] [ 0.00425814 -0.00140163 0.99998995 0.00268933] [ 0. 0. 0. 1. ]] SLAMing on 136.443133365 meters 0.2799500396060813 Centerline is valid? [False, False] Translation: X:1.10, Y:0.16, Z:0.00 [[ 9.99985875e-01 3.42144297e-03 -4.06734923e-03 1.10415408e+00] [-3.42393597e-03 9.99993955e-01 -6.06124925e-04 1.56228000e-01] [ 4.06525082e-03 6.20042706e-04 9.99991545e-01 2.04733968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.503133365 meters 0.27894472217935556 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:0.00 [[ 9.99985258e-01 3.64685510e-03 -4.02308595e-03 1.10376084e+00] [-3.64671611e-03 9.99993350e-01 4.18847943e-05 1.53627001e-01] [ 4.02321195e-03 -2.72131244e-05 9.99991906e-01 2.72250387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563133365 meters 0.27888110238147573 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:0.00 [[ 9.99984549e-01 3.90086711e-03 -3.96035527e-03 1.10342448e+00] [-3.89814415e-03 9.99992161e-01 6.95040214e-04 1.50937611e-01] [ 3.96303548e-03 -6.79591439e-04 9.99991916e-01 3.13609998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623133365 meters 0.2793471166703303 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:0.00 [[ 0.99998241 0.00432834 -0.0040544 1.1036331 ] [-0.00432168 0.9999893 0.00165117 0.14698011] [ 0.00406151 -0.00163362 0.99999042 0.00322852] [ 0. 0. 0. 1. ]] SLAMing on 136.683133365 meters 0.2783632415405068 Centerline is valid? [False, False] Translation: X:1.10, Y:0.15, Z:0.00 [[ 0.99998109 0.00446413 -0.00422877 1.10421559] [-0.0044557 0.99998807 0.00200007 0.14552575] [ 0.00423765 -0.00198119 0.99998906 0.00286932] [ 0. 0. 0. 1. ]] SLAMing on 136.743133365 meters 0.282029961575232 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 0.9999779 0.00612253 -0.00259284 1.14887537] [-0.00611526 0.99997738 0.00280025 0.14691862] [ 0.00260992 -0.00278433 0.99999272 0.00127693] [ 0. 0. 0. 1. ]] SLAMing on 136.80313336499998 meters 0.28117439722520604 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99995276e-01 1.96731939e-03 -2.36171074e-03 1.14862510e+00] [-1.96995597e-03 9.99997438e-01 -1.11457955e-03 1.46128472e-01] [ 2.35951196e-03 1.11922675e-03 9.99996590e-01 6.81953428e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86313336499998 meters 0.2809052841968313 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99995942e-01 1.94444530e-03 -2.08230121e-03 1.14777088e+00] [-1.94692818e-03 9.99997395e-01 -1.19101005e-03 1.46528868e-01] [ 2.07997993e-03 1.19505930e-03 9.99997123e-01 1.12760145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92313336499998 meters 0.2815805127819686 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 0.99999585 0.00193067 -0.00213783 1.14771762] [-0.00193327 0.99999739 -0.00121539 0.14667762] [ 0.00213548 0.00121952 0.99999698 0.00152387] [ 0. 0. 0. 1. ]] SLAMing on 136.983133365 meters 0.2806858364417196 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99995577e-01 2.02933678e-03 -2.17418052e-03 1.14764134e+00] [-2.03145035e-03 9.99997466e-01 -9.70353787e-04 1.45638887e-01] [ 2.17220584e-03 9.74766235e-04 9.99997166e-01 1.88335006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043133365 meters 0.2790881269104059 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:0.00 [[ 9.99994895e-01 2.18868283e-03 -2.32804409e-03 1.14808499e+00] [-2.18994642e-03 9.99997456e-01 -5.40354912e-04 1.43828643e-01] [ 2.32685550e-03 5.45450446e-04 9.99997144e-01 1.73360610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.103133365 meters 0.2812423655358632 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.00 [[ 9.99990790e-01 -4.27966929e-03 3.23765349e-04 1.16967653e+00] [ 4.27910442e-03 9.99989356e-01 1.72570979e-03 1.43455682e-01] [-3.31147370e-04 -1.72430847e-03 9.99998459e-01 8.30291746e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.163133365 meters 0.2811448748890446 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:-0.00 [[ 9.99994029e-01 3.45551950e-03 -4.55870309e-05 1.15116730e+00] [-3.45548481e-03 9.99993756e-01 7.40401597e-04 1.36016134e-01] [ 4.81452184e-05 -7.40239650e-04 9.99999725e-01 -1.31898998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.223133365 meters 0.2808386616126731 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:-0.00 [[ 9.99993453e-01 3.61112405e-03 -2.31642359e-04 1.15162218e+00] [-3.61085553e-03 9.99992820e-01 1.14929500e-03 1.34297002e-01] [ 2.35790943e-04 -1.14845105e-03 9.99999313e-01 -1.28446985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.283133365 meters 0.28017413989044276 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:-0.00 [[ 9.99992582e-01 3.83190788e-03 -3.91635246e-04 1.15174754e+00] [-3.83123781e-03 9.99991220e-01 1.69761008e-03 1.32011422e-01] [ 3.98136893e-04 -1.69609704e-03 9.99998482e-01 -7.02512139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.343133365 meters 0.282108681581459 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.00 [[ 9.99992442e-01 -3.81863934e-03 7.30329789e-04 1.17040527e+00] [ 3.81631523e-03 9.99987733e-01 3.15762213e-03 1.35881400e-01] [-7.42378650e-04 -3.15481109e-03 9.99994748e-01 3.26148907e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.403133365 meters 0.2785370220341581 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:0.00 [[ 9.99997416e-01 1.93187111e-03 -1.19833699e-03 1.14753312e+00] [-1.93157487e-03 9.99998104e-01 2.48316731e-04 1.35860677e-01] [ 1.19881443e-03 -2.46001412e-04 9.99999251e-01 2.28028797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.463133365 meters 0.2807171728617863 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.00 [[ 0.99999584 -0.00256854 0.00131386 1.16926387] [ 0.00256295 0.99998773 0.00424014 0.13437755] [-0.00132474 -0.00423675 0.99999015 0.00206632] [ 0. 0. 0. 1. ]] SLAMing on 137.52313336499998 meters 0.2814142418628692 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.00 [[ 0.99999573 -0.00255524 0.001416 1.16902106] [ 0.00254917 0.99998763 0.00427207 0.13425298] [-0.0014269 -0.00426844 0.99998987 0.00205362] [ 0. 0. 0. 1. ]] SLAMing on 137.58313336499998 meters 0.28185827521585005 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.00 [[ 0.99999539 -0.00260658 0.00155658 1.16859449] [ 0.0026001 0.99998801 0.00414918 0.13480347] [-0.00156738 -0.00414511 0.99999018 0.00220523] [ 0. 0. 0. 1. ]] SLAMing on 137.64313336499998 meters 0.2801217702788202 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.00 [[ 0.99998332 0.00553266 0.0016568 1.14745982] [-0.00553838 0.99997865 0.00346916 0.13114074] [-0.00163757 -0.00347827 0.99999261 0.00128173] [ 0. 0. 0. 1. ]] SLAMing on 137.70313336499999 meters 0.2812162204224845 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.00 [[ 9.99998286e-01 1.13982265e-03 1.45870207e-03 1.14819109e+00] [-1.13832193e-03 9.99998822e-01 -1.02922222e-03 1.32053013e-01] [-1.45987348e-03 1.02755998e-03 9.99998406e-01 5.92587933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763133365 meters 0.27968035378959766 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:-0.00 [[ 9.99998555e-01 1.05758855e-03 1.33067515e-03 1.14891547e+00] [-1.05593163e-03 9.99998667e-01 -1.24526225e-03 1.32925201e-01] [-1.33199035e-03 1.24385535e-03 9.99998339e-01 -4.34302208e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.823133365 meters 0.2810475139773133 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:-0.00 [[ 9.99998812e-01 8.92108999e-04 1.25726419e-03 1.14938124e+00] [-8.89925779e-04 9.99998097e-01 -1.73597564e-03 1.34898891e-01] [-1.25881047e-03 1.73485471e-03 9.99997703e-01 -1.17217962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883133365 meters 0.2824199571190963 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:-0.00 [[ 9.99998907e-01 7.40428722e-04 1.27948382e-03 1.14932199e+00] [-7.37710875e-04 9.99997474e-01 -2.12334263e-03 1.36522074e-01] [-1.28105277e-03 2.12239642e-03 9.99996927e-01 -1.19835780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943133365 meters 0.2813291604993528 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:-0.00 [[ 9.99999151e-01 4.91504526e-04 1.20701480e-03 1.14982511e+00] [-4.88169612e-04 9.99996067e-01 -2.76168591e-03 1.39202198e-01] [-1.20836744e-03 2.76109434e-03 9.99995458e-01 -1.93673958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003133365 meters 0.2836698888830135 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:-0.01 [[ 9.99997859e-01 2.05560049e-03 -2.37173575e-04 1.15539707e+00] [-2.05593495e-03 9.99996880e-01 -1.41864778e-03 1.39291688e-01] [ 2.34256662e-04 1.41913236e-03 9.99998966e-01 -5.21151596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063133365 meters 0.28261673391698383 Centerline is valid? [False, False] Translation: X:1.15, Y:0.14, Z:-0.00 [[ 9.99998552e-01 1.70058972e-03 -5.48908037e-05 1.15472979e+00] [-1.70071400e-03 9.99995794e-01 -2.34957740e-03 1.43254051e-01] [ 5.08949056e-05 2.34966735e-03 9.99997238e-01 -4.82880251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123133365 meters 0.2822476531143941 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:-0.00 [[ 9.99998973e-01 1.42894360e-03 1.06846106e-04 1.15417215e+00] [-1.42861425e-03 9.99994415e-01 -3.02150808e-03 1.46121448e-01] [-1.11163074e-04 3.02135234e-03 9.99995430e-01 -4.56857528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183133365 meters 0.28354252072349123 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:-0.00 [[ 9.99999398e-01 1.08236393e-03 1.79321326e-04 1.15416289e+00] [-1.08166485e-03 9.99991989e-01 -3.85375059e-03 1.49632039e-01] [-1.83491050e-04 3.85355430e-03 9.99992558e-01 -4.98243330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243133365 meters 0.2794505849837671 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:-0.00 [[ 9.99994367e-01 2.95229037e-03 1.59705839e-03 1.14775113e+00] [-2.94863998e-03 9.99993046e-01 -2.28324532e-03 1.53012205e-01] [-1.60378808e-03 2.27852331e-03 9.99996118e-01 -6.73162793e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30313336499998 meters 0.28038029177844964 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.00 [[ 9.99985532e-01 -4.76648755e-03 2.49315348e-03 1.16711904e+00] [ 4.76934806e-03 9.99987974e-01 -1.14266223e-03 1.57944954e-01] [-2.48767701e-03 1.15453642e-03 9.99996239e-01 8.64991341e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36313336499998 meters 0.279488395037711 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.00 [[ 9.99985367e-01 -4.73604378e-03 2.61460658e-03 1.16657720e+00] [ 4.73883416e-03 9.99988208e-01 -1.06206744e-03 1.57634338e-01] [-2.60954575e-03 1.07444208e-03 9.99996018e-01 1.47779445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42313336499998 meters 0.28026149189481936 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.00 [[ 9.99985492e-01 -4.63458113e-03 2.74541642e-03 1.16590349e+00] [ 4.63674117e-03 9.99988945e-01 -7.80938467e-04 1.56461384e-01] [-2.74176675e-03 7.93656922e-04 9.99995926e-01 2.37756103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.483133365 meters 0.2781797177464065 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.00 [[ 0.99998399 0.00378351 0.00420781 1.14430505] [-0.00377827 0.99999208 -0.00125243 0.1510156 ] [-0.00421252 0.00123651 0.99999036 0.00238807] [ 0. 0. 0. 1. ]] SLAMing on 138.543133365 meters 0.27900641381820696 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.00 [[ 0.99998451 0.00375949 0.00410499 1.14460345] [-0.00375414 0.99999209 -0.00131018 0.15124297] [-0.00410988 0.00129475 0.99999072 0.00225805] [ 0. 0. 0. 1. ]] SLAMing on 138.603133365 meters 0.280661830829755 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 0.99998522 0.00373641 0.0039486 1.14528869] [-0.00373103 0.9999921 -0.00136987 0.15142749] [-0.00395368 0.00135512 0.99999127 0.00152459] [ 0. 0. 0. 1. ]] SLAMing on 138.663133365 meters 0.27937732108104973 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.00 [[ 0.99998464 0.00381245 0.00402371 1.14491063] [-0.00380772 0.99999205 -0.00118329 0.15065841] [-0.00402819 0.00116795 0.9999912 0.00196168] [ 0. 0. 0. 1. ]] SLAMing on 138.723133365 meters 0.2793714850441966 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99984992e-01 3.81997794e-03 3.92735667e-03 1.14549995e+00] [-3.81545462e-03 9.99992050e-01 -1.15859425e-03 1.50487374e-01] [-3.93175125e-03 1.14359221e-03 9.99991617e-01 1.18393767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.783133365 meters 0.27930494802673683 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99985840e-01 3.79262767e-03 3.73317395e-03 1.14628355e+00] [-3.78808382e-03 9.99992077e-01 -1.22347520e-03 1.50690921e-01] [-3.73778456e-03 1.20931630e-03 9.99992283e-01 3.54999591e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843133365 meters 0.2803335243286578 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.00 [[ 9.99985833e-01 -4.44209497e-03 2.93297830e-03 1.16798959e+00] [ 4.44408374e-03 9.99989899e-01 -6.71904952e-04 1.56067402e-01] [-2.92996401e-03 6.84929834e-04 9.99995473e-01 7.50887602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.903133365 meters 0.27754981018054464 Centerline is valid? [False, False] Translation: X:1.15, Y:0.15, Z:0.00 [[ 9.99998325e-01 7.35259959e-04 1.67630637e-03 1.14536680e+00] [-7.28666047e-04 9.99992009e-01 -3.93081880e-03 1.52632734e-01] [-1.67918315e-03 3.92959075e-03 9.99990869e-01 2.09013625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.963133365 meters 0.27913338919796665 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999374 0.0015548 0.00317776 1.18745322] [-0.00154444 0.99999349 -0.00325985 0.15130635] [-0.00318281 0.00325492 0.99998964 0.00256077] [ 0. 0. 0. 1. ]] SLAMing on 139.02313336499998 meters 0.2778127342688066 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999223 0.00176515 0.0035248 1.18638367] [-0.00175603 0.9999951 -0.00259151 0.14860953] [-0.00352936 0.0025853 0.99999043 0.00328679] [ 0. 0. 0. 1. ]] SLAMing on 139.08313336499998 meters 0.27820151869275 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.9999923 0.00192138 0.0034215 1.18658081] [-0.00191387 0.99999575 -0.00219759 0.14695261] [-0.00342571 0.00219102 0.99999173 0.00341998] [ 0. 0. 0. 1. ]] SLAMing on 139.14313336499998 meters 0.277887162696003 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999249 0.00205702 0.00328333 1.18687053] [-0.0020509 0.99999616 -0.00186587 0.14556298] [-0.00328716 0.00185912 0.99999287 0.00355516] [ 0. 0. 0. 1. ]] SLAMing on 139.20313336499999 meters 0.27764198865878376 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99992283e-01 2.34685151e-03 3.15059868e-03 1.18721773e+00] [-2.34341009e-03 9.99996654e-01 -1.09555433e-03 1.42379151e-01] [-3.15315925e-03 1.08816273e-03 9.99994437e-01 3.55837677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263133365 meters 0.2770996736008317 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99991743e-01 2.49065124e-03 3.21088438e-03 1.18686747e+00] [-2.48829383e-03 9.99996632e-01 -7.37980381e-04 1.40874951e-01] [-3.21271162e-03 7.29984664e-04 9.99994573e-01 4.01217142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.323133365 meters 0.27820979094554665 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99991515e-01 2.51802018e-03 3.26019963e-03 1.18673460e+00] [-2.51585319e-03 9.99996612e-01 -6.68611073e-04 1.40592209e-01] [-3.26187216e-03 6.60403217e-04 9.99994462e-01 4.04417954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.383133365 meters 0.27705491416224365 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99991119e-01 2.67176797e-03 3.25939251e-03 1.18645286e+00] [-2.67079380e-03 9.99996387e-01 -3.03197605e-04 1.39071603e-01] [-3.26019081e-03 2.94489747e-04 9.99994642e-01 4.63769435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.443133365 meters 0.2773648540919399 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99990479e-01 2.84379113e-03 3.30993373e-03 1.18611639e+00] [-2.84426236e-03 9.99995946e-01 1.37670488e-04 1.37223063e-01] [-3.30952880e-03 -1.47083497e-04 9.99994513e-01 5.11617589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.503133365 meters 0.27674425527317303 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99989647e-01 2.98656023e-03 3.43298474e-03 1.18567087e+00] [-2.98828998e-03 9.99995411e-01 4.98843322e-04 1.35729748e-01] [-3.43147916e-03 -5.09096911e-04 9.99993983e-01 5.47686928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563133365 meters 0.27692481551363457 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99990035e-01 2.98358188e-03 3.32100444e-03 1.18598858e+00] [-2.98523874e-03 9.99995422e-01 4.94055806e-04 1.35734526e-01] [-3.31951518e-03 -5.03964873e-04 9.99994363e-01 5.38361834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.623133365 meters 0.2784200735046054 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99993483e-01 2.94387463e-03 2.09001267e-03 1.18905006e+00] [-2.94388935e-03 9.99995667e-01 3.96689980e-06 1.37867066e-01] [-2.08999194e-03 -1.01196400e-05 9.99997816e-01 3.90912444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683133365 meters 0.2794321386040984 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99993975e-01 2.81875208e-03 2.02599423e-03 1.18922797e+00] [-2.81804858e-03 9.99995968e-01 -3.50010734e-04 1.39324909e-01] [-2.02697266e-03 3.44299275e-04 9.99997886e-01 3.84782596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74313336499998 meters 0.28025319482134864 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99993898e-01 2.79147833e-03 2.10033018e-03 1.18899827e+00] [-2.79060723e-03 9.99996019e-01 -4.17558444e-04 1.39622008e-01] [-2.10148742e-03 4.11694700e-04 9.99997707e-01 3.93752968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80313336499998 meters 0.2784140368555158 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99994036e-01 2.76991537e-03 2.06288492e-03 1.18937284e+00] [-2.76896185e-03 9.99996058e-01 -4.64940219e-04 1.39821463e-01] [-2.06416463e-03 4.59225396e-04 9.99997764e-01 3.29653121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86313336499998 meters 0.2783106501932276 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99994389e-01 2.71675075e-03 1.96003681e-03 1.18953445e+00] [-2.71559585e-03 9.99996138e-01 -5.91645889e-04 1.40364821e-01] [-1.96163660e-03 5.86319902e-04 9.99997904e-01 3.48505850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92313336499998 meters 0.2794518008103241 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.00 [[ 9.99995031e-01 2.49054620e-03 1.93256306e-03 1.18991152e+00] [-2.48832586e-03 9.99996242e-01 -1.15046686e-03 1.42767692e-01] [-1.93542109e-03 1.14565229e-03 9.99997471e-01 2.84659657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.983133365 meters 0.27940012361145156 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999524 0.00221972 0.00214202 1.18919861] [-0.00221572 0.9999958 -0.00187049 0.14586559] [-0.00214616 0.00186573 0.99999596 0.00324496] [ 0. 0. 0. 1. ]] SLAMing on 140.043133365 meters 0.2776774878367885 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999535 0.00210944 0.00220355 1.18861073] [-0.00210471 0.99999547 -0.0021503 0.14713033] [-0.00220808 0.00214565 0.99999526 0.00418164] [ 0. 0. 0. 1. ]] SLAMing on 140.103133365 meters 0.27703925133117185 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999543 0.00202168 0.00224993 1.18837289] [-0.0020163 0.99999511 -0.00238858 0.14813869] [-0.00225475 0.00238403 0.99999462 0.00444849] [ 0. 0. 0. 1. ]] SLAMing on 140.163133365 meters 0.27631088178364904 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999491 0.00192538 0.00254321 1.18755866] [-0.00191857 0.99999457 -0.0026778 0.14936667] [-0.00254836 0.00267291 0.99999318 0.00477753] [ 0. 0. 0. 1. ]] SLAMing on 140.223133365 meters 0.27571734830231037 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999506 0.00191125 0.00249672 1.18765739] [-0.00190446 0.9999945 -0.00271695 0.14951947] [-0.0025019 0.00271218 0.99999319 0.00479525] [ 0. 0. 0. 1. ]] SLAMing on 140.283133365 meters 0.2767889888098091 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.00 [[ 0.99999525 0.00188635 0.00243639 1.18780568] [-0.00187957 0.99999437 -0.00278136 0.14979336] [-0.00244162 0.00277677 0.99999316 0.00478748] [ 0. 0. 0. 1. ]] SLAMing on 140.343133365 meters 0.27609068076301474 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.01 [[ 0.99999518 0.00192752 0.00243473 1.18764187] [-0.001921 0.99999457 -0.00267718 0.14936006] [-0.00243988 0.00267249 0.99999345 0.00517288] [ 0. 0. 0. 1. ]] SLAMing on 140.403133365 meters 0.27447789893024105 Centerline is valid? [False, False] Translation: X:1.17, Y:0.15, Z:0.01 [[ 9.99987777e-01 -4.84148300e-03 -1.00282088e-03 1.16779354e+00] [ 4.84140136e-03 9.99988277e-01 -8.38222160e-05 1.46601900e-01] [ 1.00321494e-03 7.89661331e-05 9.99999494e-01 6.02461863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.463133365 meters 0.2750352015451244 Centerline is valid? [False, False] Translation: X:1.17, Y:0.15, Z:0.01 [[ 9.99987872e-01 -4.81069579e-03 -1.05459643e-03 1.16805360e+00] [ 4.81068420e-03 9.99988429e-01 -1.35262302e-05 1.46270651e-01] [ 1.05464930e-03 8.45273579e-06 9.99999444e-01 5.73874881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52313336499998 meters 0.27479090904713716 Centerline is valid? [False, False] Translation: X:1.17, Y:0.15, Z:0.01 [[ 9.99987993e-01 -4.78483444e-03 -1.05780393e-03 1.16801318e+00] [ 4.78488586e-03 9.99988551e-01 4.60830132e-05 1.46007401e-01] [ 1.05757132e-03 -5.11439309e-05 9.99999439e-01 5.84313985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58313336499998 meters 0.2765584229783725 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99985725e-01 4.50897974e-03 -2.86695457e-03 1.19139870e+00] [-4.50961728e-03 9.99989808e-01 -2.15949043e-04 1.42497572e-01] [ 2.86595164e-03 2.28874828e-04 9.99995867e-01 5.98412741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64313336499998 meters 0.27695476337966857 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99985442e-01 4.55699378e-03 -2.88966732e-03 1.19174137e+00] [-4.55729307e-03 9.99989611e-01 -9.69971404e-05 1.41952901e-01] [ 2.88919529e-03 1.10164789e-04 9.99995820e-01 5.37513798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70313336499999 meters 0.2761764603187951 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99984860e-01 4.67924668e-03 -2.89552153e-03 1.19158193e+00] [-4.67869563e-03 9.99989035e-01 1.97056189e-04 1.40722966e-01] [ 2.89641185e-03 -1.83505942e-04 9.99995789e-01 5.74447964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763133365 meters 0.2767857356542166 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99984915e-01 4.75748454e-03 -2.74532421e-03 1.19095002e+00] [-4.75642249e-03 9.99988611e-01 3.93257842e-04 1.39957894e-01] [ 2.74716386e-03 -3.80193988e-04 9.99996154e-01 6.35496722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823133365 meters 0.27503858107430457 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 0.99998687 -0.00442603 -0.00258374 1.16983683] [ 0.00442913 0.99998947 0.00119716 0.14234117] [ 0.00257842 -0.00120859 0.99999595 0.00633644] [ 0. 0. 0. 1. ]] SLAMing on 140.883133365 meters 0.2760763667569231 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 9.99986763e-01 -4.45817884e-03 -2.56864343e-03 1.16966448e+00] [ 4.46104282e-03 9.99989433e-01 1.11033054e-03 1.42725103e-01] [ 2.56366624e-03 -1.12177467e-03 9.99996085e-01 6.62997042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943133365 meters 0.2772662530336067 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 9.99985770e-01 -4.56827129e-03 -2.75513216e-03 1.17033008e+00] [ 4.57043375e-03 9.99989252e-01 7.79096955e-04 1.44024561e-01] [ 2.75154342e-03 -7.91678017e-04 9.99995901e-01 6.04308752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003133365 meters 0.27951299675329166 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 9.99985702e-01 -4.60168632e-03 -2.72413487e-03 1.17023291e+00] [ 4.60360844e-03 9.99989159e-01 6.99736996e-04 1.44371560e-01] [ 2.72088537e-03 -7.12267842e-04 9.99996045e-01 6.07596356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063133365 meters 0.27885058286300746 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 9.99985822e-01 -4.60516373e-03 -2.67371207e-03 1.16981813e+00] [ 4.60701294e-03 9.99989152e-01 6.85879310e-04 1.44447395e-01] [ 2.67052448e-03 -6.98187412e-04 9.99996190e-01 6.69951249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123133365 meters 0.27898183722742476 Centerline is valid? [False, False] Translation: X:1.17, Y:0.15, Z:0.01 [[ 9.99984921e-01 -4.76202434e-03 -2.73522855e-03 1.17032633e+00] [ 4.76281764e-03 9.99988618e-01 2.83589211e-04 1.46147593e-01] [ 2.73384696e-03 -2.96612329e-04 9.99996219e-01 5.84638564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183133365 meters 0.2788300573045934 Centerline is valid? [False, False] Translation: X:1.17, Y:0.15, Z:0.01 [[ 9.99984152e-01 -4.86570556e-03 -2.83223883e-03 1.17073484e+00] [ 4.86578691e-03 9.99988162e-01 2.18357114e-05 1.47241799e-01] [ 2.83209905e-03 -3.56164360e-05 9.99995989e-01 5.45798168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24313336499998 meters 0.27945029551768746 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:0.01 [[ 9.99994174e-01 3.36359383e-03 -5.82218741e-04 1.18887892e+00] [-3.36440166e-03 9.99993371e-01 -1.39213889e-03 1.45489006e-01] [ 5.77532292e-04 1.39408960e-03 9.99998861e-01 7.07897401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30313336499998 meters 0.27852769468555627 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99993858e-01 3.47920372e-03 -4.23975182e-04 1.18830273e+00] [-3.47964016e-03 9.99993412e-01 -1.03304924e-03 1.44121286e-01] [ 4.20378200e-04 1.03451818e-03 9.99999377e-01 7.59413273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36313336499998 meters 0.27550664791205304 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 0.9999848 -0.00371748 -0.004073 1.16811898] [ 0.00372331 0.99999206 0.00142308 0.13805987] [ 0.00406767 -0.00143822 0.99999069 0.00876084] [ 0. 0. 0. 1. ]] SLAMing on 141.42313336499998 meters 0.2759009867225113 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.01 [[ 9.99985494e-01 4.76772396e-03 -2.50617477e-03 1.18671115e+00] [-4.76685045e-03 9.99988576e-01 3.54400346e-04 1.34072803e-01] [ 2.50783582e-03 -3.42448644e-04 9.99996797e-01 9.79792823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.483133365 meters 0.27600287032788146 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.01 [[ 9.99985555e-01 4.73427181e-03 -2.54470900e-03 1.18675777e+00] [-4.73358152e-03 9.99988758e-01 2.77220038e-04 1.34415718e-01] [ 2.54599282e-03 -2.65170447e-04 9.99996724e-01 9.89337035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543133365 meters 0.27629073761302364 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:0.01 [[ 9.99985749e-01 4.65874046e-03 -2.60747170e-03 1.18683850e+00] [-4.65851264e-03 9.99989145e-01 9.34384371e-05 1.35202997e-01] [ 2.60787870e-03 -8.12901655e-05 9.99996596e-01 1.00406556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603133365 meters 0.27557648321633366 Centerline is valid? [False, False] Translation: X:1.17, Y:0.14, Z:0.01 [[ 0.99998494 -0.00378729 -0.00397138 1.16711607] [ 0.00379289 0.99999182 0.0014028 0.13578916] [ 0.00396603 -0.00141784 0.99999113 0.0090733 ] [ 0. 0. 0. 1. ]] SLAMing on 141.663133365 meters 0.2772883113942559 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.01 [[ 0.99998543 -0.00368936 -0.00394081 1.16702465] [ 0.00369587 0.99999182 0.00164415 0.13476348] [ 0.00393472 -0.00165869 0.99999088 0.009135 ] [ 0. 0. 0. 1. ]] SLAMing on 141.723133365 meters 0.27510499539360866 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.01 [[ 0.9999866 -0.00344062 -0.00386795 1.16655792] [ 0.00344948 0.99999143 0.00228718 0.13209612] [ 0.00386005 -0.00230049 0.9999899 0.0097769 ] [ 0. 0. 0. 1. ]] SLAMing on 141.783133365 meters 0.2761494863318771 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:0.01 [[ 0.99998719 -0.00296988 -0.00409827 1.16711507] [ 0.00298503 0.99998872 0.00369563 0.12623595] [ 0.00408725 -0.00370782 0.99998477 0.00988845] [ 0. 0. 0. 1. ]] SLAMing on 141.843133365 meters 0.2762205240920379 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.01 [[ 0.99998779 -0.00257871 -0.00421647 1.1673275 ] [ 0.00259902 0.99998502 0.00481764 0.12169287] [ 0.00420398 -0.00482854 0.99997951 0.01008376] [ 0. 0. 0. 1. ]] SLAMing on 141.903133365 meters 0.276635849596241 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:0.01 [[ 0.99998837 -0.00214957 -0.00431668 1.16753461] [ 0.00217493 0.99998036 0.00587778 0.11722471] [ 0.00430396 -0.0058871 0.99997341 0.01020465] [ 0. 0. 0. 1. ]] SLAMing on 141.963133365 meters 0.277358958268692 Centerline is valid? [False, False] Translation: X:1.17, Y:0.11, Z:0.01 [[ 0.99998886 -0.00171098 -0.00439812 1.16765727] [ 0.00174082 0.99997544 0.00678864 0.11338072] [ 0.0043864 -0.00679622 0.99996728 0.01041681] [ 0. 0. 0. 1. ]] SLAMing on 142.02313336499998 meters 0.27695402282576786 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 0.99997752 0.00352086 -0.00570646 1.14667582] [-0.0035015 0.99998809 0.00339849 0.10889658] [ 0.00571836 -0.00337843 0.99997794 0.01035009] [ 0. 0. 0. 1. ]] SLAMing on 142.08313336499998 meters 0.277831678539269 Centerline is valid? [False, False] Translation: X:1.17, Y:0.11, Z:0.01 [[ 0.99998215 -0.00449142 -0.00394023 1.16611229] [ 0.00450964 0.99997913 0.00462684 0.10944161] [ 0.00391937 -0.00464452 0.99998153 0.01094761] [ 0. 0. 0. 1. ]] SLAMing on 142.14313336499998 meters 0.2766711309037496 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 0.99998636 0.00326418 -0.00407768 1.14603618] [-0.00324839 0.99998723 0.00387082 0.10333914] [ 0.00409026 -0.00385753 0.99998419 0.00991792] [ 0. 0. 0. 1. ]] SLAMing on 142.20313336499999 meters 0.2781041712403175 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99992030e-01 -4.35352727e-04 -3.96859615e-03 1.14518891e+00] [ 4.39470847e-04 9.99999366e-01 1.03686381e-03 9.70313948e-02] [ 3.96814223e-03 -1.03859963e-03 9.99991588e-01 1.11403937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263133365 meters 0.2772659258089698 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99991485e-01 8.76869002e-05 -4.12577106e-03 1.14589661e+00] [-7.74412385e-05 9.99996913e-01 2.48342681e-03 9.09595707e-02] [ 4.12597609e-03 -2.48308616e-03 9.99988405e-01 1.05371743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323133365 meters 0.2772258569738515 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99990452e-01 5.92429471e-04 -4.32951054e-03 1.14685508e+00] [-5.76208832e-04 9.99992815e-01 3.74681707e-03 8.52537758e-02] [ 4.33169915e-03 -3.74428660e-03 9.99983608e-01 9.72190076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.383133365 meters 0.27968600639188523 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:0.01 [[ 0.99995567 0.00776063 -0.00533213 1.17012655] [-0.00774971 0.99996783 0.00206689 0.07507363] [ 0.005348 -0.00202548 0.99998365 0.00938198] [ 0. 0. 0. 1. ]] SLAMing on 142.443133365 meters 0.28084016756267294 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:0.01 [[ 9.99980427e-01 3.87316980e-03 -4.91371961e-03 1.16907396e+00] [-3.87866672e-03 9.99991862e-01 -1.10965144e-03 7.14820596e-02] [ 4.90938176e-03 1.12868840e-03 9.99987312e-01 9.53091238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.503133365 meters 0.28148354666363967 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:0.01 [[ 9.99982150e-01 4.01251658e-03 -4.42709008e-03 1.16785983e+00] [-4.01596523e-03 9.99991639e-01 -7.70374946e-04 7.01145471e-02] [ 4.42396193e-03 7.88140235e-04 9.99989904e-01 9.74665309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.563133365 meters 0.28278494515273683 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:0.01 [[ 9.99983167e-01 3.98669871e-03 -4.21570383e-03 1.16721593e+00] [-3.99025452e-03 9.99991690e-01 -8.35393108e-04 7.04460146e-02] [ 4.21233833e-03 8.52200777e-04 9.99990765e-01 1.00385703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.623133365 meters 0.27924979083484 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.01 [[ 0.99996922 -0.00265567 -0.00738285 1.14713978] [ 0.00266982 0.99999462 0.00190698 0.06998381] [ 0.00737775 -0.00192664 0.99997093 0.01054216] [ 0. 0. 0. 1. ]] SLAMing on 142.683133365 meters 0.2827992367365913 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.01 [[ 0.99996835 -0.0028265 -0.00743699 1.14754782] [ 0.00283772 0.99999485 0.00149894 0.07170809] [ 0.00743271 -0.00152 0.99997122 0.00994931] [ 0. 0. 0. 1. ]] SLAMing on 142.74313336499998 meters 0.2815466385170759 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.01 [[ 0.9999684 -0.00293116 -0.00738926 1.14727718] [ 0.00294049 0.99999489 0.00125239 0.07279555] [ 0.00738555 -0.00127408 0.99997191 0.01022934] [ 0. 0. 0. 1. ]] SLAMing on 142.80313336499998 meters 0.2797436350452521 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.01 [[ 9.99968533e-01 -2.99681155e-03 -7.34526996e-03 1.14662117e+00] [ 3.00463144e-03 9.99994931e-01 1.05381129e-03 7.37260594e-02] [ 7.34207465e-03 -1.07584796e-03 9.99972468e-01 1.13827136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86313336499998 meters 0.2815159896382135 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:0.01 [[ 9.99959512e-01 6.31466135e-03 -6.41086835e-03 1.16678886e+00] [-6.31362080e-03 9.99980052e-01 1.82535976e-04 7.18922985e-02] [ 6.41189312e-03 -1.42052793e-04 9.99979434e-01 1.13115940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92313336499998 meters 0.2798907946314708 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:0.01 [[ 9.99961058e-01 6.21990634e-03 -6.26066695e-03 1.16617209e+00] [-6.22043345e-03 9.99980651e-01 -6.47240753e-05 7.30019955e-02] [ 6.26014324e-03 1.03665617e-04 9.99980400e-01 1.18926543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.983133365 meters 0.27912772301574806 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.01 [[ 9.99975744e-01 -2.35547764e-03 -6.55466782e-03 1.14763546e+00] [ 2.36014514e-03 9.99996967e-01 7.04444288e-04 8.26395723e-02] [ 6.55298864e-03 -7.19897168e-04 9.99978270e-01 9.80048008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043133365 meters 0.2801259988693585 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:0.01 [[ 0.99998016 0.00516072 -0.00361259 1.16753837] [-0.0051682 0.99998451 -0.00206412 0.0903771 ] [ 0.00360188 0.00208275 0.99999134 0.00924287] [ 0. 0. 0. 1. ]] SLAMing on 143.103133365 meters 0.27932287548198975 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996560e-01 -2.37802590e-03 -1.10717535e-03 1.14543177e+00] [ 2.37695350e-03 9.99996706e-01 -9.68900851e-04 1.01778808e-01] [ 1.10947578e-03 9.66265813e-04 9.99998918e-01 8.15370370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163133365 meters 0.27917272096450063 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99995801e-01 -2.71573657e-03 -1.01108829e-03 1.14513473e+00] [ 2.71389778e-03 9.99994669e-01 -1.81557610e-03 1.05380837e-01] [ 1.01601352e-03 1.81282449e-03 9.99997841e-01 8.22984445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.223133365 meters 0.2796797503746065 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996799e-01 -9.13807366e-04 -2.35923228e-03 1.15004969e+00] [ 9.13315037e-04 9.99999561e-01 -2.09750612e-04 1.06453710e-01] [ 2.35942291e-03 2.07595219e-04 9.99997195e-01 5.74572072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.283133365 meters 0.27952595950980536 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996832e-01 -1.07124124e-03 -2.27793540e-03 1.14981467e+00] [ 1.06989638e-03 9.99999253e-01 -5.91524430e-04 1.08097283e-01] [ 2.27856736e-03 5.89085401e-04 9.99997231e-01 5.79850519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.343133365 meters 0.27981881644522555 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996357e-01 -1.14832157e-03 -2.44261201e-03 1.15041134e+00] [ 1.14644879e-03 9.99999048e-01 -7.67976033e-04 1.08851414e-01] [ 2.44349157e-03 7.65172906e-04 9.99996722e-01 5.36607233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.403133365 meters 0.279636242050318 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996037e-01 -1.17760022e-03 -2.55708208e-03 1.15080440e+00] [ 1.17545901e-03 9.99998957e-01 -8.38707788e-04 1.09125351e-01] [ 2.55806707e-03 8.35698720e-04 9.99996379e-01 5.12059665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.463133365 meters 0.27922180962158055 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996334e-01 -9.38460510e-04 -2.53985705e-03 1.15046944e+00] [ 9.37953609e-04 9.99999540e-01 -2.00762515e-04 1.06376753e-01] [ 2.54004429e-03 1.98379511e-04 9.99996754e-01 5.77155352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52313336499998 meters 0.2790630804676965 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996317e-01 -7.33447886e-04 -2.61320422e-03 1.15069185e+00] [ 7.34300728e-04 9.99999677e-01 3.25414252e-04 1.04123689e-01] [ 2.61296470e-03 -3.27331932e-04 9.99996533e-01 5.70070499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58313336499998 meters 0.2787993542992129 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996340e-01 -5.18573381e-04 -2.65542293e-03 1.15089626e+00] [ 5.20827952e-04 9.99999504e-01 8.48422685e-04 1.01838518e-01] [ 2.65498164e-03 -8.49802598e-04 9.99996114e-01 5.52524904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64313336499998 meters 0.2797560624541185 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99995995e-01 -3.11553387e-04 -2.81286972e-03 1.15141169e+00] [ 3.15383288e-04 9.99999024e-01 1.36122265e-03 9.96000043e-02] [ 2.81244288e-03 -1.36210433e-03 9.99995117e-01 5.26487168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70313336499999 meters 0.27915028520004626 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99995821e-01 -2.06378080e-04 -2.88381001e-03 1.15156288e+00] [ 2.11008227e-04 9.99998689e-01 1.60535396e-03 9.85405059e-02] [ 2.88347492e-03 -1.60595576e-03 9.99994553e-01 5.31736371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763133365 meters 0.2805604949450015 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99995790e-01 -1.10203444e-04 -2.89978071e-03 1.15147163e+00] [ 1.15521395e-04 9.99998312e-01 1.83381138e-03 9.75726714e-02] [ 2.89957372e-03 -1.83413864e-03 9.99994114e-01 5.60218827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.823133365 meters 0.2814239069004557 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996342e-01 -2.59774870e-05 -2.70481048e-03 1.15076386e+00] [ 3.14647459e-05 9.99997942e-01 2.02868086e-03 9.67492782e-02] [ 2.70475221e-03 -2.02875855e-03 9.99994284e-01 6.14483509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.883133365 meters 0.28063418209790725 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996350e-01 -8.23612356e-05 -2.70049489e-03 1.15087673e+00] [ 8.74935643e-05 9.99998190e-01 1.90045110e-03 9.73242287e-02] [ 2.70033348e-03 -1.90068044e-03 9.99994548e-01 5.87469337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.943133365 meters 0.28033810549511357 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996159e-01 -9.64677221e-05 -2.76995058e-03 1.15109358e+00] [ 1.01650764e-04 9.99998244e-01 1.87108794e-03 9.74558095e-02] [ 2.76976522e-03 -1.87136232e-03 9.99994413e-01 5.77762706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003133365 meters 0.28007951122629743 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.01 [[ 9.99996351e-01 5.61381750e-05 -2.70104362e-03 1.15061822e+00] [-5.00116388e-05 9.99997426e-01 2.26822482e-03 9.57636029e-02] [ 2.70116400e-03 -2.26808146e-03 9.99993780e-01 6.47444246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.063133365 meters 0.28194789625440225 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99996162e-01 1.73883717e-04 -2.76493173e-03 1.15085966e+00] [-1.66778769e-04 9.99996684e-01 2.56968794e-03 9.44738731e-02] [ 2.76536939e-03 -2.56921695e-03 9.99992876e-01 6.31750923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.123133365 meters 0.27970737685244507 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99995496e-01 2.76743319e-04 -2.98857436e-03 1.15156000e+00] [-2.68190658e-04 9.99995869e-01 2.86180814e-03 9.31630514e-02] [ 2.98935400e-03 -2.86099374e-03 9.99991439e-01 5.93497877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.183133365 meters 0.27969236401009745 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99995933e-01 4.89350379e-04 -2.80968238e-03 1.15068358e+00] [-4.79527964e-04 9.99993776e-01 3.49552661e-03 9.06162310e-02] [ 2.81137543e-03 -3.49416507e-03 9.99989943e-01 7.06035123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24313336499998 meters 0.27920533225588073 Centerline is valid? [False, False] Translation: X:1.15, Y:0.09, Z:0.01 [[ 9.99996802e-01 7.35459912e-04 -2.41965992e-03 1.14937931e+00] [-7.25077387e-04 9.99990539e-01 4.28898536e-03 8.73719182e-02] [ 2.42279141e-03 -4.28721721e-03 9.99987875e-01 8.10108694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30313336499998 meters 0.2787185916975899 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.01 [[ 9.99996275e-01 9.52383651e-04 -2.55809418e-03 1.14959023e+00] [-9.39463861e-04 9.99986822e-01 5.04701493e-03 8.43158714e-02] [ 2.56286717e-03 -5.04459289e-03 9.99983992e-01 8.32470260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36313336499998 meters 0.2786018178191587 Centerline is valid? [False, False] Translation: X:1.15, Y:0.08, Z:0.01 [[ 0.9999962 0.0012562 -0.00245272 1.14888969] [-0.00124087 0.99997973 0.00624507 0.07964022] [ 0.00246052 -0.006242 0.99997749 0.00939559] [ 0. 0. 0. 1. ]] SLAMing on 144.42313336499998 meters 0.2772636479084548 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:0.01 [[ 0.99997817 0.0058827 -0.00300727 1.12590983] [-0.00587347 0.99997805 0.00306752 0.07303369] [ 0.00302524 -0.00304979 0.99999077 0.0102429 ] [ 0. 0. 0. 1. ]] SLAMing on 144.483133365 meters 0.2790860359678091 Centerline is valid? [False, False] Translation: X:1.15, Y:0.07, Z:0.01 [[ 0.99999616 -0.00249568 -0.0012045 1.14734983] [ 0.00250034 0.99998934 0.0038816 0.06914339] [ 0.0011948 -0.0038846 0.99999174 0.00995088] [ 0. 0. 0. 1. ]] SLAMing on 144.543133365 meters 0.28096253497272344 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:0.01 [[ 0.99999389 -0.00249208 -0.00245152 1.15071358] [ 0.00250404 0.99998494 0.00488412 0.06301213] [ 0.00243931 -0.00489023 0.99998507 0.00889169] [ 0. 0. 0. 1. ]] SLAMing on 144.603133365 meters 0.28079145025566693 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:0.01 [[ 0.99997908 0.0050902 -0.00399131 1.1330671 ] [-0.00507186 0.9999766 0.00459156 0.05281511] [ 0.00401459 -0.00457122 0.99998149 0.00743359] [ 0. 0. 0. 1. ]] SLAMing on 144.663133365 meters 0.2800888722270112 Centerline is valid? [False, False] Translation: X:1.13, Y:0.05, Z:0.01 [[ 9.99991558e-01 1.03252266e-03 -3.97713326e-03 1.13262339e+00] [-1.02856144e-03 9.99998973e-01 9.97916077e-04 4.98880569e-02] [ 3.97815955e-03 -9.93816927e-04 9.99991593e-01 8.15796999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723133365 meters 0.27885473942091665 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.01 [[ 9.99987472e-01 -9.55548968e-04 -4.91344795e-03 1.13715510e+00] [ 9.55676076e-04 9.99999543e-01 2.35215023e-05 4.19925629e-02] [ 4.91342323e-03 -2.82168723e-05 9.99987929e-01 5.10490093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783133365 meters 0.28078172822042463 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.00 [[ 9.99987291e-01 -7.34402002e-04 -4.98777326e-03 1.13754540e+00] [ 7.37190381e-04 9.99999573e-01 5.57227418e-04 3.96424508e-02] [ 4.98736190e-03 -5.60897275e-04 9.99987406e-01 4.66395016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843133365 meters 0.2797031257241718 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.00 [[ 9.99986923e-01 -5.52358057e-04 -5.08420208e-03 1.13769953e+00] [ 5.57420997e-04 9.99999350e-01 9.94454942e-04 3.77660714e-02] [ 5.08364948e-03 -9.97275978e-04 9.99986581e-01 4.83883796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903133365 meters 0.2812877396324308 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.01 [[ 9.99987920e-01 -3.72949406e-04 -4.90117134e-03 1.13685441e+00] [ 3.80191383e-04 9.99998837e-01 1.47675261e-03 3.58098812e-02] [ 4.90061489e-03 -1.47859815e-03 9.99986899e-01 5.78159858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.963133365 meters 0.2781858087780666 Centerline is valid? [False, False] Translation: X:1.14, Y:0.03, Z:0.01 [[ 9.99989251e-01 -2.50767053e-04 -4.62988052e-03 1.13598742e+00] [ 2.59143456e-04 9.99998331e-01 1.80869371e-03 3.44396232e-02] [ 4.62941923e-03 -1.80987407e-03 9.99987646e-01 6.30920131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02313336499998 meters 0.2784131876964975 Centerline is valid? [False, False] Translation: X:1.14, Y:0.03, Z:0.01 [[ 9.99989751e-01 -1.19206016e-04 -4.52587162e-03 1.13567826e+00] [ 1.29111522e-04 9.99997597e-01 2.18841134e-03 3.28762905e-02] [ 4.52559988e-03 -2.18897325e-03 9.99987364e-01 6.46415676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08313336499998 meters 0.2776784786249434 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:0.01 [[ 9.99991134e-01 5.21030780e-05 -4.21071387e-03 1.13460909e+00] [-4.08014915e-05 9.99996397e-01 2.68404856e-03 3.09692839e-02] [ 4.21083854e-03 -2.68385296e-03 9.99987533e-01 7.25794515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14313336499998 meters 0.2784801298888539 Centerline is valid? [False, False] Translation: X:1.13, Y:0.03, Z:0.01 [[ 9.99990957e-01 1.04804230e-04 -4.25152256e-03 1.13474453e+00] [-9.28412080e-05 9.99996037e-01 2.81392035e-03 3.03973593e-02] [ 4.25180062e-03 -2.81350019e-03 9.99987003e-01 7.17924158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20313336499999 meters 0.2792448330964399 Centerline is valid? [False, False] Translation: X:1.16, Y:0.03, Z:0.01 [[ 9.99969649e-01 7.09724925e-03 -3.21405174e-03 1.15677059e+00] [-7.09814937e-03 9.99974772e-01 -2.68735701e-04 3.03351765e-02] [ 3.21206337e-03 2.91541364e-04 9.99994799e-01 6.09203299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263133365 meters 0.2783580779603598 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.00 [[ 0.99999222 -0.00140314 -0.00368718 1.13833139] [ 0.00140766 0.99999826 0.00122183 0.03588773] [ 0.00368546 -0.00122701 0.99999246 0.00404741] [ 0. 0. 0. 1. ]] SLAMing on 145.323133365 meters 0.2777554024275028 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.00 [[ 9.99990842e-01 -1.81084081e-03 -3.87761352e-03 1.13892800e+00] [ 1.81155354e-03 9.99998343e-01 1.80302709e-04 4.02871848e-02] [ 3.87728059e-03 -1.87325562e-04 9.99992466e-01 3.73533445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.383133365 meters 0.27887165607894987 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:0.00 [[ 0.99998943 0.00225934 -0.00400489 1.13954665] [-0.00224412 0.99999026 0.00379997 0.043165 ] [ 0.00401344 -0.00379094 0.99998476 0.00307775] [ 0. 0. 0. 1. ]] SLAMing on 145.443133365 meters 0.27912085192455927 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:0.00 [[ 0.99998997 0.00197061 -0.0040211 1.13968311] [-0.00195799 0.99999315 0.00314039 0.04598914] [ 0.00402726 -0.00313249 0.99998698 0.00289684] [ 0. 0. 0. 1. ]] SLAMing on 145.503133365 meters 0.27827705928238194 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:0.00 [[ 0.99995511 -0.00818223 -0.00477723 1.1192298 ] [ 0.00819528 0.99996272 0.00272016 0.05215514] [ 0.00475479 -0.00275919 0.99998489 0.00283095] [ 0. 0. 0. 1. ]] SLAMing on 145.563133365 meters 0.27791954435398775 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:0.00 [[ 0.9999809 -0.00406972 -0.00465239 1.11876489] [ 0.00409929 0.99997136 0.00636252 0.05431143] [ 0.00462636 -0.00638147 0.99996894 0.00316925] [ 0. 0. 0. 1. ]] SLAMing on 145.623133365 meters 0.27852325870434946 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:0.00 [[ 0.99998714 0.0042811 -0.00271757 1.13657283] [-0.00426884 0.99998074 0.00450456 0.05252625] [ 0.0027368 -0.0044929 0.99998616 0.00437117] [ 0. 0. 0. 1. ]] SLAMing on 145.683133365 meters 0.278199100206989 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:0.00 [[ 0.99998825 0.00404131 -0.00267838 1.13639517] [-0.00403066 0.99998399 0.00397167 0.05491128] [ 0.00269439 -0.00396083 0.99998853 0.00455806] [ 0. 0. 0. 1. ]] SLAMing on 145.74313336499998 meters 0.28034055089054055 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:0.00 [[ 0.99999063 0.00349061 -0.00256169 1.13619846] [-0.00348394 0.99999054 0.00260598 0.06083597] [ 0.00257076 -0.00259703 0.99999332 0.00438669] [ 0. 0. 0. 1. ]] SLAMing on 145.80313336499998 meters 0.27873810080523975 Centerline is valid? [False, False] Translation: X:1.14, Y:0.06, Z:0.00 [[ 0.9999918 0.00310579 -0.00259807 1.13635212] [-0.00310158 0.99999388 0.00161991 0.0649787 ] [ 0.00260309 -0.00161184 0.99999531 0.00431663] [ 0. 0. 0. 1. ]] SLAMing on 145.86313336499998 meters 0.2785014366130481 Centerline is valid? [False, False] Translation: X:1.14, Y:0.07, Z:0.00 [[ 9.99992584e-01 2.66173759e-03 -2.78339165e-03 1.13728693e+00] [-2.66041146e-03 9.99996346e-01 4.80037551e-04 6.98975052e-02] [ 2.78465921e-03 -4.72629024e-04 9.99996011e-01 3.45959008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92313336499998 meters 0.27950717542975856 Centerline is valid? [False, False] Translation: X:1.14, Y:0.07, Z:0.00 [[ 9.99992983e-01 2.46116687e-03 -2.82418625e-03 1.13755359e+00] [-2.46119541e-03 9.99996971e-01 -6.63107299e-06 7.19624687e-02] [ 2.82416138e-03 1.35819007e-05 9.99996012e-01 3.14500990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.983133365 meters 0.2790611733181107 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.00 [[ 0.99999459 0.00193357 -0.00266058 1.13711062] [-0.00193704 0.99999728 -0.00129939 0.07753968] [ 0.00265806 0.00130454 0.99999562 0.00331895] [ 0. 0. 0. 1. ]] SLAMing on 146.043133365 meters 0.2781684583888699 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.00 [[ 0.99999522 0.00164934 -0.00261342 1.13715811] [-0.00165444 0.99999673 -0.00195255 0.08032953] [ 0.00261019 0.00195686 0.99999468 0.00304141] [ 0. 0. 0. 1. ]] SLAMing on 146.103133365 meters 0.279265060706364 Centerline is valid? [False, False] Translation: X:1.14, Y:0.08, Z:0.00 [[ 0.9999955 0.00136891 -0.00266791 1.13792989] [-0.00137583 0.99999568 -0.00259587 0.08320531] [ 0.00266435 0.00259953 0.99999307 0.00186908] [ 0. 0. 0. 1. ]] SLAMing on 146.163133365 meters 0.2784334473379335 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.00 [[ 9.99995664e-01 1.04979087e-03 -2.75134422e-03 1.13823221e+00] [-1.05892253e-03 9.99993929e-01 -3.31963014e-03 8.63395649e-02] [ 2.74784260e-03 3.32252921e-03 9.99990705e-01 1.73294556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.223133365 meters 0.2796398414753414 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.00 [[ 9.99995519e-01 9.24058972e-04 -2.84757943e-03 1.13842561e+00] [-9.34366100e-04 9.99993010e-01 -3.62040809e-03 8.76090848e-02] [ 2.84421406e-03 3.62305255e-03 9.99989392e-01 1.82528397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.283133365 meters 0.2770321007016921 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.00 [[ 9.99995583e-01 7.58069280e-04 -2.87383368e-03 1.13854438e+00] [-7.69644966e-04 9.99991587e-01 -4.02899581e-03 8.93243653e-02] [ 2.87075525e-03 4.03118984e-03 9.99987754e-01 1.73449928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.343133365 meters 0.2771183849231587 Centerline is valid? [False, False] Translation: X:1.14, Y:0.09, Z:0.00 [[ 9.99995528e-01 4.57535135e-04 -2.95539632e-03 1.13903627e+00] [-4.71743848e-04 9.99988326e-01 -4.80881181e-03 9.26031169e-02] [ 2.95316162e-03 4.81018450e-03 9.99984070e-01 1.18801956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.403133365 meters 0.2785051091856464 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:0.00 [[ 9.99991487e-01 -4.12367648e-03 -1.43880449e-04 1.16004632e+00] [ 4.12349771e-03 9.99990752e-01 -1.22138539e-03 9.38816925e-02] [ 1.48915717e-04 1.22078170e-03 9.99999244e-01 7.82926213e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.463133365 meters 0.277034491836949 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.00 [[ 9.99997505e-01 -2.07848881e-03 8.18573943e-04 1.15499872e+00] [ 2.07813402e-03 9.99997746e-01 4.34043182e-04 9.69113526e-02] [-8.19474252e-04 -4.32340993e-04 9.99999571e-01 4.37096779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52313336499998 meters 0.2771926120688969 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.00 [[ 9.99997057e-01 -2.27383379e-03 8.45929230e-04 1.15491194e+00] [ 2.27387734e-03 9.99997413e-01 -5.05272254e-05 9.89563362e-02] [-8.45812151e-04 5.24506160e-05 9.99999641e-01 4.45409540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58313336499998 meters 0.2777348127010448 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.00 [[ 9.99996390e-01 -2.52904936e-03 9.07731485e-04 1.15479768e+00] [ 2.52962097e-03 9.99996603e-01 -6.29118382e-04 1.01449620e-01] [-9.06137329e-04 6.31412328e-04 9.99999390e-01 4.42083889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64313336499998 meters 0.2777646639406728 Centerline is valid? [False, False] Translation: X:1.15, Y:0.10, Z:0.00 [[ 9.99995934e-01 -2.71001991e-03 8.87706933e-04 1.15483318e+00] [ 2.71097197e-03 9.99995750e-01 -1.07305321e-03 1.03289568e-01] [-8.84795165e-04 1.07545539e-03 9.99999030e-01 4.47937999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70313336499999 meters 0.27640508925865065 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99997507e-01 -7.30015006e-04 2.11038703e-03 1.14912637e+00] [ 7.28916542e-04 9.99999599e-01 5.21225814e-04 1.05897896e-01] [-2.11076669e-03 -5.19686219e-04 9.99997637e-01 8.27096766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763133365 meters 0.2770328688747575 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996827e-01 -1.19759141e-03 2.21618110e-03 1.14874754e+00] [ 1.19880043e-03 9.99999133e-01 -5.44290116e-04 1.10490216e-01] [-2.21552734e-03 5.46945148e-04 9.99997396e-01 8.56118216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.823133365 meters 0.27844193602008094 Centerline is valid? [False, False] Translation: X:1.15, Y:0.11, Z:0.01 [[ 9.99996925e-01 -1.42270477e-03 2.03124858e-03 1.14965179e+00] [ 1.42497349e-03 9.99998362e-01 -1.11590375e-03 1.12941970e-01] [-2.02965766e-03 1.11879479e-03 9.99997314e-01 7.54958455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.883133365 meters 0.2800287086023473 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:0.01 [[ 0.99999695 -0.00163583 0.00185235 1.15037335] [ 0.00163882 0.99999735 -0.00161843 0.11508594] [-0.0018497 0.00162146 0.99999697 0.00700147] [ 0. 0. 0. 1. ]] SLAMing on 146.943133365 meters 0.27952932498209493 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:0.01 [[ 9.99995782e-01 5.94681887e-04 2.84293684e-03 1.14596729e+00] [-5.93805020e-04 9.99999776e-01 -3.09271191e-04 1.21801358e-01] [-2.84312012e-03 3.07581736e-04 9.99995911e-01 9.79591107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.003133365 meters 0.2790615977176385 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.01 [[ 9.99996481e-01 2.46407684e-04 2.64133720e-03 1.14655814e+00] [-2.43238622e-04 9.99999250e-01 -1.20004881e-03 1.25504195e-01] [-2.64163092e-03 1.19940211e-03 9.99995792e-01 9.66442429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.063133365 meters 0.27902874340639305 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.01 [[ 9.99997152e-01 -3.94221714e-05 2.38632366e-03 1.14737121e+00] [ 4.41852231e-05 9.99998007e-01 -1.99595909e-03 1.28851409e-01] [-2.38624022e-03 1.99605885e-03 9.99995161e-01 9.29103106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.123133365 meters 0.27908369819314677 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.01 [[ 9.99997131e-01 -3.05010847e-04 2.37608282e-03 1.14727912e+00] [ 3.11470719e-04 9.99996256e-01 -2.71881085e-03 1.31817192e-01] [-2.37524466e-03 2.71954313e-03 9.99993481e-01 9.60247205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183133365 meters 0.276926081372509 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 0.99999246 0.00168953 0.00349748 1.14170862] [-0.00168368 0.99999718 -0.0016762 0.13896071] [-0.0035003 0.0016703 0.99999248 0.01404074] [ 0. 0. 0. 1. ]] SLAMing on 147.24313336499998 meters 0.27984588736967925 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 0.99999331 0.00139864 0.00337985 1.14239288] [-0.00139052 0.99999614 -0.00240358 0.14204891] [-0.0033832 0.00239886 0.9999914 0.01325297] [ 0. 0. 0. 1. ]] SLAMing on 147.30313336499998 meters 0.2785683733613366 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 9.99993681e-01 1.10237139e-03 3.37979478e-03 1.14240392e+00] [-1.09190488e-03 9.99994608e-01 -3.09707166e-03 1.44964016e-01] [-3.38319068e-03 3.09336167e-03 9.99989493e-01 1.33214935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36313336499998 meters 0.2779757934111895 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99993874e-01 5.39463807e-04 3.45847772e-03 1.14186944e+00] [-5.24237695e-04 9.99990174e-01 -4.40194334e-03 1.50538955e-01] [-3.46081843e-03 4.40010331e-03 9.99984331e-01 1.40719019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42313336499998 meters 0.27757138501153156 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99994086e-01 2.22784411e-04 3.43182990e-03 1.14229829e+00] [-2.05162522e-04 9.99986798e-01 -5.13433421e-03 1.53668020e-01] [-3.43292844e-03 5.13359976e-03 9.99980930e-01 1.34243545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.483133365 meters 0.27855005555725765 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99993999e-01 6.13938255e-05 3.46376548e-03 1.14237890e+00] [-4.22747115e-05 9.99984766e-01 -5.51955162e-03 1.55250844e-01] [-3.46405158e-03 5.51937206e-03 9.99978768e-01 1.31438428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.543133365 meters 0.27895837404075086 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99994354e-01 -6.77860418e-05 3.35973278e-03 1.14259222e+00] [ 8.73900168e-05 9.99982971e-01 -5.83517712e-03 1.56563736e-01] [-3.35928003e-03 5.83543778e-03 9.99977331e-01 1.32590427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.603133365 meters 0.27939550511475864 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99994695e-01 -2.03071768e-04 3.25080755e-03 1.14288780e+00] [ 2.23128493e-04 9.99980937e-01 -6.17059359e-03 1.57975528e-01] [-3.24949251e-03 6.17128621e-03 9.99975678e-01 1.32391616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.663133365 meters 0.27774090179627 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99989761e-01 -4.45414673e-03 7.99364245e-04 1.12359285e+00] [ 4.45540169e-03 9.99988834e-01 -1.57510254e-03 1.61065231e-01] [-7.92339582e-04 1.57864791e-03 9.99998440e-01 1.25595289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.723133365 meters 0.27666219394844843 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99999698e-01 -3.07709584e-04 7.13268715e-04 1.12368396e+00] [ 3.06066734e-04 9.99997303e-01 2.30223413e-03 1.63018216e-01] [-7.13975210e-04 -2.30201512e-03 9.99997095e-01 1.27761118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.783133365 meters 0.27804782868257827 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:0.01 [[ 9.99999669e-01 -5.01723493e-04 6.40630545e-04 1.12365272e+00] [ 5.00591877e-04 9.99998316e-01 1.76534908e-03 1.65232737e-01] [-6.41515184e-04 -1.76502780e-03 9.99998237e-01 1.32905160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.843133365 meters 0.2785983098158945 Centerline is valid? [False, False] Translation: X:1.14, Y:0.17, Z:0.01 [[ 0.9999806 0.00546315 0.00299118 1.14460982] [-0.00545855 0.99998391 -0.00154174 0.16663674] [-0.00299955 0.00152538 0.99999434 0.01245486] [ 0. 0. 0. 1. ]] SLAMing on 147.903133365 meters 0.27857593837153777 Centerline is valid? [False, False] Translation: X:1.14, Y:0.17, Z:0.01 [[ 0.99998325 0.00499155 0.00292907 1.14454733] [-0.00498292 0.99998324 -0.0029473 0.17244806] [-0.00294373 0.00293265 0.99999137 0.01292728] [ 0. 0. 0. 1. ]] SLAMing on 147.963133365 meters 0.2779213074252509 Centerline is valid? [False, False] Translation: X:1.13, Y:0.18, Z:0.01 [[ 0.9999903 -0.00296599 0.00325607 1.12598133] [ 0.00297393 0.99999262 -0.00243395 0.18310137] [-0.00324882 0.00244361 0.99999174 0.0113512 ] [ 0. 0. 0. 1. ]] SLAMing on 148.02313336499998 meters 0.2778213054293788 Centerline is valid? [False, False] Translation: X:1.13, Y:0.19, Z:0.01 [[ 0.99998922 -0.00326501 0.00330195 1.1256474 ] [ 0.00327534 0.99998974 -0.00312895 0.18604953] [-0.0032917 0.00313973 0.99998965 0.01185329] [ 0. 0. 0. 1. ]] SLAMing on 148.08313336499998 meters 0.27645866215205234 Centerline is valid? [False, False] Translation: X:1.12, Y:0.19, Z:0.01 [[ 9.99989951e-01 -6.77753333e-04 4.43145088e-03 1.12121351e+00] [ 6.83733355e-04 9.99998858e-01 -1.34807443e-03 1.91674563e-01] [-4.43053216e-03 1.35109082e-03 9.99989272e-01 1.44231819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14313336499998 meters 0.27788255893409775 Centerline is valid? [False, False] Translation: X:1.12, Y:0.19, Z:0.01 [[ 9.99991665e-01 -8.98633266e-04 3.98274098e-03 1.12248751e+00] [ 9.06467158e-04 9.99997657e-01 -1.96559154e-03 1.94235379e-01] [-3.98096530e-03 1.96918538e-03 9.99990137e-01 1.37932296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20313336499999 meters 0.27711180911359845 Centerline is valid? [False, False] Translation: X:1.12, Y:0.20, Z:0.02 [[ 9.99987164e-01 9.77973533e-04 4.97139379e-03 1.11801328e+00] [-9.76661788e-04 9.99999488e-01 -2.66279415e-04 1.95658375e-01] [-4.97165166e-03 2.61420627e-04 9.99987607e-01 1.66769310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263133365 meters 0.2788420745079689 Centerline is valid? [False, False] Translation: X:1.14, Y:0.20, Z:0.02 [[ 9.99953227e-01 -6.84358928e-03 6.83435120e-03 1.13573714e+00] [ 6.83671839e-03 9.99976101e-01 1.02820339e-03 2.00970279e-01] [-6.84122447e-03 -9.81430760e-04 9.99976117e-01 1.89609762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.323133365 meters 0.27550178473168424 Centerline is valid? [False, False] Translation: X:1.11, Y:0.21, Z:0.02 [[ 9.99982961e-01 2.25096799e-03 5.38614927e-03 1.11482829e+00] [-2.24934396e-03 9.99997423e-01 -3.07557461e-04 2.07669143e-01] [-5.38682769e-03 2.95436918e-04 9.99985447e-01 1.91865187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.383133365 meters 0.27598315729226797 Centerline is valid? [False, False] Translation: X:1.12, Y:0.21, Z:0.02 [[ 9.99984941e-01 1.96109360e-03 5.12565286e-03 1.11550433e+00] [-1.95540990e-03 9.99997468e-01 -1.11364891e-03 2.11048180e-01] [-5.12782385e-03 1.10360939e-03 9.99986244e-01 1.91853797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.443133365 meters 0.2782499294903786 Centerline is valid? [False, False] Translation: X:1.12, Y:0.21, Z:0.02 [[ 0.99998644 0.00167293 0.00493154 1.11600287] [-0.0016638 0.9999969 -0.00185478 0.21415406] [-0.00493463 0.00184655 0.99998612 0.01920197] [ 0. 0. 0. 1. ]] SLAMing on 148.503133365 meters 0.27698714243188977 Centerline is valid? [False, False] Translation: X:1.13, Y:0.22, Z:0.02 [[ 9.99960989e-01 -6.20051702e-03 6.29076727e-03 1.13337550e+00] [ 6.20559676e-03 9.99980434e-01 -7.88293939e-04 2.22677636e-01] [-6.28575636e-03 8.27301152e-04 9.99979902e-01 2.19511264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.563133365 meters 0.276332562785008 Centerline is valid? [False, False] Translation: X:1.13, Y:0.23, Z:0.03 [[ 9.99964914e-01 -4.01297785e-03 7.35305168e-03 1.12788049e+00] [ 4.00594387e-03 9.99991505e-01 9.71085480e-04 2.25719740e-01] [-7.35688615e-03 -9.41595496e-04 9.99972494e-01 2.59245856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.623133365 meters 0.2785847741824748 Centerline is valid? [False, False] Translation: X:1.13, Y:0.23, Z:0.03 [[ 9.99964165e-01 -4.29368334e-03 7.29610149e-03 1.12778208e+00] [ 4.29237248e-03 9.99990769e-01 1.95316217e-04 2.28928736e-01] [-7.29687277e-03 -1.63991632e-04 9.99973364e-01 2.64757081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.683133365 meters 0.275095163658646 Centerline is valid? [False, False] Translation: X:1.11, Y:0.24, Z:0.03 [[ 9.99981570e-01 4.95578938e-03 3.50711549e-03 1.11014638e+00] [-4.95283466e-03 9.99987373e-01 -8.50677103e-04 2.37757946e-01] [-3.51128699e-03 8.33291262e-04 9.99993488e-01 2.60912606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74313336499998 meters 0.2754656492573823 Centerline is valid? [False, False] Translation: X:1.11, Y:0.24, Z:0.03 [[ 0.99998416 0.00461024 0.00322926 1.11077138] [-0.00460432 0.99998771 -0.00183681 0.24185499] [-0.00323769 0.00182191 0.9999931 0.02628146] [ 0. 0. 0. 1. ]] SLAMing on 148.80313336499998 meters 0.2759667755727589 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:0.02 [[ 0.99999396 -0.00296153 0.00181715 1.09339928] [ 0.00296361 0.99999495 -0.00114675 0.25176648] [-0.00181374 0.00115213 0.99999769 0.02429664] [ 0. 0. 0. 1. ]] SLAMing on 148.86313336499998 meters 0.27482439793618896 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:0.02 [[ 0.99999258 -0.00350328 0.00160038 1.09369825] [ 0.00350773 0.99998996 -0.00278679 0.25850687] [-0.0015906 0.00279239 0.99999484 0.02467402] [ 0. 0. 0. 1. ]] SLAMing on 148.92313336499998 meters 0.2769638487439827 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.03 [[ 0.99999158 -0.00206676 0.00354531 1.13559463] [ 0.00207191 0.9999968 -0.00144819 0.26787819] [-0.0035423 0.00145552 0.99999267 0.02521821] [ 0. 0. 0. 1. ]] SLAMing on 148.983133365 meters 0.27637162332675536 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.03 [[ 0.99999166 -0.00249441 0.00323374 1.13642073] [ 0.00250424 0.99999224 -0.00304164 0.27428659] [-0.00322613 0.00304972 0.99999015 0.02508758] [ 0. 0. 0. 1. ]] SLAMing on 149.043133365 meters 0.2753439484061043 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99993240e-01 1.02720367e-03 3.53059312e-03 1.13538418e+00] [-1.02531900e-03 9.99999331e-01 -5.35578655e-04 2.81677490e-01] [-3.53114091e-03 5.31955050e-04 9.99993624e-01 2.59422624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.103133365 meters 0.27663266080679344 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99993615e-01 8.88623286e-04 3.46113802e-03 1.13521211e+00] [-8.85688510e-04 9.99999247e-01 -8.49362770e-04 2.83040104e-01] [-3.46189018e-03 8.46291857e-04 9.99993650e-01 2.66072921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.163133365 meters 0.27769005736325947 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99994542e-01 8.28570477e-04 3.19825001e-03 1.13615597e+00] [-8.25154624e-04 9.99999088e-01 -1.06920986e-03 2.83988966e-01] [-3.19913301e-03 1.06656498e-03 9.99994314e-01 2.58007257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.223133365 meters 0.27812362298408927 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99995677e-01 9.97611133e-04 2.76613496e-03 1.13747465e+00] [-9.95973525e-04 9.99999328e-01 -5.93334457e-04 2.82402217e-01] [-2.76672502e-03 5.90576895e-04 9.99995998e-01 2.50236280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.283133365 meters 0.2778823230931186 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99994980e-01 1.10876725e-03 2.96832805e-03 1.13694827e+00] [-1.10802247e-03 9.99999354e-01 -2.52540663e-04 2.80995564e-01] [-2.96860614e-03 2.49250421e-04 9.99995563e-01 2.51228199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.343133365 meters 0.2772379052128608 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.02 [[ 9.99994899e-01 1.38247274e-03 2.87938555e-03 1.13761712e+00] [-1.38397862e-03 9.99998907e-01 5.21058887e-04 2.77719463e-01] [-2.87866205e-03 -5.25041237e-04 9.99995719e-01 2.41107925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.403133365 meters 0.2795695994894799 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.02 [[ 9.99995105e-01 1.55411483e-03 2.71568428e-03 1.13812621e+00] [-1.55669460e-03 9.99998339e-01 9.48095024e-04 2.75931606e-01] [-2.71420632e-03 -9.52317874e-04 9.99995863e-01 2.38231047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.463133365 meters 0.2793047204562178 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.02 [[ 0.99999524 0.00167187 0.00259471 1.13837511] [-0.00167503 0.99999786 0.00121679 0.27478556] [-0.00259267 -0.00122113 0.99999589 0.02391121] [ 0. 0. 0. 1. ]] SLAMing on 149.52313336499998 meters 0.2786163076135401 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.02 [[ 0.99999392 0.00175208 0.00301382 1.13696956] [-0.00175648 0.9999974 0.00145697 0.27355477] [-0.00301126 -0.00146225 0.9999944 0.02490507] [ 0. 0. 0. 1. ]] SLAMing on 149.58313336499998 meters 0.27934441593835535 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.02 [[ 0.99999429 0.00182664 0.00284345 1.13739675] [-0.00183131 0.99999698 0.00163875 0.2728065 ] [-0.00284045 -0.00164395 0.99999461 0.02484494] [ 0. 0. 0. 1. ]] SLAMing on 149.64313336499998 meters 0.2766293134780703 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.02 [[ 0.99999459 0.00195001 0.00264805 1.13786183] [-0.00195512 0.99999623 0.00192771 0.27158663] [-0.00264428 -0.00193288 0.99999464 0.02483265] [ 0. 0. 0. 1. ]] SLAMing on 149.70313336499999 meters 0.27398232120838795 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.03 [[ 0.99999408 0.00191946 0.00285649 1.13688641] [-0.00192479 0.99999641 0.00186329 0.27191388] [-0.00285291 -0.00186878 0.99999418 0.02611706] [ 0. 0. 0. 1. ]] SLAMing on 149.763133365 meters 0.2743517442968594 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.03 [[ 0.99999379 0.00189934 0.00296821 1.13639912] [-0.00190474 0.99999653 0.00181807 0.27209001] [-0.00296475 -0.00182371 0.99999394 0.0266413 ] [ 0. 0. 0. 1. ]] SLAMing on 149.823133365 meters 0.2763238417725297 Centerline is valid? [False, False] Translation: X:1.16, Y:0.27, Z:0.03 [[ 0.99997511 -0.00512947 0.00484382 1.1582933 ] [ 0.00510837 0.99997745 0.00435856 0.27114283] [-0.00486606 -0.0043337 0.99997877 0.02556092] [ 0. 0. 0. 1. ]] SLAMing on 149.883133365 meters 0.273248310510356 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.03 [[ 9.99998573e-01 9.25236361e-04 1.41363159e-03 1.13977616e+00] [-9.25927549e-04 9.99999452e-01 4.88368387e-04 2.75112554e-01] [-1.41317896e-03 -4.89676611e-04 9.99998882e-01 2.55801062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.943133365 meters 0.2759696479016017 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.03 [[ 9.99999641e-01 6.13363628e-04 5.84062935e-04 1.17511212e+00] [-6.13880468e-04 9.99999420e-01 8.85137789e-04 2.76375475e-01] [-5.83519685e-04 -8.85496016e-04 9.99999438e-01 3.13161930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003133365 meters 0.27471215799409726 Centerline is valid? [False, False] Translation: X:1.17, Y:0.28, Z:0.03 [[ 9.99999725e-01 3.74157653e-04 6.40950185e-04 1.17468184e+00] [-3.74261515e-04 9.99999917e-01 1.61931569e-04 2.79285367e-01] [-6.40889544e-04 -1.62171407e-04 9.99999781e-01 3.19887226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.063133365 meters 0.2729870111658459 Centerline is valid? [False, False] Translation: X:1.17, Y:0.29, Z:0.03 [[ 9.99999862e-01 -9.21120672e-05 5.17664136e-04 1.17499842e+00] [ 9.28951380e-05 9.99998851e-01 -1.51288011e-03 2.85916797e-01] [-5.17524186e-04 1.51292799e-03 9.99998722e-01 3.19222797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.123133365 meters 0.27458158565054824 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:0.03 [[ 9.99982098e-01 -5.94899868e-03 6.42247385e-04 1.19764773e+00] [ 5.94792057e-03 9.99980920e-01 1.66771814e-03 2.92759127e-01] [-6.52156384e-04 -1.66386825e-03 9.99998403e-01 3.12749596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183133365 meters 0.2773046609538571 Centerline is valid? [False, False] Translation: X:1.20, Y:0.30, Z:0.03 [[ 9.99979361e-01 -6.41292261e-03 3.91144365e-04 1.19844584e+00] [ 6.41267546e-03 9.99979240e-01 6.29889180e-04 2.97350574e-01] [-3.95175676e-04 -6.27367897e-04 9.99999725e-01 3.08939474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24313336499998 meters 0.274823163288106 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 9.99994197e-01 3.34128383e-03 -6.64074757e-04 1.17857796e+00] [-3.34130454e-03 9.99994417e-01 -3.00822041e-05 2.98466884e-01] [ 6.63970537e-04 3.23009056e-05 9.99999779e-01 3.05876572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30313336499998 meters 0.27589434349515307 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 9.99994632e-01 3.21217996e-03 -6.46594752e-04 1.17863547e+00] [-3.21240980e-03 9.99994777e-01 -3.54738457e-04 2.99851748e-01] [ 6.45451891e-04 3.56813680e-04 9.99999728e-01 3.03952324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36313336499998 meters 0.2774963484543554 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 9.99994911e-01 3.08690787e-03 -8.05599536e-04 1.17900283e+00] [-3.08744859e-03 9.99995009e-01 -6.70815841e-04 3.01219964e-01] [ 8.03524768e-04 6.73299674e-04 9.99999451e-01 3.04368727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42313336499998 meters 0.2795282205927618 Centerline is valid? [False, False] Translation: X:1.20, Y:0.30, Z:0.03 [[ 9.99980263e-01 -6.20643434e-03 -9.76646530e-04 1.19977353e+00] [ 6.20654182e-03 9.99980734e-01 1.07057228e-04 3.04091769e-01] [ 9.75963270e-04 -1.13116712e-04 9.99999517e-01 3.10691334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.483133365 meters 0.2767134692845955 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 9.99994665e-01 3.01762885e-03 -1.25070535e-03 1.17901314e+00] [-3.01861637e-03 9.99995133e-01 -7.88429886e-04 3.02950411e-01] [ 1.24832008e-03 7.92201080e-04 9.99998907e-01 3.03439265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.543133365 meters 0.2765173279634829 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 9.99994685e-01 2.98115533e-03 -1.32013932e-03 1.17922841e+00] [-2.98231080e-03 9.99995171e-01 -8.74162486e-04 3.03352227e-01] [ 1.31752693e-03 8.78094906e-04 9.99998747e-01 3.02586855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.603133365 meters 0.2764278759620741 Centerline is valid? [False, False] Translation: X:1.18, Y:0.30, Z:0.03 [[ 0.9999951 0.00285198 -0.00128742 1.17902697] [-0.00285352 0.99999522 -0.00118925 0.30469576] [ 0.00128402 0.00119291 0.99999846 0.03052738] [ 0. 0. 0. 1. ]] SLAMing on 150.663133365 meters 0.2743752230845482 Centerline is valid? [False, False] Translation: X:1.16, Y:0.31, Z:0.03 [[ 9.99998250e-01 -1.71760310e-03 -7.41262424e-04 1.15608605e+00] [ 1.71912830e-03 9.99996397e-01 2.06187000e-03 3.12295389e-01] [ 7.37718279e-04 -2.06314072e-03 9.99997600e-01 3.10188911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.723133365 meters 0.2741883915571609 Centerline is valid? [False, False] Translation: X:1.16, Y:0.32, Z:0.03 [[ 9.99997801e-01 -1.98676337e-03 -6.70730481e-04 1.15586695e+00] [ 1.98769509e-03 9.99997057e-01 1.39131988e-03 3.15113720e-01] [ 6.67964283e-04 -1.39265003e-03 9.99998807e-01 3.11324640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783133365 meters 0.27408252008086387 Centerline is valid? [False, False] Translation: X:1.18, Y:0.31, Z:0.03 [[ 9.99983323e-01 5.67346411e-03 1.07949707e-03 1.17577460e+00] [-5.67365404e-03 9.99983890e-01 1.72966333e-04 3.14875393e-01] [-1.07849836e-03 -1.79088141e-04 9.99999402e-01 3.14689597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843133365 meters 0.2764118468026434 Centerline is valid? [False, False] Translation: X:1.18, Y:0.32, Z:0.03 [[ 9.99984213e-01 5.56241936e-03 7.95501140e-04 1.17663223e+00] [-5.56230198e-03 9.99984519e-01 -1.49681473e-04 3.16257802e-01] [-7.96321416e-04 1.45254292e-04 9.99999672e-01 3.09774073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903133365 meters 0.2758390420260636 Centerline is valid? [False, False] Translation: X:1.16, Y:0.32, Z:0.03 [[ 9.99998228e-01 -1.86969676e-03 -2.18922078e-04 1.15809472e+00] [ 1.86988595e-03 9.99997876e-01 8.67218311e-04 3.22141084e-01] [ 2.17300178e-04 -8.67626133e-04 9.99999600e-01 2.95497663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.963133365 meters 0.275050746596611 Centerline is valid? [False, False] Translation: X:1.18, Y:0.33, Z:0.03 [[ 9.99976426e-01 6.03300434e-03 3.27890876e-03 1.17544806e+00] [-6.03206730e-03 9.99981763e-01 -2.95592403e-04 3.25314345e-01] [-3.28063227e-03 2.75806837e-04 9.99994581e-01 3.11455655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02313336499998 meters 0.27490058723649896 Centerline is valid? [False, False] Translation: X:1.17, Y:0.33, Z:0.03 [[ 0.99997779 0.00555921 0.00367724 1.17369089] [-0.00555185 0.99998257 -0.00200881 0.33119381] [-0.00368834 0.00198835 0.99999122 0.03303616] [ 0. 0. 0. 1. ]] SLAMing on 151.08313336499998 meters 0.273079112255576 Centerline is valid? [False, False] Translation: X:1.18, Y:0.33, Z:0.03 [[ 0.99998057 0.00546953 0.00299041 1.17543185] [-0.00546113 0.99998114 -0.00280975 0.3346613 ] [-0.00300572 0.00279336 0.99999158 0.03261968] [ 0. 0. 0. 1. ]] SLAMing on 151.14313336499998 meters 0.2741545913958679 Centerline is valid? [False, False] Translation: X:1.18, Y:0.34, Z:0.03 [[ 0.99998323 0.00514845 0.00265308 1.17603318] [-0.00513761 0.99997848 -0.00407899 0.33949854] [-0.00267403 0.00406529 0.99998816 0.03296014] [ 0. 0. 0. 1. ]] SLAMing on 151.20313336499999 meters 0.2737076375846434 Centerline is valid? [False, False] Translation: X:1.17, Y:0.35, Z:0.04 [[ 0.99996271 0.0081986 0.00271384 1.17409114] [-0.00819046 0.99996196 -0.00299979 0.35181038] [-0.00273833 0.00297745 0.99999182 0.03592574] [ 0. 0. 0. 1. ]] SLAMing on 151.263133365 meters 0.27057185820131374 Centerline is valid? [False, False] Translation: X:1.15, Y:0.37, Z:0.04 [[ 9.99990674e-01 4.85772204e-04 4.29147173e-03 1.15295792e+00] [-4.70555790e-04 9.99993602e-01 -3.54603156e-03 3.65219924e-01] [-4.29316684e-03 3.54397911e-03 9.99984504e-01 3.58700500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.323133365 meters 0.2723108218265455 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.04 [[ 9.99967619e-01 -5.19036817e-03 6.14994262e-03 1.17274751e+00] [ 5.19268425e-03 9.99986453e-01 -3.60695187e-04 3.75049298e-01] [-6.14798716e-03 3.92618217e-04 9.99981024e-01 3.62220903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.383133365 meters 0.27194680385982173 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.04 [[ 9.99967529e-01 -5.32492777e-03 6.04871996e-03 1.17313230e+00] [ 5.32932244e-03 9.99985547e-01 -7.10659106e-04 3.76504562e-01] [-6.04484833e-03 7.42871609e-04 9.99981454e-01 3.58967152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.443133365 meters 0.2737280433181423 Centerline is valid? [False, False] Translation: X:1.17, Y:0.38, Z:0.03 [[ 9.99970103e-01 -5.34503790e-03 5.58773111e-03 1.17457192e+00] [ 5.34973823e-03 9.99985348e-01 -8.26579519e-04 3.77200378e-01] [-5.58323114e-03 8.56447706e-04 9.99984047e-01 3.49761210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.503133365 meters 0.27226577586839534 Centerline is valid? [False, False] Translation: X:1.16, Y:0.38, Z:0.03 [[ 0.99998415 0.00398525 0.00397742 1.15528012] [-0.00397719 0.99999003 -0.00203147 0.37729747] [-0.00398548 0.00201562 0.99999003 0.03455545] [ 0. 0. 0. 1. ]] SLAMing on 151.563133365 meters 0.2724436075472987 Centerline is valid? [False, False] Translation: X:1.16, Y:0.38, Z:0.03 [[ 0.99998516 0.00383382 0.00387111 1.15536813] [-0.00382403 0.99998948 -0.00253314 0.37928224] [-0.00388078 0.0025183 0.9999893 0.0348364 ] [ 0. 0. 0. 1. ]] SLAMing on 151.623133365 meters 0.2723203411802208 Centerline is valid? [False, False] Translation: X:1.16, Y:0.38, Z:0.04 [[ 0.99998572 0.0037053 0.00385223 1.155345 ] [-0.00369407 0.99998892 -0.0029178 0.38086747] [-0.00386299 0.00290352 0.99998832 0.03500451] [ 0. 0. 0. 1. ]] SLAMing on 151.683133365 meters 0.27192456374046914 Centerline is valid? [False, False] Translation: X:1.15, Y:0.39, Z:0.04 [[ 0.99998462 0.00339954 0.004382 1.15396226] [-0.00338153 0.99998583 -0.00411079 0.38511508] [-0.00439591 0.00409591 0.99998195 0.03547118] [ 0. 0. 0. 1. ]] SLAMing on 151.74313336499998 meters 0.2718559993802834 Centerline is valid? [False, False] Translation: X:1.13, Y:0.39, Z:0.03 [[ 0.99997901 -0.00427155 0.00487119 1.13441935] [ 0.00428977 0.99998382 -0.00373565 0.39249503] [-0.00485515 0.00375647 0.99998116 0.03452227] [ 0. 0. 0. 1. ]] SLAMing on 151.80313336499998 meters 0.2721427733651426 Centerline is valid? [False, False] Translation: X:1.14, Y:0.40, Z:0.03 [[ 0.99999029 -0.00277098 0.00342572 1.13915464] [ 0.00278063 0.99999218 -0.00281388 0.39688104] [-0.00341789 0.00282338 0.99999017 0.03239023] [ 0. 0. 0. 1. ]] SLAMing on 151.86313336499998 meters 0.2735166756840015 Centerline is valid? [False, False] Translation: X:1.14, Y:0.40, Z:0.03 [[ 0.99999038 -0.00279423 0.00338248 1.13918508] [ 0.00280395 0.99999195 -0.00287181 0.39711118] [-0.00337443 0.00288127 0.99999016 0.03253659] [ 0. 0. 0. 1. ]] SLAMing on 151.92313336499998 meters 0.27154715203594415 Centerline is valid? [False, False] Translation: X:1.14, Y:0.40, Z:0.03 [[ 0.99999094 -0.00264735 0.00333345 1.13914232] [ 0.00265565 0.99999338 -0.00248833 0.39543753] [-0.00332684 0.00249716 0.99999135 0.03291355] [ 0. 0. 0. 1. ]] SLAMing on 151.983133365 meters 0.27246289654894135 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.03 [[ 0.99998918 -0.00247415 0.00393877 1.13736616] [ 0.0024805 0.99999563 -0.00160857 0.39091585] [-0.00393477 0.00161832 0.99999095 0.03392974] [ 0. 0. 0. 1. ]] SLAMing on 152.043133365 meters 0.2719485136353852 Centerline is valid? [False, False] Translation: X:1.14, Y:0.39, Z:0.03 [[ 9.99989806e-01 -2.20633577e-03 3.93956259e-03 1.13756594e+00] [ 2.21005369e-03 9.99997116e-01 -9.39636052e-04 3.88109972e-01] [-3.93747808e-03 9.48333118e-04 9.99991798e-01 3.35456196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.103133365 meters 0.2723868652643448 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:0.03 [[ 9.99991289e-01 -1.84186530e-03 3.74562927e-03 1.13848139e+00] [ 1.84227895e-03 9.99998297e-01 -1.06987461e-04 3.84608989e-01] [-3.74542584e-03 1.13887023e-04 9.99992979e-01 3.27111532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.163133365 meters 0.2714249108192913 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:0.03 [[ 9.99992000e-01 -1.61098299e-03 3.66121454e-03 1.13870768e+00] [ 1.60933486e-03 9.99998602e-01 4.53061761e-04 3.82249424e-01] [-3.66193930e-03 -4.47166017e-04 9.99993195e-01 3.26827587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.223133365 meters 0.2723138592259386 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:0.03 [[ 0.99999283 -0.00122475 0.00358407 1.1392953 ] [ 0.0012204 0.99999852 0.00121638 0.37884226] [-0.00358556 -0.00121199 0.99999284 0.03206405] [ 0. 0. 0. 1. ]] SLAMing on 152.283133365 meters 0.2728211920022784 Centerline is valid? [False, False] Translation: X:1.14, Y:0.38, Z:0.03 [[ 9.99992716e-01 -9.51934610e-04 3.69626836e-03 1.13887726e+00] [ 9.44962269e-04 9.99997772e-01 1.88760742e-03 3.75978721e-01] [-3.69805700e-03 -1.88410084e-03 9.99991387e-01 3.24861077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.343133365 meters 0.2708937447109375 Centerline is valid? [False, False] Translation: X:1.10, Y:0.37, Z:0.03 [[ 9.99987140e-01 -5.04589366e-04 5.04626869e-03 1.10130009e+00] [ 4.96221611e-04 9.99998500e-01 1.65932101e-03 3.68468465e-01] [-5.04709839e-03 -1.65679560e-03 9.99985891e-01 2.89745025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403133365 meters 0.27179207660560833 Centerline is valid? [False, False] Translation: X:1.13, Y:0.35, Z:0.03 [[ 9.99991560e-01 3.70158598e-03 1.78297207e-03 1.12537184e+00] [-3.70072122e-03 9.99993033e-01 -4.88067018e-04 3.53592166e-01] [-1.78476627e-03 4.81464616e-04 9.99998291e-01 2.80427739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.463133365 meters 0.27250167170935075 Centerline is valid? [False, False] Translation: X:1.14, Y:0.35, Z:0.03 [[ 0.99998187 -0.00456708 0.00392545 1.14403173] [ 0.00455942 0.99998769 0.00195707 0.3495463 ] [-0.00393434 -0.00193914 0.99999038 0.02869595] [ 0. 0. 0. 1. ]] SLAMing on 152.52313336499998 meters 0.27221365010045223 Centerline is valid? [False, False] Translation: X:1.14, Y:0.34, Z:0.03 [[ 0.99998417 -0.00396193 0.00399579 1.14373481] [ 0.00394916 0.99998709 0.00319812 0.34406448] [-0.00400841 -0.00318229 0.9999869 0.02902266] [ 0. 0. 0. 1. ]] SLAMing on 152.58313336499998 meters 0.27340817611536883 Centerline is valid? [False, False] Translation: X:1.15, Y:0.34, Z:0.03 [[ 0.99998678 -0.00360825 0.00366453 1.14505681] [ 0.00359337 0.99998531 0.0040592 0.34044944] [-0.00367912 -0.00404598 0.99998505 0.02792078] [ 0. 0. 0. 1. ]] SLAMing on 152.64313336499998 meters 0.27197572537351905 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:0.03 [[ 0.99997578 0.00509858 0.0047376 1.12461889] [-0.00511517 0.99998081 0.00349555 0.33123887] [-0.00471969 -0.0035197 0.99998267 0.02676058] [ 0. 0. 0. 1. ]] SLAMing on 152.70313336499999 meters 0.27156114431343226 Centerline is valid? [False, False] Translation: X:1.12, Y:0.33, Z:0.03 [[ 0.99997395 0.00314391 0.00649747 1.11820346] [-0.003159 0.99999233 0.00231334 0.32595242] [-0.00649015 -0.00233381 0.99997622 0.03077739] [ 0. 0. 0. 1. ]] SLAMing on 152.763133365 meters 0.27359986805116465 Centerline is valid? [False, False] Translation: X:1.14, Y:0.32, Z:0.03 [[ 0.99995804 -0.00342166 0.00849715 1.1398327 ] [ 0.00337296 0.99997784 0.00573902 0.32352132] [-0.0085166 -0.00571011 0.99994743 0.02890473] [ 0. 0. 0. 1. ]] SLAMing on 152.823133365 meters 0.27365225953249805 Centerline is valid? [False, False] Translation: X:1.14, Y:0.32, Z:0.03 [[ 0.99996241 -0.00308598 0.00810304 1.14128059] [ 0.00303209 0.99997327 0.00665393 0.31953186] [-0.00812336 -0.00662911 0.99994503 0.02803591] [ 0. 0. 0. 1. ]] SLAMing on 152.883133365 meters 0.2723754024133424 Centerline is valid? [False, False] Translation: X:1.12, Y:0.31, Z:0.03 [[ 0.99997276 0.00243072 0.00696938 1.12017382] [-0.00245743 0.99998966 0.0038269 0.30871451] [-0.00696001 -0.00384392 0.99996839 0.02871946] [ 0. 0. 0. 1. ]] SLAMing on 152.943133365 meters 0.27244143332936027 Centerline is valid? [False, False] Translation: X:1.12, Y:0.31, Z:0.03 [[ 9.99972971e-01 -1.56309560e-03 7.18432957e-03 1.11966324e+00] [ 1.56083514e-03 9.99998731e-01 3.20233760e-04 3.05474164e-01] [-7.18482100e-03 -3.09011550e-04 9.99974141e-01 2.88766236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.003133365 meters 0.27156520430653847 Centerline is valid? [False, False] Translation: X:1.12, Y:0.30, Z:0.03 [[ 9.99973967e-01 -1.03117655e-03 7.14150849e-03 1.12022835e+00] [ 1.02036749e-03 9.99998329e-01 1.51703329e-03 3.00330685e-01] [-7.14306088e-03 -1.50970683e-03 9.99973348e-01 2.81450557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.063133365 meters 0.27160487546257034 Centerline is valid? [False, False] Translation: X:1.12, Y:0.30, Z:0.03 [[ 9.99974482e-01 -7.70830463e-04 7.10220729e-03 1.12041658e+00] [ 7.55911321e-04 9.99997503e-01 2.10307941e-03 2.97809172e-01] [-7.10381067e-03 -2.09765711e-03 9.99972567e-01 2.80421622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.123133365 meters 0.27579597889001145 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.03 [[ 9.99965096e-01 -6.85667116e-04 8.32684706e-03 1.16292158e+00] [ 6.57948899e-04 9.99994236e-01 3.33106034e-03 2.94740770e-01] [-8.32908306e-03 -3.32546543e-03 9.99959783e-01 2.72873255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.183133365 meters 0.2763586616722365 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.03 [[ 9.99965784e-01 -5.93784780e-04 8.25091826e-03 1.16329128e+00] [ 5.64397430e-04 9.99993491e-01 3.56357871e-03 2.93744508e-01] [-8.25298055e-03 -3.55879998e-03 9.99959611e-01 2.68969196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24313336499998 meters 0.27582407201774506 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.03 [[ 9.99954109e-01 -4.73470228e-03 8.32837101e-03 1.16311154e+00] [ 4.73728582e-03 9.99988737e-01 -2.90508791e-04 2.91830594e-01] [-8.32690174e-03 3.29949334e-04 9.99965276e-01 2.70134713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30313336499998 meters 0.2745322753729731 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.03 [[ 9.99953595e-01 -4.68498925e-03 8.41777993e-03 1.16267620e+00] [ 4.68656874e-03 9.99989004e-01 -1.67921936e-04 2.91304206e-01] [-8.41690065e-03 2.07364648e-04 9.99964556e-01 2.75312705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36313336499998 meters 0.27474823566309015 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.03 [[ 9.99951261e-01 -4.75903542e-03 8.65027929e-03 1.16205402e+00] [ 4.76229723e-03 9.99988597e-01 -3.56517122e-04 2.92116253e-01] [-8.64848397e-03 3.97694947e-04 9.99962522e-01 2.76399892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42313336499998 meters 0.2751422052886078 Centerline is valid? [False, False] Translation: X:1.18, Y:0.29, Z:0.03 [[ 0.99993724 0.00288977 0.01082448 1.18089129] [-0.00287254 0.99999458 -0.00160688 0.29118954] [-0.01082907 0.00157568 0.99994012 0.02906693] [ 0. 0. 0. 1. ]] SLAMing on 153.483133365 meters 0.27510120014860545 Centerline is valid? [False, False] Translation: X:1.18, Y:0.29, Z:0.03 [[ 0.99993802 0.00289622 0.01075018 1.18092075] [-0.00287926 0.99999459 -0.00159271 0.29112081] [-0.01075474 0.00156166 0.99994095 0.02938659] [ 0. 0. 0. 1. ]] SLAMing on 153.543133365 meters 0.27494728050680495 Centerline is valid? [False, False] Translation: X:1.18, Y:0.29, Z:0.03 [[ 0.99993878 0.0029214 0.01067255 1.18115709] [-0.00290521 0.99999461 -0.0015317 0.29085196] [-0.01067697 0.0015006 0.99994187 0.02928347] [ 0. 0. 0. 1. ]] SLAMing on 153.603133365 meters 0.2741941507267721 Centerline is valid? [False, False] Translation: X:1.18, Y:0.29, Z:0.03 [[ 9.99939275e-01 3.06309861e-03 1.05860574e-02 1.18148582e+00] [-3.05112521e-03 9.99994687e-01 -1.14701833e-03 2.89195526e-01] [-1.05895146e-02 1.11464929e-03 9.99943308e-01 2.90400711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.663133365 meters 0.2758652401289362 Centerline is valid? [False, False] Translation: X:1.20, Y:0.29, Z:0.03 [[ 0.99991865 -0.00353876 0.01225403 1.20220587] [ 0.00351372 0.9999917 0.0020639 0.28915564] [-0.01226123 -0.00202067 0.99992279 0.02800737] [ 0. 0. 0. 1. ]] SLAMing on 153.723133365 meters 0.275171777996804 Centerline is valid? [False, False] Translation: X:1.19, Y:0.28, Z:0.03 [[ 9.99938412e-01 3.91167469e-03 1.03861353e-02 1.18605279e+00] [-3.91396755e-03 9.99992320e-01 2.00445296e-04 2.80829873e-01] [-1.03852715e-02 -2.41083948e-04 9.99946043e-01 2.53089005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.783133365 meters 0.2766849367936854 Centerline is valid? [False, False] Translation: X:1.19, Y:0.28, Z:0.02 [[ 9.99938437e-01 4.04997838e-03 1.03305344e-02 1.18647636e+00] [-4.05582949e-03 9.99991626e-01 5.45502509e-04 2.79361913e-01] [-1.03282386e-02 -5.87367812e-04 9.99946490e-01 2.47298757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.843133365 meters 0.27598248082338833 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.02 [[ 9.99938300e-01 1.35338836e-04 1.11075841e-02 1.18476287e+00] [-1.04951298e-04 9.99996251e-01 -2.73628417e-03 2.75674872e-01] [-1.11079128e-02 2.73494958e-03 9.99934565e-01 2.48960866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.903133365 meters 0.2773248632587694 Centerline is valid? [False, False] Translation: X:1.18, Y:0.27, Z:0.02 [[ 9.99935659e-01 2.11077087e-04 1.13416674e-02 1.18422288e+00] [-1.82142917e-04 9.99996727e-01 -2.55211143e-03 2.74874613e-01] [-1.13421689e-02 2.54988142e-03 9.99932424e-01 2.49042084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.963133365 meters 0.2763300191023519 Centerline is valid? [False, False] Translation: X:1.18, Y:0.27, Z:0.02 [[ 9.99936772e-01 2.54519267e-04 1.12422276e-02 1.18461603e+00] [-2.27076090e-04 9.99996992e-01 -2.44228908e-03 2.74359560e-01] [-1.12428153e-02 2.43958182e-03 9.99933822e-01 2.45428795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02313336499998 meters 0.27888501002132615 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.02 [[ 9.99937264e-01 1.64077461e-04 1.12000216e-02 1.18489907e+00] [-1.34338174e-04 9.99996464e-01 -2.65598901e-03 2.75316643e-01] [-1.12004178e-02 2.65431779e-03 9.99933750e-01 2.41418386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08313336499998 meters 0.2773095849344078 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.02 [[ 9.99937970e-01 1.00638180e-04 1.11375600e-02 1.18498857e+00] [-6.94284129e-05 9.99996070e-01 -2.80255984e-03 2.75962450e-01] [-1.11377983e-02 2.80161273e-03 9.99934048e-01 2.42481972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14313336499998 meters 0.2758393439136287 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.03 [[ 9.99937617e-01 4.48505506e-05 1.11696264e-02 1.18453950e+00] [-1.20079756e-05 9.99995677e-01 -2.94039648e-03 2.76597508e-01] [-1.11697100e-02 2.94007893e-03 9.99933295e-01 2.50021440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20313336499999 meters 0.2764304453685788 Centerline is valid? [False, False] Translation: X:1.18, Y:0.28, Z:0.03 [[ 9.99935882e-01 6.22497733e-05 1.13237743e-02 1.18384084e+00] [-2.93852265e-05 9.99995788e-01 -2.90240408e-03 2.76356389e-01] [-1.13239073e-02 2.90188523e-03 9.99931672e-01 2.58027828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.263133365 meters 0.2756710153140127 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.03 [[ 9.99950021e-01 -5.36340485e-03 8.43743201e-03 1.16288967e+00] [ 5.36078054e-03 9.99985575e-01 3.33617558e-04 2.75379611e-01] [-8.43909963e-03 -2.88369663e-04 9.99964349e-01 2.68689000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.323133365 meters 0.27614131541021086 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.03 [[ 9.99949661e-01 -5.39090309e-03 8.46248327e-03 1.16247270e+00] [ 5.38882166e-03 9.99985444e-01 2.68742805e-04 2.75708978e-01] [-8.46380886e-03 -2.23126464e-04 9.99964156e-01 2.76141080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.383133365 meters 0.2753781661977067 Centerline is valid? [False, False] Translation: X:1.16, Y:0.27, Z:0.03 [[ 9.99949991e-01 -5.30247730e-03 8.47932622e-03 1.16232349e+00] [ 5.29871111e-03 9.99985853e-01 4.66565256e-04 2.74741762e-01] [-8.48168022e-03 -4.21612423e-04 9.99963941e-01 2.78567025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.443133365 meters 0.2747715505189119 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.03 [[ 0.99998495 0.00217767 0.0050357 1.14668905] [-0.00217069 0.99999668 -0.00139043 0.27227202] [-0.00503871 0.00137948 0.99998635 0.02522483] [ 0. 0. 0. 1. ]] SLAMing on 154.503133365 meters 0.2748548314923955 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.03 [[ 9.99985496e-01 2.30020076e-03 4.87004051e-03 1.14701777e+00] [-2.29484649e-03 9.99996757e-01 -1.10473212e-03 2.70984302e-01] [-4.87256582e-03 1.09354011e-03 9.99987531e-01 2.53951942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.563133365 meters 0.27523084680944826 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.03 [[ 9.99985079e-01 2.43737487e-03 4.88893433e-03 1.14699769e+00] [-2.43357528e-03 9.99996732e-01 -7.82981075e-04 2.69555494e-01] [-4.89082678e-03 7.71071802e-04 9.99987743e-01 2.53802788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.623133365 meters 0.2742523922386013 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.03 [[ 9.99984543e-01 2.63693726e-03 4.89502884e-03 1.14686604e+00] [-2.63547441e-03 9.99996481e-01 -3.05271548e-04 2.67448779e-01] [-4.89581659e-03 2.92366106e-04 9.99987973e-01 2.56699229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.683133365 meters 0.27671889248993564 Centerline is valid? [False, False] Translation: X:1.17, Y:0.27, Z:0.02 [[ 9.99968887e-01 -6.50938826e-03 4.45573267e-03 1.16989170e+00] [ 6.50638074e-03 9.99978596e-01 6.89141322e-04 2.65430793e-01] [-4.46012319e-03 -6.60129187e-04 9.99989836e-01 2.47094597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74313336499998 meters 0.27636418440897803 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99994430e-01 1.30841361e-03 3.07057407e-03 1.15265752e+00] [-1.30654925e-03 9.99998961e-01 -6.09097372e-04 2.57557934e-01] [-3.07136783e-03 6.05082123e-04 9.99995100e-01 2.22827209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80313336499998 meters 0.27714754328507335 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99993912e-01 1.54700109e-03 3.12784048e-03 1.15251905e+00] [-1.54676824e-03 9.99998801e-01 -7.68620575e-05 2.55202629e-01] [-3.12795563e-03 7.20235452e-05 9.99995105e-01 2.23665464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86313336499998 meters 0.2761179226572585 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99993332e-01 1.63622770e-03 3.26466868e-03 1.15207615e+00] [-1.63669239e-03 9.99998651e-01 1.39671744e-04 2.54287284e-01] [-3.26443574e-03 -1.45014071e-04 9.99994661e-01 2.26337910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92313336499998 meters 0.2769259007903442 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99992997e-01 1.67796729e-03 3.34520714e-03 1.15181145e+00] [-1.67877217e-03 9.99998563e-01 2.37813764e-04 2.53870417e-01] [-3.34480329e-03 -2.43427939e-04 9.99994377e-01 2.27847098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.983133365 meters 0.2790973139585879 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99993022e-01 1.67452940e-03 3.33955382e-03 1.15221598e+00] [-1.67533355e-03 9.99998568e-01 2.38012474e-04 2.53891121e-01] [-3.33915048e-03 -2.43605680e-04 9.99994395e-01 2.19987667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.043133365 meters 0.277409853857599 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99992963e-01 1.58486134e-03 3.40017521e-03 1.15187517e+00] [-1.58495303e-03 9.99998744e-01 2.42706805e-05 2.54860821e-01] [-3.40013247e-03 -2.96596277e-05 9.99994219e-01 2.23530328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.103133365 meters 0.2768329901553224 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99992598e-01 1.34655308e-03 3.60429562e-03 1.15092009e+00] [-1.34448058e-03 9.99998930e-01 -5.77372056e-04 2.57757246e-01] [-3.60506923e-03 5.72521877e-04 9.99993338e-01 2.32618836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.163133365 meters 0.2766589270315071 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99992658e-01 1.28178565e-03 3.61122112e-03 1.15089641e+00] [-1.27917870e-03 9.99998920e-01 -7.24120393e-04 2.58436531e-01] [-3.61214539e-03 7.19495680e-04 9.99993217e-01 2.32498174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.223133365 meters 0.27829612910042867 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99992996e-01 1.27645756e-03 3.51839968e-03 1.15104964e+00] [-1.27387439e-03 9.99998918e-01 -7.36331420e-04 2.58489262e-01] [-3.51933576e-03 7.31844263e-04 9.99993539e-01 2.33849048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.283133365 meters 0.27624074525810266 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99993154e-01 1.41152974e-03 3.42032393e-03 1.15142617e+00] [-1.41025514e-03 9.99998935e-01 -3.75039746e-04 2.56841614e-01] [-3.42084967e-03 3.70213650e-04 9.99994080e-01 2.31076131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.343133365 meters 0.2768001250103613 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99993459e-01 1.58451685e-03 3.25136128e-03 1.15219543e+00] [-1.58478480e-03 9.99998741e-01 7.98376373e-05 2.54814833e-01] [-3.25123068e-03 -8.49898230e-05 9.99994711e-01 2.23676010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.403133365 meters 0.2764490729709291 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99993273e-01 1.73998048e-03 3.22889693e-03 1.15228745e+00] [-1.74136953e-03 9.99998392e-01 4.27431189e-04 2.53194773e-01] [-3.22814802e-03 -4.33051016e-04 9.99994696e-01 2.23264238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.463133365 meters 0.2779767832608824 Centerline is valid? [False, False] Translation: X:1.17, Y:0.25, Z:0.02 [[ 0.99998237 -0.00426648 0.00412985 1.17466214] [ 0.00425085 0.9999838 0.00378453 0.25497908] [-0.00414593 -0.00376691 0.99998431 0.02107023] [ 0. 0. 0. 1. ]] SLAMing on 155.52313336499998 meters 0.27694783284957336 Centerline is valid? [False, False] Translation: X:1.16, Y:0.26, Z:0.02 [[ 9.99996728e-01 2.14605899e-03 1.39215631e-03 1.15583210e+00] [-2.14691239e-03 9.99997508e-01 6.11802585e-04 2.56234353e-01] [-1.39083988e-03 -6.14789421e-04 9.99998844e-01 2.04108267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58313336499998 meters 0.27778271583777114 Centerline is valid? [False, False] Translation: X:1.16, Y:0.26, Z:0.02 [[ 9.99997204e-01 1.90664887e-03 1.39883385e-03 1.15594622e+00] [-1.90643940e-03 9.99998171e-01 -1.51067632e-04 2.59454600e-01] [-1.39911932e-03 1.48400418e-04 9.99999010e-01 2.00448384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64313336499998 meters 0.27723472427859835 Centerline is valid? [False, False] Translation: X:1.15, Y:0.26, Z:0.02 [[ 9.99997213e-01 1.64951506e-03 1.68935340e-03 1.15490024e+00] [-1.64809880e-03 9.99998290e-01 -8.39394883e-04 2.62696160e-01] [-1.69073511e-03 8.36608322e-04 9.99998221e-01 2.07009031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70313336499999 meters 0.2762894390984648 Centerline is valid? [False, False] Translation: X:1.14, Y:0.27, Z:0.02 [[ 9.99981584e-01 -6.06832876e-03 -7.99629989e-05 1.13643994e+00] [ 6.06829711e-03 9.99981512e-01 -3.90269437e-04 2.71598073e-01] [ 8.23298038e-05 3.89777010e-04 9.99999921e-01 1.88256454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.763133365 meters 0.2800759731952036 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.02 [[ 9.99995055e-01 3.11422060e-03 4.38009575e-04 1.15999014e+00] [-3.11384962e-03 9.99994795e-01 -8.45116001e-04 2.76785402e-01] [-4.40639172e-04 8.43747926e-04 9.99999547e-01 1.75302704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823133365 meters 0.2777764615876652 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.02 [[ 9.99996470e-01 2.60965442e-03 4.99868300e-04 1.15956558e+00] [-2.60863827e-03 9.99994552e-01 -2.02280620e-03 2.81875833e-01] [-5.05144402e-04 2.02149508e-03 9.99997829e-01 1.78924735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883133365 meters 0.2787193837652652 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.02 [[ 9.99997069e-01 2.36093769e-03 5.36114770e-04 1.15924626e+00] [-2.35955383e-03 9.99993920e-01 -2.56739965e-03 2.84354540e-01] [-5.42172982e-04 2.56612714e-03 9.99996561e-01 1.82580413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.943133365 meters 0.2773492816412592 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.02 [[ 9.99997183e-01 2.31784027e-03 5.10966088e-04 1.15905230e+00] [-2.31645905e-03 9.99993706e-01 -2.68736697e-03 2.84808017e-01] [-5.17191759e-04 2.68617577e-03 9.99996258e-01 1.87509703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.003133365 meters 0.27717392321758294 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.02 [[ 9.99997312e-01 2.28868622e-03 3.71319163e-04 1.15932983e+00] [-2.28765907e-03 9.99993620e-01 -2.74346339e-03 2.85095911e-01] [-3.77595721e-04 2.74260656e-03 9.99996168e-01 1.88769786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.063133365 meters 0.27734738866202807 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.02 [[ 9.99997324e-01 2.29379937e-03 2.99536051e-04 1.15958082e+00] [-2.29297346e-03 9.99993647e-01 -2.72913772e-03 2.85032302e-01] [-3.05794243e-04 2.72844359e-03 9.99996231e-01 1.87205585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123133365 meters 0.2758848162789804 Centerline is valid? [False, False] Translation: X:1.14, Y:0.28, Z:0.02 [[ 9.99993412e-01 -3.62963207e-03 -2.96581333e-05 1.13679177e+00] [ 3.62964322e-03 9.99993339e-01 3.85090324e-04 2.84696604e-01] [ 2.82601995e-05 -3.85195436e-04 9.99999925e-01 1.89644939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.183133365 meters 0.27647042346759826 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:0.02 [[ 9.99993056e-01 -3.72610716e-03 7.01008575e-05 1.13666363e+00] [ 3.72609850e-03 9.99993050e-01 1.23199121e-04 2.85872027e-01] [-7.05594235e-05 -1.22937062e-04 9.99999990e-01 1.87048513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24313336499998 meters 0.27663129287725363 Centerline is valid? [False, False] Translation: X:1.14, Y:0.29, Z:0.02 [[ 9.99992809e-01 -3.79090253e-03 1.00663301e-04 1.13659913e+00] [ 3.79090521e-03 9.99992814e-01 -2.64334876e-05 2.86550078e-01] [-1.00562371e-04 2.68149026e-05 9.99999995e-01 1.86589473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30313336499998 meters 0.2784124642853349 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.02 [[ 9.99989911e-01 4.03657651e-03 1.97093927e-03 1.15617599e+00] [-4.03434659e-03 9.99991219e-01 -1.13406723e-03 2.85309297e-01] [-1.97549971e-03 1.12610434e-03 9.99997415e-01 1.96605803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36313336499998 meters 0.2769872999987772 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.02 [[ 0.99999013 0.00401859 0.00189303 1.15640369] [-0.00401638 0.99999125 -0.00117205 0.28548886] [-0.00189773 0.00116443 0.99999752 0.01957658] [ 0. 0. 0. 1. ]] SLAMing on 156.42313336499998 meters 0.2766425291441361 Centerline is valid? [False, False] Translation: X:1.16, Y:0.29, Z:0.02 [[ 0.99999034 0.00390355 0.00201834 1.15601502] [-0.00390061 0.99999133 -0.00145691 0.28679294] [-0.00202401 0.00144902 0.9999969 0.01971928] [ 0. 0. 0. 1. ]] SLAMing on 156.483133365 meters 0.27801517465031783 Centerline is valid? [False, False] Translation: X:1.17, Y:0.29, Z:0.02 [[ 9.99981482e-01 -4.34110167e-03 4.26512021e-03 1.17253320e+00] [ 4.34299920e-03 9.99990474e-01 -4.35732493e-04 2.94544831e-01] [-4.26318803e-03 4.54247837e-04 9.99990809e-01 2.11600277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.543133365 meters 0.27709490624856087 Centerline is valid? [False, False] Translation: X:1.17, Y:0.30, Z:0.02 [[ 9.99981210e-01 -4.42100641e-03 4.24664376e-03 1.17285064e+00] [ 4.42371007e-03 9.99990018e-01 -6.27475963e-04 2.95427723e-01] [-4.24382729e-03 6.46250093e-04 9.99990786e-01 2.05649722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.603133365 meters 0.27729743533307355 Centerline is valid? [False, False] Translation: X:1.17, Y:0.30, Z:0.02 [[ 9.99982309e-01 -4.42267672e-03 3.97759736e-03 1.17367048e+00] [ 4.42519719e-03 9.99990013e-01 -6.25089397e-04 2.95337723e-01] [-3.97479307e-03 6.42679991e-04 9.99991894e-01 2.01755769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.663133365 meters 0.277302246761795 Centerline is valid? [False, False] Translation: X:1.19, Y:0.29, Z:0.02 [[ 0.99997237 0.00321108 0.00670481 1.19115716] [-0.00319941 0.99999335 -0.00175002 0.29299454] [-0.00671038 0.00172852 0.99997599 0.02206354] [ 0. 0. 0. 1. ]] SLAMing on 156.723133365 meters 0.27519718920185227 Centerline is valid? [False, False] Translation: X:1.17, Y:0.29, Z:0.02 [[ 9.99958450e-01 -5.36522104e-03 7.36976412e-03 1.16768744e+00] [ 5.37061434e-03 9.99985325e-01 -7.12219946e-04 2.89786504e-01] [-7.36583475e-03 7.51770514e-04 9.99972589e-01 2.20623616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.783133365 meters 0.2753747932173513 Centerline is valid? [False, False] Translation: X:1.17, Y:0.29, Z:0.02 [[ 9.99961144e-01 -5.17864728e-03 7.13382774e-03 1.16856560e+00] [ 5.18047307e-03 9.99986553e-01 -2.37480491e-04 2.87573359e-01] [-7.13250198e-03 2.74427866e-04 9.99974526e-01 2.14736341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.843133365 meters 0.277386802665115 Centerline is valid? [False, False] Translation: X:1.17, Y:0.29, Z:0.02 [[ 9.99962627e-01 -5.02207192e-03 7.03732006e-03 1.16913652e+00] [ 5.02126639e-03 9.99987385e-01 1.32128794e-04 2.85844343e-01] [-7.03789484e-03 -9.67875977e-05 9.99975229e-01 2.08371274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903133365 meters 0.27576080579740214 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:0.02 [[ 0.99998062 0.00264269 0.00563687 1.15175997] [-0.00263287 0.999995 -0.00174922 0.28100652] [-0.00564147 0.00173434 0.99998258 0.01828626] [ 0. 0. 0. 1. ]] SLAMing on 156.963133365 meters 0.27625407692719284 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:0.02 [[ 0.99998062 0.00276551 0.00557859 1.15209868] [-0.00275749 0.99999516 -0.0014434 0.27966079] [-0.00558256 0.00142799 0.9999834 0.01791507] [ 0. 0. 0. 1. ]] SLAMing on 157.02313336499998 meters 0.27510184277658317 Centerline is valid? [False, False] Translation: X:1.15, Y:0.28, Z:0.02 [[ 9.99979002e-01 2.95577753e-03 5.76709018e-03 1.15148742e+00] [-2.95278237e-03 9.99995501e-01 -5.27799825e-04 2.75755981e-01] [-5.76862429e-03 5.10759780e-04 9.99983231e-01 1.84940813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08313336499998 meters 0.2755239930721275 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.02 [[ 9.99979772e-01 3.19566745e-03 5.49934232e-03 1.15238896e+00] [-3.19780116e-03 9.99994815e-01 3.79246103e-04 2.72062730e-01] [-5.49810186e-03 -3.96824235e-04 9.99984807e-01 1.79132032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14313336499998 meters 0.2736649867327359 Centerline is valid? [False, False] Translation: X:1.15, Y:0.27, Z:0.02 [[ 0.9999755 0.00352059 0.00604959 1.15114262] [-0.0035331 0.99999164 0.00205801 0.2651428 ] [-0.00604229 -0.00207933 0.99997958 0.01822728] [ 0. 0. 0. 1. ]] SLAMing on 157.20313336499999 meters 0.27316927005495895 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99981607e-01 6.62912372e-04 6.02886269e-03 1.14965268e+00] [-6.70813540e-04 9.99998919e-01 1.30862916e-03 2.52134111e-01] [-6.02798867e-03 -1.31264934e-03 9.99980970e-01 2.04225107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.263133365 meters 0.27362464520053 Centerline is valid? [False, False] Translation: X:1.15, Y:0.25, Z:0.02 [[ 9.99981471e-01 1.13377545e-03 5.98098721e-03 1.14984020e+00] [-1.15167854e-03 9.99994865e-01 2.99073886e-03 2.45210073e-01] [-5.97756567e-03 -2.99757162e-03 9.99977641e-01 2.03410885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.323133365 meters 0.27229845076669296 Centerline is valid? [False, False] Translation: X:1.15, Y:0.24, Z:0.02 [[ 9.99978795e-01 -2.29516217e-03 6.09444981e-03 1.14950491e+00] [ 2.28975614e-03 9.99996979e-01 8.93870905e-04 2.35149030e-01] [-6.09648298e-03 -8.79897146e-04 9.99981029e-01 2.05167482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.383133365 meters 0.2733877232476025 Centerline is valid? [False, False] Translation: X:1.17, Y:0.23, Z:0.02 [[ 9.99958828e-01 5.50162081e-03 7.21626884e-03 1.16813965e+00] [-5.50091882e-03 9.99984863e-01 -1.17123340e-04 2.29019363e-01] [-7.21680398e-03 7.74224090e-05 9.99973956e-01 2.20362546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.443133365 meters 0.2714771438886625 Centerline is valid? [False, False] Translation: X:1.15, Y:0.22, Z:0.02 [[ 0.99998718 -0.00151909 0.00482991 1.14727355] [ 0.00150733 0.99999589 0.0024369 0.22335529] [-0.00483359 -0.00242958 0.99998537 0.02284143] [ 0. 0. 0. 1. ]] SLAMing on 157.503133365 meters 0.271878674765065 Centerline is valid? [False, False] Translation: X:1.15, Y:0.22, Z:0.02 [[ 0.99998849 -0.00122169 0.00464046 1.14821309] [ 0.00120637 0.99999382 0.00330154 0.21943607] [-0.00464447 -0.0032959 0.99998378 0.02188997] [ 0. 0. 0. 1. ]] SLAMing on 157.563133365 meters 0.2725627204381525 Centerline is valid? [False, False] Translation: X:1.15, Y:0.22, Z:0.02 [[ 9.99990385e-01 -9.59364738e-04 4.27906436e-03 1.14936445e+00] [ 9.41538937e-04 9.99990879e-01 4.16588827e-03 2.15668419e-01] [-4.28302193e-03 -4.16181930e-03 9.99982167e-01 2.12451087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.623133365 meters 0.27392536331022393 Centerline is valid? [False, False] Translation: X:1.15, Y:0.21, Z:0.02 [[ 9.99990709e-01 -7.73788810e-04 4.24057191e-03 1.14936962e+00] [ 7.53786727e-04 9.99988594e-01 4.71640629e-03 2.13306429e-01] [-4.24417305e-03 -4.71316598e-03 9.99979886e-01 2.14566491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.683133365 meters 0.2733052568340006 Centerline is valid? [False, False] Translation: X:1.15, Y:0.21, Z:0.02 [[ 9.99991076e-01 -5.59406852e-04 4.18740183e-03 1.14968272e+00] [ 5.36185276e-04 9.99984485e-01 5.54465080e-03 2.09822343e-01] [-4.19043858e-03 -5.54235610e-03 9.99975861e-01 2.11166935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74313336499998 meters 0.2732365144913244 Centerline is valid? [False, False] Translation: X:1.15, Y:0.21, Z:0.02 [[ 9.99991120e-01 -3.33341413e-04 4.20111992e-03 1.14994214e+00] [ 3.07101997e-04 9.99980453e-01 6.24491276e-03 2.06894998e-01] [-4.20311949e-03 -6.24356713e-03 9.99971675e-01 2.05061093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80313336499998 meters 0.2726339781818587 Centerline is valid? [False, False] Translation: X:1.15, Y:0.21, Z:0.02 [[ 9.99990780e-01 -1.71762054e-04 4.29069909e-03 1.14960779e+00] [ 1.43169190e-04 9.99977789e-01 6.66333571e-03 2.05063305e-01] [-4.29174830e-03 -6.66265998e-03 9.99968594e-01 2.07659374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86313336499998 meters 0.27225657999370684 Centerline is valid? [False, False] Translation: X:1.15, Y:0.20, Z:0.02 [[ 9.99990526e-01 -3.82655035e-06 4.35297363e-03 1.14944520e+00] [-2.71240542e-05 9.99974722e-01 7.11013975e-03 2.03126000e-01] [-4.35289081e-03 -7.11019046e-03 9.99965248e-01 2.08081875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92313336499998 meters 0.27180444053029584 Centerline is valid? [False, False] Translation: X:1.13, Y:0.20, Z:0.02 [[ 0.99998611 0.00471419 0.002359 1.12815637] [-0.00472177 0.99998367 0.00321925 0.20002603] [-0.00234379 -0.00323034 0.99999204 0.0212251 ] [ 0. 0. 0. 1. ]] SLAMing on 157.983133365 meters 0.2722120459504436 Centerline is valid? [False, False] Translation: X:1.15, Y:0.20, Z:0.02 [[ 0.99998368 -0.00412334 0.00395397 1.14867918] [ 0.00410716 0.99998319 0.00409235 0.19820818] [-0.00397078 -0.00407605 0.99998381 0.02158682] [ 0. 0. 0. 1. ]] SLAMing on 158.043133365 meters 0.27221185344544546 Centerline is valid? [False, False] Translation: X:1.15, Y:0.20, Z:0.02 [[ 0.99998361 -0.00390935 0.00418401 1.1480062 ] [ 0.0038892 0.99998085 0.00481375 0.19512294] [-0.00420275 -0.0047974 0.99997966 0.02194495] [ 0. 0. 0. 1. ]] SLAMing on 158.103133365 meters 0.2728889047949349 Centerline is valid? [False, False] Translation: X:1.13, Y:0.19, Z:0.02 [[ 0.99998288 0.00443592 0.00381512 1.12922142] [-0.00445112 0.99998216 0.00398363 0.18864733] [-0.00379738 -0.00400055 0.99998479 0.02025981] [ 0. 0. 0. 1. ]] SLAMing on 158.163133365 meters 0.2702373674947088 Centerline is valid? [False, False] Translation: X:1.12, Y:0.19, Z:0.02 [[ 0.99998511 0.00232771 0.00493488 1.12353864] [-0.00233856 0.99999486 0.00219438 0.18561445] [-0.00492975 -0.00220589 0.99998542 0.02435032] [ 0. 0. 0. 1. ]] SLAMing on 158.223133365 meters 0.2732424201343447 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99997954 0.00318449 0.00554779 1.16838542] [-0.00320248 0.99998963 0.00323645 0.18378095] [-0.00553743 -0.00325415 0.99997937 0.02275269] [ 0. 0. 0. 1. ]] SLAMing on 158.283133365 meters 0.2741158848267369 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99997998 0.0030938 0.00551937 1.16884339] [-0.00311047 0.99999062 0.00301335 0.18483904] [-0.00550999 -0.00303046 0.99998023 0.02194313] [ 0. 0. 0. 1. ]] SLAMing on 158.343133365 meters 0.2727804991513091 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 0.99998005 0.00306784 0.00552104 1.16881776] [-0.00308414 0.9999909 0.00294737 0.18512336] [-0.00551195 -0.00296434 0.99998042 0.02197846] [ 0. 0. 0. 1. ]] SLAMing on 158.403133365 meters 0.27317000281884585 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99989808e-01 1.15426897e-03 4.36484756e-03 1.17436730e+00] [-1.15903562e-03 9.99998735e-01 1.08968185e-03 1.85597502e-01] [-4.36358425e-03 -1.09472976e-03 9.99989880e-01 1.78777483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.463133365 meters 0.27470273196767897 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998999 0.00130424 0.00427965 1.17474637] [-0.00131089 0.99999794 0.00155143 0.18364816] [-0.00427762 -0.00155703 0.99998964 0.01745348] [ 0. 0. 0. 1. ]] SLAMing on 158.52313336499998 meters 0.2733864495973059 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998873 0.00144876 0.00452035 1.17421549] [-0.00145809 0.99999681 0.00206157 0.18151749] [-0.00451735 -0.00206813 0.99998766 0.01740351] [ 0. 0. 0. 1. ]] SLAMing on 158.58313336499998 meters 0.2735580419537521 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998881 0.00141369 0.00451362 1.1740279 ] [-0.00142268 0.99999701 0.0019877 0.1819111 ] [-0.00451079 -0.0019941 0.99998784 0.01784925] [ 0. 0. 0. 1. ]] SLAMing on 158.64313336499998 meters 0.27275918062392884 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998848 0.00128563 0.00462524 1.17373558] [-0.00129347 0.99999773 0.00169264 0.18325411] [-0.00462306 -0.00169861 0.99998787 0.01790329] [ 0. 0. 0. 1. ]] SLAMing on 158.70313336499999 meters 0.2745080531429829 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998892 0.00118851 0.00455524 1.17405185] [-0.0011952 0.99999821 0.00146645 0.18428456] [-0.00455349 -0.00147188 0.99998855 0.01761138] [ 0. 0. 0. 1. ]] SLAMing on 158.763133365 meters 0.27404754486053545 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99989341e-01 1.04939035e-03 4.49628337e-03 1.17434953e+00] [-1.05452714e-03 9.99998794e-01 1.14023265e-03 1.85754337e-01] [-4.49508140e-03 -1.14496195e-03 9.99989242e-01 1.73081394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.823133365 meters 0.27474838230244875 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99988267e-01 9.78350380e-04 4.74432700e-03 1.17351251e+00] [-9.82885851e-04 9.99999062e-01 9.53740549e-04 1.86567260e-01] [-4.74338946e-03 -9.58392491e-04 9.99988291e-01 1.79249242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.883133365 meters 0.2757095141811139 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99988158e-01 1.01063773e-03 4.76049690e-03 1.17372755e+00] [-1.01557767e-03 9.99998948e-01 1.03539236e-03 1.86205820e-01] [-4.75944549e-03 -1.04021475e-03 9.99988133e-01 1.73781114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.943133365 meters 0.2765033656822237 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99988074e-01 1.03987375e-03 4.77193039e-03 1.17394635e+00] [-1.04523059e-03 9.99998826e-01 1.12021638e-03 1.85759386e-01] [-4.77075990e-03 -1.12519079e-03 9.99987987e-01 1.68498345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.003133365 meters 0.27684908059073887 Centerline is valid? [False, False] Translation: X:1.17, Y:0.19, Z:0.02 [[ 9.99988582e-01 1.08399092e-03 4.65410700e-03 1.17443845e+00] [-1.08974549e-03 9.99998645e-01 1.23409115e-03 1.85310176e-01] [-4.65276295e-03 -1.23914886e-03 9.99988408e-01 1.63986361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.063133365 meters 0.2758650051363088 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 9.99988474e-01 1.13701678e-03 4.66473381e-03 1.17438987e+00] [-1.14335528e-03 9.99998426e-01 1.35637093e-03 1.84750427e-01] [-4.66318425e-03 -1.36168874e-03 9.99988200e-01 1.64249598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.123133365 meters 0.27663684971101943 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 9.99988275e-01 1.13809823e-03 4.70690932e-03 1.17421221e+00] [-1.14454501e-03 9.99998410e-01 1.36717467e-03 1.84729267e-01] [-4.70534586e-03 -1.37254591e-03 9.99987988e-01 1.65703516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.183133365 meters 0.27704925653731427 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998862 0.00127976 0.00459503 1.17477391] [-0.00128766 0.9999977 0.00171615 0.1831591 ] [-0.00459283 -0.00172204 0.99998797 0.0159364 ] [ 0. 0. 0. 1. ]] SLAMing on 159.24313336499998 meters 0.2764244690968697 Centerline is valid? [False, False] Translation: X:1.17, Y:0.18, Z:0.02 [[ 0.99998886 0.00133529 0.00452781 1.17495338] [-0.00134367 0.99999739 0.00184932 0.18259119] [-0.00452533 -0.00185539 0.99998804 0.01589531] [ 0. 0. 0. 1. ]] SLAMing on 159.30313336499998 meters 0.276702914493987 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:0.02 [[ 0.99998909 0.00139326 0.00445826 1.17510643] [-0.00140213 0.99999705 0.00198577 0.18199155] [-0.00445548 -0.001992 0.99998809 0.01591619] [ 0. 0. 0. 1. ]] SLAMing on 159.36313336499998 meters 0.27435580256490405 Centerline is valid? [False, False] Translation: X:1.16, Y:0.19, Z:0.02 [[ 0.99997105 -0.00686196 0.00328815 1.15501407] [ 0.00685239 0.99997228 0.00291137 0.18520429] [-0.00330804 -0.00288875 0.99999036 0.01573999] [ 0. 0. 0. 1. ]] SLAMing on 159.42313336499998 meters 0.2748270871756498 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:0.02 [[ 0.99997122 -0.0067746 0.00341622 1.15451691] [ 0.00676397 0.99997228 0.00311339 0.18421742] [-0.00343722 -0.00309019 0.99998932 0.01611598] [ 0. 0. 0. 1. ]] SLAMing on 159.483133365 meters 0.27669358959088525 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:0.02 [[ 9.99992364e-01 -1.98839353e-04 3.90295297e-03 1.17631690e+00] [ 1.95602755e-04 9.99999637e-01 8.29633187e-04 1.79797669e-01] [-3.90311652e-03 -8.28863423e-04 9.99992039e-01 1.59938738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.543133365 meters 0.27659254724577803 Centerline is valid? [False, False] Translation: X:1.18, Y:0.18, Z:0.02 [[ 9.99992502e-01 3.15826851e-05 3.87233560e-03 1.17646527e+00] [-3.76234100e-05 9.99998783e-01 1.55990645e-03 1.76774618e-01] [-3.87228162e-03 -1.56004045e-03 9.99991286e-01 1.57681625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.603133365 meters 0.27801849532441425 Centerline is valid? [False, False] Translation: X:1.18, Y:0.17, Z:0.02 [[ 9.99990895e-01 2.60931703e-04 4.25930514e-03 1.17564097e+00] [-2.71920094e-04 9.99996636e-01 2.57948010e-03 1.72503953e-01] [-4.25861774e-03 -2.58061481e-03 9.99987602e-01 1.55620303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.663133365 meters 0.27752014006277165 Centerline is valid? [False, False] Translation: X:1.18, Y:0.17, Z:0.02 [[ 9.99989764e-01 5.17196840e-04 4.49490869e-03 1.17507329e+00] [-5.32044080e-04 9.99994405e-01 3.30255616e-03 1.69395007e-01] [-4.49317547e-03 -3.30491384e-03 9.99984444e-01 1.54994575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.723133365 meters 0.27623586093276303 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.02 [[ 9.99988992e-01 9.19787438e-04 4.60107446e-03 1.17484245e+00] [-9.39706002e-04 9.99990189e-01 4.32882451e-03 1.64868652e-01] [-4.59704772e-03 -4.33310052e-03 9.99980045e-01 1.53618637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.783133365 meters 0.2779273433077926 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.02 [[ 9.99988718e-01 1.11102690e-03 4.61830263e-03 1.17486985e+00] [-1.13309584e-03 9.99987940e-01 4.77871600e-03 1.62878782e-01] [-4.61293765e-03 -4.78389507e-03 9.99977917e-01 1.51894506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.843133365 meters 0.27800895414182586 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:0.01 [[ 0.99999192 -0.001293 0.0038064 1.17916035] [ 0.001281 0.99999421 0.00315177 0.15676844] [-0.00381045 -0.00314686 0.99998779 0.01194273] [ 0. 0. 0. 1. ]] SLAMing on 159.903133365 meters 0.27819775394924573 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:0.01 [[ 0.99997965 0.0062118 0.00145082 1.16165985] [-0.00621432 0.99997917 0.00174211 0.15214865] [-0.00143997 -0.00175109 0.99999743 0.00973735] [ 0. 0. 0. 1. ]] SLAMing on 159.963133365 meters 0.2786567404325972 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:0.01 [[ 0.99999621 -0.00235807 0.00141821 1.18334684] [ 0.00235336 0.99999175 0.00331149 0.14875781] [-0.00142601 -0.00330814 0.99999351 0.01040226] [ 0. 0. 0. 1. ]] SLAMing on 160.02313336499998 meters 0.27711817624638535 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 9.99992261e-01 3.26333901e-03 2.19734053e-03 1.15971161e+00] [-3.26437001e-03 9.99994563e-01 4.65782029e-04 1.41807604e-01] [-2.19580857e-03 -4.72951357e-04 9.99997477e-01 1.10556054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08313336499998 meters 0.2770931439944417 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 9.99991130e-01 3.53204381e-03 2.29425184e-03 1.15933662e+00] [-3.53466021e-03 9.99993106e-01 1.13736267e-03 1.38871224e-01] [-2.29021881e-03 -1.14546199e-03 9.99996721e-01 1.12443781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14313336499998 meters 0.279097941905611 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 9.99998251e-01 1.56111142e-03 1.03044471e-03 1.16448621e+00] [-1.56058094e-03 9.99998649e-01 -5.15405080e-04 1.36586436e-01] [-1.03124792e-03 5.13796086e-04 9.99999336e-01 8.23891314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20313336499999 meters 0.2782651702648677 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99997651e-01 1.89777037e-03 1.04752501e-03 1.16433580e+00] [-1.89802809e-03 9.99998169e-01 2.45092634e-04 1.33235473e-01] [-1.04705796e-03 -2.47080290e-04 9.99999421e-01 8.35735185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.263133365 meters 0.2791783146452139 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99997124e-01 2.15145427e-03 1.05944104e-03 1.16416946e+00] [-2.15235236e-03 9.99997325e-01 8.47293936e-04 1.30569962e-01] [-1.05761530e-03 -8.49571790e-04 9.99999080e-01 8.55817868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.323133365 meters 0.2787920210969025 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 0.99999613 0.00241841 0.00137801 1.16300979] [-0.00242062 0.99999578 0.00160456 0.12706682] [-0.00137412 -0.00160789 0.99999776 0.00924167] [ 0. 0. 0. 1. ]] SLAMing on 160.383133365 meters 0.27960138917964794 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 0.99999604 0.00249815 0.00129515 1.16333278] [-0.00250047 0.99999527 0.00179151 0.12626668] [-0.00129066 -0.00179474 0.99999756 0.00898582] [ 0. 0. 0. 1. ]] SLAMing on 160.443133365 meters 0.2798514784438392 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99996065e-01 2.55071536e-03 1.16781926e-03 1.16366630e+00] [-2.55294684e-03 9.99994911e-01 1.91332250e-03 1.25741856e-01] [-1.16293298e-03 -1.91629635e-03 9.99997488e-01 8.92362520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.503133365 meters 0.27763592509093216 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 0.9999962 0.00246354 0.0012338 1.16325585] [-0.00246564 0.99999551 0.00170047 0.12672149] [-0.00122961 -0.00170351 0.99999779 0.00949641] [ 0. 0. 0. 1. ]] SLAMing on 160.563133365 meters 0.2778146321823002 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99996568e-01 2.37464147e-03 1.10681644e-03 1.16383711e+00] [-2.37628713e-03 9.99996070e-01 1.48790564e-03 1.27755653e-01] [-1.10327884e-03 -1.49053064e-03 9.99998281e-01 8.94153246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.623133365 meters 0.2793963947230145 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.01 [[ 9.99980243e-01 -6.27101604e-03 4.34249499e-04 1.18632131e+00] [ 6.27006839e-03 9.99978031e-01 2.15029050e-03 1.29597438e-01] [-4.47724466e-04 -2.14752524e-03 9.99997594e-01 9.12323116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.683133365 meters 0.2794730738330136 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.01 [[ 9.99980958e-01 -6.15944519e-03 3.80304822e-04 1.18682394e+00] [ 6.15849683e-03 9.99978044e-01 2.44642739e-03 1.28273337e-01] [-3.95365107e-04 -2.44403870e-03 9.99996935e-01 8.28205907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74313336499998 meters 0.2802124747571944 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.01 [[ 9.99982188e-01 -5.96337934e-03 2.49745729e-04 1.18743268e+00] [ 5.96260621e-03 9.99977754e-01 2.98974399e-03 1.25918950e-01] [-2.67569151e-04 -2.98820160e-03 9.99995500e-01 7.56880024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80313336499998 meters 0.2828411623063605 Centerline is valid? [False, False] Translation: X:1.21, Y:0.12, Z:0.01 [[ 0.99999638 0.00205467 0.00173596 1.20633885] [-0.00205766 0.9999964 0.00172085 0.12157849] [-0.00173242 -0.00172442 0.99999701 0.00899552] [ 0. 0. 0. 1. ]] SLAMing on 160.86313336499998 meters 0.2784252586685293 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99995737e-01 2.78412376e-03 8.80539139e-04 1.16186488e+00] [-2.78597242e-03 9.99993903e-01 2.10524922e-03 1.30578866e-01] [-8.74672496e-04 -2.10769341e-03 9.99997396e-01 1.02167183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92313336499998 meters 0.27885247967113563 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:0.01 [[ 9.99996434e-01 2.53162199e-03 8.50622324e-04 1.16200330e+00] [-2.53282972e-03 9.99995782e-01 1.42175186e-03 1.33606046e-01] [-8.47019397e-04 -1.42390127e-03 9.99998628e-01 1.01742775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.983133365 meters 0.28070622517596816 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 9.99997477e-01 2.16491449e-03 5.98758393e-04 1.16270312e+00] [-2.16519670e-03 9.99997545e-01 4.71075082e-04 1.37786245e-01] [-5.97737085e-04 -4.72370323e-04 9.99999710e-01 1.01379232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.043133365 meters 0.2796855081029602 Centerline is valid? [False, False] Translation: X:1.16, Y:0.14, Z:0.01 [[ 9.99998096e-01 1.86279282e-03 5.80762475e-04 1.16271133e+00] [-1.86265027e-03 9.99998235e-01 -2.45895168e-04 1.40967662e-01] [-5.81219502e-04 2.44812943e-04 9.99999801e-01 1.02655934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.103133365 meters 0.2788139962511821 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:0.01 [[ 9.99998787e-01 1.40334724e-03 6.75059208e-04 1.16228103e+00] [-1.40231399e-03 9.99997848e-01 -1.52864639e-03 1.46530717e-01] [-6.77202978e-04 1.52769789e-03 9.99998604e-01 1.06993251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.163133365 meters 0.277805951297848 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:0.01 [[ 9.99999047e-01 1.20643399e-03 6.70692610e-04 1.16232760e+00] [-1.20509190e-03 9.99997278e-01 -1.99786479e-03 1.48619460e-01] [-6.73101076e-04 1.99705464e-03 9.99997779e-01 1.06619609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.223133365 meters 0.27945920345520125 Centerline is valid? [False, False] Translation: X:1.16, Y:0.15, Z:0.01 [[ 9.99999417e-01 8.73689157e-04 6.34729654e-04 1.16247995e+00] [-8.71825096e-04 9.99995324e-01 -2.93114352e-03 1.52639661e-01] [-6.37287595e-04 2.93058844e-03 9.99995503e-01 1.06165255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283133365 meters 0.2777657475104022 Centerline is valid? [False, False] Translation: X:1.16, Y:0.16, Z:0.01 [[ 9.99999661e-01 3.66222753e-04 7.37435211e-04 1.16212010e+00] [-3.62868361e-04 9.99989611e-01 -4.54373417e-03 1.59628415e-01] [-7.39091569e-04 4.54346504e-03 9.99989405e-01 1.09071593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343133365 meters 0.2789545629677068 Centerline is valid? [False, False] Translation: X:1.16, Y:0.16, Z:0.01 [[ 9.99999817e-01 1.67564940e-05 6.04113282e-04 1.16263455e+00] [-1.34942235e-05 9.99985421e-01 -5.39969708e-03 1.63442374e-01] [-6.04194955e-04 5.39968794e-03 9.99985239e-01 1.06612123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403133365 meters 0.27990373010065267 Centerline is valid? [False, False] Translation: X:1.17, Y:0.16, Z:0.01 [[ 9.99998518e-01 1.58903842e-03 -6.63183268e-04 1.16795651e+00] [-1.59159213e-03 9.99991252e-01 -3.86808451e-03 1.64050665e-01] [ 6.57030932e-04 3.86913429e-03 9.99992299e-01 7.44409192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463133365 meters 0.2810175046899153 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 0.99997632 -0.00649021 -0.0022863 1.1484552 ] [ 0.00648344 0.9999746 -0.00295949 0.16846321] [ 0.00230545 0.00294459 0.99999301 0.00667187] [ 0. 0. 0. 1. ]] SLAMing on 161.52313336499998 meters 0.28048259488186295 Centerline is valid? [False, False] Translation: X:1.15, Y:0.17, Z:0.01 [[ 0.99999567 -0.00219295 -0.00196423 1.14758866] [ 0.00219543 0.9999968 0.00126077 0.16842293] [ 0.00196146 -0.00126507 0.99999728 0.00684291] [ 0. 0. 0. 1. ]] SLAMing on 161.58313336499998 meters 0.2796840915196587 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:0.01 [[ 9.99975182e-01 6.42954153e-03 -2.88046200e-03 1.12709322e+00] [-6.42853310e-03 9.99979272e-01 3.59213318e-04 1.67576388e-01] [ 2.88271187e-03 -3.40687258e-04 9.99995787e-01 6.05846435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64313336499998 meters 0.2796755833510788 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:0.01 [[ 9.99974930e-01 6.43141787e-03 -2.96256800e-03 1.12743457e+00] [-6.43035776e-03 9.99979258e-01 3.67220062e-04 1.67576279e-01] [ 2.96486830e-03 -3.48160483e-04 9.99995544e-01 5.76110435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70313336499999 meters 0.2820285152946786 Centerline is valid? [False, False] Translation: X:1.15, Y:0.16, Z:0.01 [[ 9.99996934e-01 -2.27924637e-03 -9.68381386e-04 1.14705734e+00] [ 2.28063381e-03 9.99996371e-01 1.43406284e-03 1.64826478e-01] [ 9.65109289e-04 -1.43626697e-03 9.99998503e-01 7.02115023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.763133365 meters 0.28185377964376745 Centerline is valid? [False, False] Translation: X:1.15, Y:0.16, Z:0.01 [[ 9.99997637e-01 -2.07214925e-03 -6.57076671e-04 1.14610503e+00] [ 2.07349032e-03 9.99995755e-01 2.04689853e-03 1.62069935e-01] [ 6.52832403e-04 -2.04825614e-03 9.99997689e-01 7.39661193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.823133365 meters 0.2790897370991365 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99991252e-01 4.12932625e-03 -6.66067903e-04 1.12175816e+00] [-4.12977630e-03 9.99991244e-01 -6.75733037e-04 1.59962418e-01] [ 6.63271749e-04 6.78477837e-04 9.99999550e-01 8.85383588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.883133365 meters 0.27902225711696993 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99990600e-01 4.30057849e-03 -5.51916966e-04 1.12129702e+00] [-4.30073077e-03 9.99990714e-01 -2.75023622e-04 1.58156476e-01] [ 5.50729080e-04 2.77394683e-04 9.99999810e-01 9.17129665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943133365 meters 0.28014369108293513 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99988526e-01 -4.73497417e-03 -7.26543564e-04 1.14262036e+00] [ 4.73528255e-03 9.99988699e-01 4.23317022e-04 1.58761519e-01] [ 7.24530958e-04 -4.26752554e-04 9.99999646e-01 9.47884151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003133365 meters 0.2808786473044512 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99988580e-01 -4.70852548e-03 -8.17893372e-04 1.14308830e+00] [ 4.70891430e-03 9.99988801e-01 4.74115598e-04 1.58505489e-01] [ 8.15651827e-04 -4.77961574e-04 9.99999553e-01 8.97045553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063133365 meters 0.2802540583337345 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99988813e-01 -4.64900856e-03 -8.71945052e-04 1.14345334e+00] [ 4.64954745e-03 9.99989000e-01 6.17033978e-04 1.57908519e-01] [ 8.69066864e-04 -6.21081225e-04 9.99999429e-01 8.46333253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123133365 meters 0.2808058482988104 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99989330e-01 -4.51845123e-03 -9.61323390e-04 1.14398825e+00] [ 4.51932914e-03 9.99989371e-01 9.13030280e-04 1.56501318e-01] [ 9.57187689e-04 -9.17365074e-04 9.99999121e-01 7.79428252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183133365 meters 0.2827503974760379 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99990103e-01 -4.33444557e-03 -1.00283961e-03 1.14398045e+00] [ 4.33579157e-03 9.99989697e-01 1.34392779e-03 1.54571248e-01] [ 9.97004101e-04 -1.34826259e-03 9.99998594e-01 7.96845534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24313336499998 meters 0.2804938938351374 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99990801e-01 -4.16618880e-03 -1.02055803e-03 1.14422267e+00] [ 4.16793157e-03 9.99989849e-01 1.71153092e-03 1.52833481e-01] [ 1.01341711e-03 -1.71576879e-03 9.99998015e-01 7.55867700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30313336499998 meters 0.2818900585687796 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99991977e-01 -3.86810463e-03 -1.04130366e-03 1.14448143e+00] [ 3.87059743e-03 9.99989623e-01 2.40264808e-03 1.49759642e-01] [ 1.03199916e-03 -2.40665927e-03 9.99996571e-01 7.07085444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36313336499998 meters 0.2833377197759222 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99993023e-01 -3.58051798e-03 -1.06450288e-03 1.14459466e+00] [ 3.58378748e-03 9.99988818e-01 3.08550612e-03 1.46690221e-01] [ 1.05344327e-03 -3.08929954e-03 9.99994673e-01 6.92280518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42313336499998 meters 0.2793088925811381 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:0.01 [[ 9.99997324e-01 2.30944332e-03 1.33933990e-04 1.11851147e+00] [-2.30947239e-03 9.99997310e-01 2.17295954e-04 1.43316571e-01] [-1.33431797e-04 -2.17604689e-04 9.99999967e-01 9.23453998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.483133365 meters 0.2786832445045215 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:0.01 [[ 9.99997296e-01 2.31026177e-03 2.66772417e-04 1.11797629e+00] [-2.31032219e-03 9.99997306e-01 2.26407305e-04 1.43297251e-01] [-2.66248638e-04 -2.27023023e-04 9.99999939e-01 9.71846261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.543133365 meters 0.278662593236653 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 0.99997996 -0.00524019 0.00355306 1.13537925] [ 0.00523499 0.99998521 0.00147314 0.14438269] [-0.00356072 -0.00145451 0.9999926 0.01162013] [ 0. 0. 0. 1. ]] SLAMing on 162.603133365 meters 0.2801095010836252 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 0.99997963 -0.00528914 0.00357389 1.1352082 ] [ 0.00528431 0.99998511 0.00136131 0.14488549] [-0.00358104 -0.00134239 0.99999269 0.01186588] [ 0. 0. 0. 1. ]] SLAMing on 162.663133365 meters 0.28001458662252154 Centerline is valid? [False, False] Translation: X:1.14, Y:0.14, Z:0.01 [[ 0.99997993 -0.00528672 0.00349082 1.13585522] [ 0.00528197 0.99998512 0.00136732 0.14481922] [-0.00349799 -0.00134885 0.99999297 0.01081318] [ 0. 0. 0. 1. ]] SLAMing on 162.723133365 meters 0.2820168311475577 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99979480e-01 -5.47006522e-03 3.33440056e-03 1.13645865e+00] [ 5.46702076e-03 9.99984631e-01 9.21477559e-04 1.46859208e-01] [-3.33938985e-03 -9.03229414e-04 9.99994016e-01 1.03969123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783133365 meters 0.28192472788400763 Centerline is valid? [False, False] Translation: X:1.14, Y:0.15, Z:0.01 [[ 9.99977961e-01 -5.69387511e-03 3.41428357e-03 1.13634330e+00] [ 5.69255340e-03 9.99983719e-01 3.96704228e-04 1.49177249e-01] [-3.41648676e-03 -3.77259494e-04 9.99994093e-01 1.02835466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843133365 meters 0.2793256365741015 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 9.99988517e-01 3.03996934e-03 3.70463335e-03 1.11546697e+00] [-3.03829164e-03 9.99995279e-01 -4.58409414e-04 1.47412256e-01] [-3.70600942e-03 4.47148394e-04 9.99993033e-01 9.07696173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903133365 meters 0.2799588486841228 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 9.99988813e-01 3.06425802e-03 3.60333906e-03 1.11610553e+00] [-3.06285824e-03 9.99995232e-01 -3.93922261e-04 1.47123993e-01] [-3.60452896e-03 3.82881337e-04 9.99993430e-01 8.15056966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963133365 meters 0.2838186125949254 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 9.99989670e-01 2.93453951e-03 3.47108211e-03 1.11669192e+00] [-2.93216718e-03 9.99995464e-01 -6.88347900e-04 1.48532583e-01] [-3.47308635e-03 6.78162997e-04 9.99993739e-01 7.65624827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02313336499998 meters 0.28178631476589616 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 9.99990519e-01 2.78370434e-03 3.34843793e-03 1.11694919e+00] [-2.78011226e-03 9.99995556e-01 -1.07694079e-03 1.50213975e-01] [-3.35142093e-03 1.06762155e-03 9.99993814e-01 7.77413990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08313336499998 meters 0.2810738396568106 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 0.99999128 0.00260463 0.00326535 1.11716347] [-0.0025996 0.99999543 -0.00154321 0.15227624] [-0.00326936 0.0015347 0.99999348 0.00778378] [ 0. 0. 0. 1. ]] SLAMing on 163.14313336499998 meters 0.27936812851540727 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:0.01 [[ 0.9999914 0.00241425 0.00337126 1.11681834] [-0.00240735 0.999995 -0.00205084 0.15447829] [-0.0033762 0.00204271 0.99999221 0.00805102] [ 0. 0. 0. 1. ]] SLAMing on 163.20313336499999 meters 0.28034364665876726 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 0.99999199 0.00213465 0.00338473 1.1168169 ] [-0.00212537 0.99999398 -0.0027425 0.15746871] [-0.00339056 0.00273528 0.99999051 0.00807456] [ 0. 0. 0. 1. ]] SLAMing on 163.263133365 meters 0.28024139594542996 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 0.99999282 0.00192078 0.00326602 1.11701159] [-0.00191016 0.99999289 -0.00325273 0.15972755] [-0.00327224 0.00324647 0.99998938 0.00833695] [ 0. 0. 0. 1. ]] SLAMing on 163.323133365 meters 0.2807254011344335 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 0.99999341 0.00162288 0.00324633 1.11677307] [-0.00160999 0.99999082 -0.00396975 0.16292492] [-0.00325274 0.0039645 0.99998685 0.008998 ] [ 0. 0. 0. 1. ]] SLAMing on 163.383133365 meters 0.2802806094746451 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 0.9999932 0.00153282 0.00335324 1.11625885] [-0.00151879 0.99999009 -0.00418406 0.16385189] [-0.00335962 0.00417894 0.99998562 0.00955635] [ 0. 0. 0. 1. ]] SLAMing on 163.443133365 meters 0.28169204876628945 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 0.99999241 0.00158395 0.00355942 1.11556261] [-0.0015695 0.99999054 -0.00405737 0.16316497] [-0.00356581 0.00405175 0.99998543 0.00998039] [ 0. 0. 0. 1. ]] SLAMing on 163.503133365 meters 0.27909459554986155 Centerline is valid? [False, False] Translation: X:1.10, Y:0.16, Z:0.01 [[ 9.99989954e-01 -4.46281855e-03 4.18282479e-04 1.09564474e+00] [ 4.46319532e-03 9.99989631e-01 -9.04180747e-04 1.60970816e-01] [-4.14242947e-04 9.06038540e-04 9.99999504e-01 9.88841954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.563133365 meters 0.28052289531602137 Centerline is valid? [False, False] Translation: X:1.12, Y:0.16, Z:0.01 [[ 9.99990700e-01 4.25306077e-03 -7.14569046e-04 1.11832182e+00] [-4.25387493e-03 9.99990300e-01 -1.14173808e-03 1.55232409e-01] [ 7.09706234e-04 1.14476715e-03 9.99999093e-01 9.38935408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.623133365 meters 0.28092184949701765 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99991232e-01 -4.12384381e-03 7.27774035e-04 1.13704301e+00] [ 4.12398084e-03 9.99991479e-01 -1.86888402e-04 1.58570876e-01] [-7.26997135e-04 1.89888089e-04 9.99999718e-01 1.09265749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.683133365 meters 0.28002078568693944 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99990995e-01 -4.23967091e-03 1.85906249e-04 1.13876037e+00] [ 4.23979879e-03 9.99990772e-01 -6.92947729e-04 1.60883948e-01] [-1.82966663e-04 6.93729694e-04 9.99999743e-01 9.77268596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74313336499998 meters 0.28034113754756995 Centerline is valid? [False, False] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99990180e-01 -4.43047662e-03 -1.00499773e-04 1.13969937e+00] [ 4.43033742e-03 9.99989281e-01 -1.34543931e-03 1.63750041e-01] [ 1.06459633e-04 1.34498085e-03 9.99999090e-01 9.27042239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80313336499998 meters 0.2791564854786523 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:0.01 [[ 9.99997503e-01 -2.07998977e-03 8.17681772e-04 1.13479819e+00] [ 2.07983617e-03 9.99997819e-01 1.88658366e-04 1.69331973e-01] [-8.18072397e-04 -1.86957251e-04 9.99999648e-01 1.31133631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86313336499998 meters 0.2772467295756927 Centerline is valid? [False, False] Translation: X:1.13, Y:0.18, Z:0.02 [[ 9.99998387e-01 1.47105661e-04 1.79027550e-03 1.13015837e+00] [-1.49805418e-04 9.99998852e-01 1.50797115e-03 1.75725608e-01] [-1.79005161e-03 -1.50823691e-03 9.99997260e-01 1.64122084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92313336499998 meters 0.2772256885052426 Centerline is valid? [False, False] Translation: X:1.13, Y:0.18, Z:0.02 [[ 9.99998297e-01 -1.10855268e-04 1.84202267e-03 1.13000793e+00] [ 1.09231442e-04 9.99999605e-01 8.81622152e-04 1.78465009e-01] [-1.84211968e-03 -8.81419444e-04 9.99997915e-01 1.64903599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.983133365 meters 0.27967277447229133 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:0.01 [[ 0.99997717 0.00562667 0.00374104 1.15271387] [-0.00561678 0.99998072 -0.00264735 0.18157418] [-0.00375586 0.00262628 0.9999895 0.01474286] [ 0. 0. 0. 1. ]] SLAMing on 164.043133365 meters 0.27905974338083933 Centerline is valid? [False, False] Translation: X:1.13, Y:0.19, Z:0.01 [[ 0.99999455 -0.00210552 0.00254164 1.13426754] [ 0.00210902 0.99999683 -0.001375 0.18742283] [-0.00253874 0.00138036 0.99999582 0.01254291] [ 0. 0. 0. 1. ]] SLAMing on 164.103133365 meters 0.2808044689348051 Centerline is valid? [False, False] Translation: X:1.13, Y:0.19, Z:0.01 [[ 0.99999411 -0.0022893 0.0025585 1.13398995] [ 0.00229395 0.99999572 -0.00181827 0.18935284] [-0.00255433 0.00182413 0.99999507 0.01307907] [ 0. 0. 0. 1. ]] SLAMing on 164.163133365 meters 0.27915342223743994 Centerline is valid? [False, False] Translation: X:1.13, Y:0.19, Z:0.01 [[ 0.99999364 -0.00249462 0.00254859 1.13404574] [ 0.00250083 0.99999391 -0.00243584 0.19192008] [-0.0025425 0.00244219 0.99999379 0.01304015] [ 0. 0. 0. 1. ]] SLAMing on 164.223133365 meters 0.27848430298832166 Centerline is valid? [False, False] Translation: X:1.13, Y:0.20, Z:0.01 [[ 0.99999176 -0.00274263 0.00299392 1.13294144] [ 0.00275272 0.99999053 -0.00337045 0.19576906] [-0.00298465 0.00337866 0.99998984 0.01340568] [ 0. 0. 0. 1. ]] SLAMing on 164.283133365 meters 0.27835492840274 Centerline is valid? [False, False] Translation: X:1.13, Y:0.20, Z:0.01 [[ 0.99998903 -0.00291577 0.0036655 1.13109865] [ 0.00293304 0.99998457 -0.00471683 0.20206276] [-0.00365169 0.00472753 0.99998216 0.01430143] [ 0. 0. 0. 1. ]] SLAMing on 164.343133365 meters 0.27819304650184523 Centerline is valid? [False, False] Translation: X:1.14, Y:0.21, Z:0.01 [[ 9.99996105e-01 -7.49757652e-04 2.68853117e-03 1.13579240e+00] [ 7.60136164e-04 9.99992256e-01 -3.86134884e-03 2.10745451e-01] [-2.68561527e-03 3.86337745e-03 9.99988931e-01 1.05459434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403133365 meters 0.27681122748303666 Centerline is valid? [False, False] Translation: X:1.11, Y:0.22, Z:0.01 [[ 9.99981005e-01 -6.02246331e-03 1.31122121e-03 1.11380376e+00] [ 6.02328263e-03 9.99981667e-01 -6.21800823e-04 2.15279924e-01] [-1.30745240e-03 6.29686867e-04 9.99998947e-01 1.10213520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.463133365 meters 0.2767819974182431 Centerline is valid? [False, False] Translation: X:1.11, Y:0.22, Z:0.01 [[ 0.99997943 -0.00626137 0.00138769 1.1137496 ] [ 0.00626301 0.99997968 -0.0011869 0.21774927] [-0.00138023 0.00119556 0.99999833 0.0107604 ] [ 0. 0. 0. 1. ]] SLAMing on 164.52313336499998 meters 0.2778785224998541 Centerline is valid? [False, False] Translation: X:1.13, Y:0.22, Z:0.01 [[ 0.99999386 0.00190348 0.00294268 1.13384496] [-0.00189667 0.99999552 -0.00231376 0.21687337] [-0.00294708 0.00230817 0.99999299 0.01109501] [ 0. 0. 0. 1. ]] SLAMing on 164.58313336499998 meters 0.2770286221877671 Centerline is valid? [False, False] Translation: X:1.13, Y:0.22, Z:0.01 [[ 0.99999388 0.00177413 0.00301408 1.13368951] [-0.00176598 0.99999478 -0.00270398 0.21849889] [-0.00301887 0.00269864 0.9999918 0.01109868] [ 0. 0. 0. 1. ]] SLAMing on 164.64313336499998 meters 0.27849329187576144 Centerline is valid? [False, False] Translation: X:1.14, Y:0.22, Z:0.01 [[ 0.99999589 0.00165935 0.00233736 1.13527333] [-0.00165183 0.99999346 -0.00321601 0.22059424] [-0.00234268 0.00321213 0.9999921 0.0108201 ] [ 0. 0. 0. 1. ]] SLAMing on 164.70313336499999 meters 0.27695406317033555 Centerline is valid? [False, False] Translation: X:1.14, Y:0.22, Z:0.01 [[ 0.99999581 0.00157802 0.00242608 1.13512722] [-0.00156963 0.99999279 -0.00345806 0.22160697] [-0.00243152 0.00345424 0.99999108 0.01069574] [ 0. 0. 0. 1. ]] SLAMing on 164.763133365 meters 0.27784452642793644 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 9.99979788e-01 -3.97052266e-03 4.96570377e-03 1.15596900e+00] [ 3.97174560e-03 9.99992085e-01 -2.36439764e-04 2.23632285e-01] [-4.96472568e-03 2.56157497e-04 9.99987643e-01 9.90252278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823133365 meters 0.2764919882940155 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:0.01 [[ 9.99979049e-01 -4.09038972e-03 5.01691922e-03 1.15615675e+00] [ 4.09323697e-03 9.99991467e-01 -5.57393610e-04 2.25078402e-01] [-5.01459645e-03 5.77917371e-04 9.99987260e-01 9.21669856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883133365 meters 0.2759932316916716 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:0.01 [[ 9.99978804e-01 -4.20882347e-03 4.96765655e-03 1.15646866e+00] [ 4.21316317e-03 9.99990752e-01 -8.63450065e-04 2.26415003e-01] [-4.96397649e-03 8.84361311e-04 9.99987288e-01 8.79009587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943133365 meters 0.27580966968924114 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:0.01 [[ 0.99997704 -0.00440398 0.00514951 1.15611341] [ 0.00441185 0.99998912 -0.00151787 0.22925004] [-0.00514276 0.00154056 0.99998559 0.0086835 ] [ 0. 0. 0. 1. ]] SLAMing on 165.003133365 meters 0.27650153350023554 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:0.01 [[ 0.99997651 -0.00439674 0.005258 1.15591297] [ 0.0044047 0.99998917 -0.00150267 0.22917371] [-0.00525133 0.0015258 0.99998505 0.00855173] [ 0. 0. 0. 1. ]] SLAMing on 165.063133365 meters 0.2756273990376783 Centerline is valid? [False, False] Translation: X:1.16, Y:0.23, Z:0.01 [[ 0.99997672 -0.00425553 0.00533375 1.15588635] [ 0.0042619 0.99999022 -0.00118263 0.22767874] [-0.00532866 0.00120534 0.99998508 0.00824441] [ 0. 0. 0. 1. ]] SLAMing on 165.123133365 meters 0.27774222637221085 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 9.99977697e-01 -3.98344767e-03 5.36066574e-03 1.15603752e+00] [ 3.98630465e-03 9.99991918e-01 -5.22372594e-04 2.24801228e-01] [-5.35854157e-03 5.43730190e-04 9.99985495e-01 7.81492619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183133365 meters 0.278365016411324 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:0.01 [[ 0.99997344 0.00405298 0.00605799 1.17618568] [-0.00404466 0.99999086 -0.00138447 0.21969204] [-0.00606354 0.00135993 0.99998069 0.00861258] [ 0. 0. 0. 1. ]] SLAMing on 165.24313336499998 meters 0.2757265730488879 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999486 -0.0013617 0.00290267 1.15602187] [ 0.0013562 0.99999728 0.00189499 0.21854852] [-0.00290524 -0.00189104 0.99999399 0.00860071] [ 0. 0. 0. 1. ]] SLAMing on 165.30313336499998 meters 0.2768249291172436 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999516 -0.0014257 0.00276638 1.15655963] [ 0.00142099 0.99999754 0.00170441 0.21939296] [-0.00276881 -0.00170047 0.99999472 0.00806785] [ 0. 0. 0. 1. ]] SLAMing on 165.36313336499998 meters 0.2768074687491002 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999421 -0.00140112 0.00310257 1.1559713 ] [ 0.00139563 0.99999746 0.00177198 0.21909395] [-0.00310505 -0.00176764 0.99999362 0.00765174] [ 0. 0. 0. 1. ]] SLAMing on 165.42313336499998 meters 0.2767077639262769 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999412 -0.00134695 0.00315225 1.15600578] [ 0.00134097 0.9999973 0.0018985 0.21853292] [-0.0031548 -0.00189426 0.99999323 0.00733236] [ 0. 0. 0. 1. ]] SLAMing on 165.483133365 meters 0.2775072752660791 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999429 -0.00123893 0.00314404 1.15638098] [ 0.0012322 0.99999695 0.00213989 0.21741236] [-0.00314668 -0.00213601 0.99999277 0.00667487] [ 0. 0. 0. 1. ]] SLAMing on 165.543133365 meters 0.2769364491646427 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 0.99999434 -0.00119129 0.00314742 1.15653627] [ 0.00118418 0.99999674 0.00226146 0.21691601] [-0.0031501 -0.00225772 0.99999249 0.00634436] [ 0. 0. 0. 1. ]] SLAMing on 165.603133365 meters 0.2749317777619715 Centerline is valid? [False, False] Translation: X:1.14, Y:0.22, Z:0.01 [[ 9.99987103e-01 4.98942631e-03 9.48052570e-04 1.13550764e+00] [-4.98860065e-03 9.99987177e-01 -8.71273850e-04 2.17040103e-01] [-9.52387570e-04 8.66533158e-04 9.99999171e-01 7.18383399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.663133365 meters 0.2761634947206394 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 9.99992598e-01 -3.84726642e-03 -5.67339121e-05 1.15789914e+00] [ 3.84726697e-03 9.99992599e-01 9.46312094e-06 2.19265018e-01] [ 5.66970851e-05 -9.68132140e-06 9.99999998e-01 6.93309840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723133365 meters 0.2757191069310477 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:0.01 [[ 9.99993301e-01 -3.65506308e-03 -1.94660345e-04 1.15829296e+00] [ 3.65516954e-03 9.99993169e-01 5.49404669e-04 2.17011028e-01] [ 1.92650906e-04 -5.50112505e-04 9.99999830e-01 6.82927774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.783133365 meters 0.2748750563197002 Centerline is valid? [False, False] Translation: X:1.16, Y:0.21, Z:0.01 [[ 9.99994302e-01 -3.36376554e-03 -2.85704067e-04 1.15837627e+00] [ 3.36424858e-03 9.99992883e-01 1.70740028e-03 2.12414020e-01] [ 2.79958740e-04 -1.70835173e-03 9.99998502e-01 7.15402525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.843133365 meters 0.2745618676433297 Centerline is valid? [False, False] Translation: X:1.16, Y:0.21, Z:0.01 [[ 9.99995248e-01 -3.07506923e-03 -2.21062664e-04 1.15830861e+00] [ 3.07562780e-03 9.99991961e-01 2.57245178e-03 2.08831382e-01] [ 2.13150419e-04 -2.57311946e-03 9.99996667e-01 6.96702256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.903133365 meters 0.27681713808325775 Centerline is valid? [False, False] Translation: X:1.16, Y:0.21, Z:0.01 [[ 9.99996220e-01 -2.74410184e-03 -1.73943920e-04 1.15850708e+00] [ 2.74467770e-03 9.99990448e-01 3.40164499e-03 2.05223075e-01] [ 1.64607798e-04 -3.40210955e-03 9.99994199e-01 6.37171970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.963133365 meters 0.2760805710645625 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:0.01 [[ 9.99997255e-01 -2.30117466e-03 -4.40309782e-04 1.15907238e+00] [ 2.30306267e-03 9.99987945e-01 4.33656569e-03 2.01075306e-01] [ 4.30325279e-04 -4.33756785e-03 9.99990500e-01 6.62035128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02313336499998 meters 0.27531425660013775 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:0.01 [[ 9.99997885e-01 -2.00800341e-03 -4.45195211e-04 1.15910359e+00] [ 2.01021221e-03 9.99985390e-01 5.01776108e-03 1.98154672e-01] [ 4.35113026e-04 -5.01864541e-03 9.99987312e-01 6.62366977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08313336499998 meters 0.2748275646682978 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:0.01 [[ 9.99998142e-01 -1.90913000e-03 -2.67862272e-04 1.15864416e+00] [ 1.91051110e-03 9.99984372e-01 5.25414091e-03 1.97141353e-01] [ 2.57827248e-04 -5.25464290e-03 9.99986161e-01 6.70295440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14313336499998 meters 0.27636422055260756 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:0.01 [[ 0.99998578 0.00459333 0.00270967 1.17846908] [-0.00459988 0.9999865 0.00241662 0.19816409] [-0.00269854 -0.00242905 0.99999341 0.00653744] [ 0. 0. 0. 1. ]] SLAMing on 166.20313336499999 meters 0.2766303823185326 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:0.01 [[ 0.99998488 0.00456016 0.00307439 1.17737569] [-0.00456722 0.99998694 0.00229485 0.19879733] [-0.00306389 -0.00230886 0.99999264 0.00710265] [ 0. 0. 0. 1. ]] SLAMing on 166.263133365 meters 0.276115212992485 Centerline is valid? [False, False] Translation: X:1.18, Y:0.20, Z:0.01 [[ 0.99998536 0.00453206 0.00295595 1.17787166] [-0.00453865 0.99998722 0.00222799 0.19911751] [-0.00294582 -0.00224138 0.99999315 0.00659584] [ 0. 0. 0. 1. ]] SLAMing on 166.323133365 meters 0.27648150479525446 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992491e-01 3.75330366e-03 9.64840053e-04 1.21663616e+00] [-3.75455588e-03 9.99992107e-01 1.29932795e-03 2.00023717e-01] [-9.59955666e-04 -1.30294074e-03 9.99998690e-01 1.03072177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.383133365 meters 0.27589237261518523 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992061e-01 3.83926237e-03 1.06671166e-03 1.21639699e+00] [-3.84086627e-03 9.99991490e-01 1.50563790e-03 1.99142539e-01] [-1.06092205e-03 -1.50972304e-03 9.99998298e-01 1.02856654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.443133365 meters 0.27760989678406645 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992126e-01 3.83688900e-03 1.01268170e-03 1.21673862e+00] [-3.83841554e-03 9.99991493e-01 1.50981091e-03 1.99145695e-01] [-1.00688011e-03 -1.51368611e-03 9.99998347e-01 9.82295087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.503133365 meters 0.2756143131253091 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992418e-01 3.79251529e-03 8.83299499e-04 1.21723430e+00] [-3.79375543e-03 9.99991814e-01 1.40656712e-03 1.99595744e-01] [-8.77957841e-04 -1.40990748e-03 9.99998621e-01 9.41200565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.563133365 meters 0.27590216309094107 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992512e-01 3.79115835e-03 7.76439086e-04 1.21765156e+00] [-3.79224867e-03 9.99991819e-01 1.40762832e-03 1.99589694e-01] [-7.71096192e-04 -1.41056223e-03 9.99998708e-01 9.06768052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.623133365 meters 0.2751287805803294 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99992799e-01 3.73600917e-03 6.66338488e-04 1.21806073e+00] [-3.73685993e-03 9.99992199e-01 1.28012385e-03 2.00153893e-01] [-6.61550735e-04 -1.28260464e-03 9.99998959e-01 8.74287386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683133365 meters 0.27663826613615916 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99993525e-01 3.57105830e-03 4.44463775e-04 1.21861719e+00] [-3.57142497e-03 9.99993281e-01 8.26943917e-04 2.02073864e-01] [-4.41507724e-04 -8.28525932e-04 9.99999559e-01 8.61714455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74313336499998 meters 0.27687930477447226 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99993940e-01 3.44879783e-03 4.75050555e-04 1.21853922e+00] [-3.44904613e-03 9.99993915e-01 5.22866890e-04 2.03385051e-01] [-4.73244403e-04 -5.24502193e-04 9.99999750e-01 8.61203407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80313336499998 meters 0.27561998589504366 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:0.01 [[ 9.99984725e-01 -5.42985310e-03 1.03226331e-03 1.19628136e+00] [ 5.42884082e-03 9.99984783e-01 9.80927709e-04 2.07394057e-01] [-1.03757390e-03 -9.75308732e-04 9.99998986e-01 8.80901078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86313336499998 meters 0.27517601075537723 Centerline is valid? [False, False] Translation: X:1.20, Y:0.21, Z:0.01 [[ 9.99984558e-01 -5.47179914e-03 9.71567297e-04 1.19620337e+00] [ 5.47095168e-03 9.99984653e-01 8.72781280e-04 2.07854416e-01] [-9.76328071e-04 -8.67452404e-04 9.99999147e-01 9.29584284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92313336499998 meters 0.27623225850697236 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99993385e-01 5.64087635e-04 -3.59321882e-03 1.21249957e+00] [-5.67011792e-04 9.99999509e-01 -8.12832022e-04 2.08150513e-01] [ 3.59275854e-03 8.14864043e-04 9.99993214e-01 1.40267300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.983133365 meters 0.2771879636754046 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99993339e-01 6.10050454e-04 -3.59848613e-03 1.21238704e+00] [-6.12574026e-04 9.99999567e-01 -7.00226471e-04 2.07670807e-01] [ 3.59805740e-03 7.02426146e-04 9.99993280e-01 1.43047402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043133365 meters 0.27776676526621824 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99993633e-01 6.86666386e-04 -3.50166553e-03 1.21188983e+00] [-6.88477909e-04 9.99999630e-01 -5.16152511e-04 2.06864019e-01] [ 3.50130981e-03 5.18560044e-04 9.99993736e-01 1.48981963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103133365 meters 0.2759767644662911 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99993320e-01 7.22276843e-04 -3.58300585e-03 1.21215979e+00] [-7.23838384e-04 9.99999644e-01 -4.34540942e-04 2.06475462e-01] [ 3.58269071e-03 4.37131556e-04 9.99993487e-01 1.47534579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163133365 meters 0.2755456756763099 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99993041e-01 7.20895002e-04 -3.66023473e-03 1.21240946e+00] [-7.22487229e-04 9.99999645e-01 -4.33703105e-04 2.06468152e-01] [ 3.65992078e-03 4.36344560e-04 9.99993207e-01 1.46155347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223133365 meters 0.27644459436566876 Centerline is valid? [False, False] Translation: X:1.21, Y:0.21, Z:0.01 [[ 9.99992660e-01 8.35515931e-04 -3.73932420e-03 1.21257898e+00] [-8.36005225e-04 9.99999642e-01 -1.29289624e-04 2.05198558e-01] [ 3.73921484e-03 1.32414770e-04 9.99993000e-01 1.46827149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283133365 meters 0.275430069750581 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:0.01 [[ 9.99989669e-01 9.75688276e-04 -4.43954833e-03 1.21450733e+00] [-9.73609329e-04 9.99999415e-01 4.70416044e-04 2.02453301e-01] [ 4.44000472e-03 -4.66088798e-04 9.99990035e-01 1.37383389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.343133365 meters 0.2750686329406356 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99988391e-01 1.09438243e-03 -4.69247701e-03 1.21523371e+00] [-1.09057675e-03 9.99999074e-01 8.13500181e-04 2.00997825e-01] [ 4.69336295e-03 -8.08373231e-04 9.99988659e-01 1.34611477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403133365 meters 0.2758620420846028 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 0.99998759 0.00132432 -0.00480233 1.21521504] [-0.00131689 0.99999793 0.00154927 0.19807324] [ 0.00480437 -0.00154293 0.99998727 0.01412855] [ 0. 0. 0. 1. ]] SLAMing on 167.463133365 meters 0.2749356275524652 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 0.9999869 0.0015211 -0.00488671 1.21521774] [-0.00151096 0.9999967 0.00207769 0.19591963] [ 0.00488985 -0.00207028 0.9999859 0.01458939] [ 0. 0. 0. 1. ]] SLAMing on 167.52313336499998 meters 0.2766514520698089 Centerline is valid? [False, False] Translation: X:1.22, Y:0.19, Z:0.01 [[ 0.99998641 0.00169183 -0.00493221 1.21531571] [-0.00167948 0.99999545 0.00250767 0.19412708] [ 0.00493643 -0.00249936 0.99998469 0.01462412] [ 0. 0. 0. 1. ]] SLAMing on 167.58313336499998 meters 0.27730449516191275 Centerline is valid? [False, False] Translation: X:1.24, Y:0.19, Z:0.01 [[ 9.99961993e-01 8.32365127e-03 -2.59429627e-03 1.23630815e+00] [-8.32411105e-03 9.99965340e-01 -1.66480006e-04 1.94205501e-01] [ 2.59282063e-03 1.88068889e-04 9.99996621e-01 1.40897103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64313336499998 meters 0.27725882344372493 Centerline is valid? [False, False] Translation: X:1.24, Y:0.20, Z:0.01 [[ 9.99962223e-01 8.21094960e-03 -2.85165565e-03 1.23689426e+00] [-8.21239213e-03 9.99966155e-01 -4.94512946e-04 1.95536171e-01] [ 2.84749872e-03 5.17913180e-04 9.99995812e-01 1.40716141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70313336499999 meters 0.27788203873639034 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998262e-01 -7.22261261e-04 -1.71906837e-03 1.21605131e+00] [ 7.22180611e-04 9.99999738e-01 -4.75351105e-05 2.01264826e-01] [ 1.71910226e-03 4.62935500e-05 9.99998521e-01 1.31785042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763133365 meters 0.2771094298622789 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998524e-01 -7.79284160e-04 -1.53102892e-03 1.21525163e+00] [ 7.78961170e-04 9.99999674e-01 -2.11547704e-04 2.02021080e-01] [ 1.53119328e-03 2.10354780e-04 9.99998806e-01 1.40188684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823133365 meters 0.27813868911436196 Centerline is valid? [False, False] Translation: X:1.21, Y:0.20, Z:0.01 [[ 9.99998552e-01 -8.37892258e-04 -1.48139183e-03 1.21486997e+00] [ 8.37357922e-04 9.99999584e-01 -3.61281890e-04 2.02677219e-01] [ 1.48169393e-03 3.60040911e-04 9.99998837e-01 1.45853017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883133365 meters 0.27780075996626835 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998450e-01 -8.68658745e-04 -1.53163057e-03 1.21519840e+00] [ 8.67987640e-04 9.99999527e-01 -4.38773529e-04 2.02994138e-01] [ 1.53201099e-03 4.37443413e-04 9.99998731e-01 1.40953870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943133365 meters 0.27857221875451754 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998292e-01 -9.03634557e-04 -1.61240931e-03 1.21555221e+00] [ 9.02790688e-04 9.99999455e-01 -5.24010126e-04 2.03347982e-01] [ 1.61288194e-03 5.22553563e-04 9.99998563e-01 1.37353287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003133365 meters 0.2778306117660535 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998093e-01 -9.14154296e-04 -1.72553169e-03 1.21606430e+00] [ 9.13211370e-04 9.99999433e-01 -5.47164310e-04 2.03428803e-01] [ 1.72603090e-03 5.45587492e-04 9.99998362e-01 1.31762346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063133365 meters 0.27771451593380625 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998410e-01 -7.76427134e-04 -1.60530788e-03 1.21542960e+00] [ 7.76112206e-04 9.99999679e-01 -1.96793050e-04 2.01910074e-01] [ 1.60546016e-03 1.95546838e-04 9.99998692e-01 1.39755113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123133365 meters 0.27808233298990553 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998528e-01 -6.15855781e-04 -1.60169529e-03 1.21533288e+00] [ 6.16234682e-04 9.99999782e-01 2.36079997e-04 2.00124672e-01] [ 1.60154955e-03 -2.37066670e-04 9.99998689e-01 1.42071131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183133365 meters 0.2784421666023293 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998351e-01 -3.89817974e-04 -1.77393493e-03 1.21602809e+00] [ 3.91311396e-04 9.99999569e-01 8.41600743e-04 1.97529879e-01] [ 1.77360610e-03 -8.42293516e-04 9.99998072e-01 1.36250990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24313336499998 meters 0.278424056677223 Centerline is valid? [False, False] Translation: X:1.22, Y:0.20, Z:0.01 [[ 9.99998343e-01 -2.29930533e-04 -1.80580141e-03 1.21595800e+00] [ 2.32151000e-04 9.99999217e-01 1.22951627e-03 1.95911292e-01] [ 1.80551730e-03 -1.22993345e-03 9.99997614e-01 1.39723310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30313336499998 meters 0.2776048307307799 Centerline is valid? [False, False] Translation: X:1.21, Y:0.19, Z:0.02 [[ 9.99995670e-01 -2.74597999e-03 -1.05826268e-03 1.21188831e+00] [ 2.74554885e-03 9.99996147e-01 -4.08638829e-04 1.89744161e-01] [ 1.05938072e-03 4.05731548e-04 9.99999357e-01 1.71430331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36313336499998 meters 0.2769372009109808 Centerline is valid? [False, False] Translation: X:1.21, Y:0.19, Z:0.02 [[ 9.99996346e-01 -2.48793879e-03 -1.05713497e-03 1.21198966e+00] [ 2.48824856e-03 9.99996862e-01 2.91818035e-04 1.86841101e-01] [ 1.05640563e-03 -2.94447384e-04 9.99999399e-01 1.69579057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42313336499998 meters 0.2765094124493128 Centerline is valid? [False, False] Translation: X:1.19, Y:0.18, Z:0.02 [[ 9.99995477e-01 3.00665620e-03 7.85507228e-05 1.18748025e+00] [-3.00642998e-03 9.99991736e-01 -2.73669899e-03 1.80749163e-01] [-8.67783867e-05 2.73645046e-03 9.99996252e-01 1.81162538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.483133365 meters 0.27893514588840734 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99997124e-01 -2.30884452e-03 6.49752654e-04 1.21098816e+00] [ 2.30838089e-03 9.99997081e-01 7.13399379e-04 1.82886725e-01] [-6.51397886e-04 -7.11897450e-04 9.99999534e-01 1.69788686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.543133365 meters 0.27887034857318194 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99996895e-01 -2.37632202e-03 7.49855953e-04 1.21066723e+00] [ 2.37592069e-03 9.99997034e-01 5.35644977e-04 1.83650433e-01] [-7.51126594e-04 -5.33861716e-04 9.99999575e-01 1.71411778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.603133365 meters 0.2787874912639182 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99996866e-01 -2.40857799e-03 6.82925911e-04 1.21089915e+00] [ 2.40826523e-03 9.99996995e-01 4.58416620e-04 1.83966165e-01] [-6.84027991e-04 -4.56770517e-04 9.99999662e-01 1.69877096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.663133365 meters 0.2773309003737646 Centerline is valid? [False, False] Translation: X:1.19, Y:0.18, Z:0.02 [[ 0.99999485 0.0028762 -0.00142512 1.18910197] [-0.00288024 0.99999181 -0.00284189 0.18265353] [ 0.00141694 0.00284598 0.99999495 0.01800004] [ 0. 0. 0. 1. ]] SLAMing on 168.723133365 meters 0.27800363349095736 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99984473e-01 -5.57262356e-03 -1.77346465e-05 1.20907741e+00] [ 5.57258311e-03 9.99982885e-01 -1.78194844e-03 1.83130394e-01] [ 2.76644708e-05 1.78182194e-03 9.99998412e-01 1.91242493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783133365 meters 0.2765079392825567 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99985729e-01 -5.34127738e-03 1.12236379e-04 1.20851755e+00] [ 5.34138453e-03 9.99985257e-01 -9.77129128e-04 1.80002271e-01] [-1.07015607e-04 9.77714681e-04 9.99999516e-01 1.98300635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843133365 meters 0.2758490102519478 Centerline is valid? [False, False] Translation: X:1.21, Y:0.18, Z:0.02 [[ 9.99987030e-01 -5.08283063e-03 -3.24185039e-04 1.20976834e+00] [ 5.08281993e-03 9.99987082e-01 -3.38035830e-05 1.76172345e-01] [ 3.24352669e-04 3.21553704e-05 9.99999947e-01 1.93090301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903133365 meters 0.2755648518705972 Centerline is valid? [False, False] Translation: X:1.21, Y:0.17, Z:0.02 [[ 9.99989369e-01 -4.57366583e-03 -5.85971447e-04 1.21072688e+00] [ 4.57439983e-03 9.99988747e-01 1.25747559e-03 1.70626023e-01] [ 5.80213579e-04 -1.26014269e-03 9.99999038e-01 1.87343410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96313336499998 meters 0.27614336414099366 Centerline is valid? [False, False] Translation: X:1.21, Y:0.17, Z:0.02 [[ 9.99990145e-01 -4.39326486e-03 -6.40192875e-04 1.21078904e+00] [ 4.39436034e-03 9.99988866e-01 1.71993759e-03 1.68730877e-01] [ 6.32629605e-04 -1.72273388e-03 9.99998316e-01 1.89353773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02313336499998 meters 0.27821792837531034 Centerline is valid? [False, False] Translation: X:1.23, Y:0.16, Z:0.02 [[ 9.99995476e-01 2.67512540e-03 1.37546470e-03 1.23133065e+00] [-2.67458867e-03 9.99996346e-01 -3.91905005e-04 1.64659680e-01] [-1.37650807e-03 3.88224430e-04 9.99998977e-01 1.87321613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08313336499998 meters 0.2798569517401241 Centerline is valid? [False, False] Translation: X:1.23, Y:0.16, Z:0.02 [[ 9.99995113e-01 2.84080010e-03 1.30536502e-03 1.23156443e+00] [-2.84080564e-03 9.99995965e-01 2.39362042e-06 1.63008174e-01] [-1.30535295e-03 -6.10189703e-06 9.99999148e-01 1.86430385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14313336499998 meters 0.2786407816452442 Centerline is valid? [False, False] Translation: X:1.23, Y:0.16, Z:0.02 [[ 9.99994451e-01 3.04885852e-03 1.34262362e-03 1.23125721e+00] [-3.04955583e-03 9.99995216e-01 5.17626182e-04 1.60874254e-01] [-1.34103903e-03 -5.21717715e-04 9.99998965e-01 1.91216478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20313336499999 meters 0.2766066507182426 Centerline is valid? [False, False] Translation: X:1.23, Y:0.16, Z:0.02 [[ 0.99999335 0.00331294 0.00152389 1.2304392 ] [-0.00331483 0.99999374 0.00124155 0.15785206] [-0.00151977 -0.00124659 0.99999807 0.01999911] [ 0. 0. 0. 1. ]] SLAMing on 169.263133365 meters 0.2773551879186209 Centerline is valid? [False, False] Translation: X:1.23, Y:0.15, Z:0.02 [[ 0.99999165 0.00367206 0.00179174 1.22947669] [-0.00367615 0.99999063 0.00228792 0.15355457] [-0.00178332 -0.00229449 0.99999578 0.02069156] [ 0. 0. 0. 1. ]] SLAMing on 169.323133365 meters 0.27605002437486076 Centerline is valid? [False, False] Translation: X:1.23, Y:0.15, Z:0.02 [[ 9.99998515e-01 -1.95278109e-04 1.71202510e-03 1.22970848e+00] [ 1.96866319e-04 9.99999550e-01 -9.27559494e-04 1.48829909e-01] [-1.71184320e-03 9.27895157e-04 9.99998104e-01 2.05690105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383133365 meters 0.27805242811072195 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.02 [[ 9.99999544e-01 3.09167380e-04 9.03021047e-04 1.26711378e+00] [-3.08373790e-04 9.99999566e-01 -8.78824077e-04 1.46345110e-01] [-9.03292359e-04 8.78545208e-04 9.99999206e-01 2.42688677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.443133365 meters 0.27877515534309444 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.02 [[ 9.99999466e-01 4.38018689e-04 9.36008523e-04 1.26703009e+00] [-4.37493485e-04 9.99999747e-01 -5.61242184e-04 1.45022411e-01] [-9.36254121e-04 5.60832387e-04 9.99999404e-01 2.43021493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.503133365 meters 0.280197527739555 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.02 [[ 9.99999509e-01 6.92866278e-04 7.07941497e-04 1.26787373e+00] [-6.92930233e-04 9.99999756e-01 9.00981927e-05 1.42248678e-01] [-7.07878898e-04 -9.05887026e-05 9.99999745e-01 2.36444476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.563133365 meters 0.2780696162935701 Centerline is valid? [False, False] Translation: X:1.24, Y:0.14, Z:0.02 [[ 9.99984534e-01 5.56158304e-03 -2.83819475e-05 1.24486040e+00] [-5.56164479e-03 9.99979591e-01 -3.14419962e-03 1.36592924e-01] [ 1.08946409e-05 3.14430884e-03 9.99995057e-01 2.42502808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.623133365 meters 0.2773062267892966 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 9.99982250e-01 5.95135719e-03 -2.84675672e-04 1.24568745e+00] [-5.95194926e-03 9.99980026e-01 -2.12627334e-03 1.32307083e-01] [ 2.72015774e-04 2.12792997e-03 9.99997699e-01 2.38850672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.683133365 meters 0.2785118819110654 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 9.99981732e-01 6.03028083e-03 -4.14139296e-04 1.24611917e+00] [-6.03107027e-03 9.99979946e-01 -1.93220097e-03 1.31457476e-01] [ 4.02479276e-04 1.93466338e-03 9.99998048e-01 2.36520153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74313336499998 meters 0.27911250988057723 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 9.99980709e-01 6.17518466e-03 -6.69876377e-04 1.24698149e+00] [-6.17622824e-03 9.99979699e-01 -1.56714531e-03 1.29836870e-01] [ 6.60185366e-04 1.57125239e-03 9.99998548e-01 2.31057854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80313336499998 meters 0.27804306562233305 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 9.99995945e-01 -2.82006566e-03 -3.96802051e-04 1.22648362e+00] [ 2.81994377e-03 9.99995977e-01 -3.07422433e-04 1.31354930e-01] [ 3.97667406e-04 3.06302227e-04 9.99999874e-01 2.23475565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86313336499998 meters 0.27743933089909883 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 9.99995941e-01 -2.81439632e-03 -4.43518469e-04 1.22665759e+00] [ 2.81426426e-03 9.99995996e-01 -2.98107575e-04 1.31280675e-01] [ 4.44355685e-04 2.96858187e-04 9.99999857e-01 2.22119294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92313336499998 meters 0.2792028020629618 Centerline is valid? [False, False] Translation: X:1.24, Y:0.13, Z:0.02 [[ 0.99998199 0.00523526 0.00293526 1.24468706] [-0.00522968 0.99998451 -0.00190787 0.13255158] [-0.0029452 0.00189249 0.99999387 0.02308567] [ 0. 0. 0. 1. ]] SLAMing on 169.983133365 meters 0.2790930638496621 Centerline is valid? [False, False] Translation: X:1.24, Y:0.13, Z:0.02 [[ 0.99998241 0.00510248 0.00302408 1.24440652] [-0.00509571 0.9999845 -0.00224316 0.13399859] [-0.00303548 0.00222771 0.99999291 0.02320344] [ 0. 0. 0. 1. ]] SLAMing on 170.043133365 meters 0.27845231497863626 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:0.02 [[ 9.99993851e-01 -3.25894047e-03 1.29485511e-03 1.22589653e+00] [ 3.26013644e-03 9.99994260e-01 -9.22599177e-04 1.37102292e-01] [-1.29184098e-03 9.26814908e-04 9.99998736e-01 2.16851391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.103133365 meters 0.2802432159977143 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:0.02 [[ 0.9999888 0.00408645 0.0023884 1.24789194] [-0.00407829 0.99998587 -0.00341012 0.13748538] [-0.0024023 0.00340034 0.99999133 0.02126306] [ 0. 0. 0. 1. ]] SLAMing on 170.163133365 meters 0.2781785244254753 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:0.02 [[ 0.99998795 0.00422524 0.00250089 1.24725484] [-0.0042177 0.99998657 -0.00301129 0.13583247] [-0.00251358 0.00300071 0.99999234 0.02215331] [ 0. 0. 0. 1. ]] SLAMing on 170.223133365 meters 0.27820707441954867 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 0.99998731 0.00433442 0.00256615 1.24707859] [-0.00432739 0.99998688 -0.00273995 0.13469354] [-0.00257799 0.00272881 0.99999295 0.02220743] [ 0. 0. 0. 1. ]] SLAMing on 170.283133365 meters 0.28072407887499917 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 0.99998674 0.0045071 0.00249264 1.24745562] [-0.00450136 0.99998722 -0.00230261 0.1327895 ] [-0.00250298 0.00229136 0.99999424 0.0218176 ] [ 0. 0. 0. 1. ]] SLAMing on 170.343133365 meters 0.27789798709086355 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 9.99992731e-01 -3.81087229e-03 -1.20157328e-04 1.22889206e+00] [ 3.81077421e-03 9.99992414e-01 -8.06170056e-04 1.32655089e-01] [ 1.23228627e-04 8.05706304e-04 9.99999668e-01 2.12503253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.403133365 meters 0.27793246682608497 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 9.99996284e-01 -2.20912392e-03 -1.59765828e-03 1.23406523e+00] [ 2.21089530e-03 9.99996942e-01 1.10781744e-03 1.28841923e-01] [ 1.59520608e-03 -1.11134558e-03 9.99998110e-01 1.84320871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46313336499998 meters 0.27748585874433124 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 0.99999659 -0.00214906 -0.0014871 1.23371813] [ 0.00215093 0.9999969 0.00125657 0.12823613] [ 0.0014844 -0.00125977 0.9999981 0.01861867] [ 0. 0. 0. 1. ]] SLAMing on 170.52313336499998 meters 0.2791372145520642 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 0.99999679 -0.00211528 -0.00139336 1.23329215] [ 0.00211714 0.99999687 0.00133514 0.12790617] [ 0.00139053 -0.00133809 0.99999814 0.01905838] [ 0. 0. 0. 1. ]] SLAMing on 170.58313336499998 meters 0.2780443567602599 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 0.99999656 -0.00212385 -0.00153848 1.23377877] [ 0.00212588 0.99999687 0.00131866 0.12795733] [ 0.00153568 -0.00132193 0.99999795 0.01876483] [ 0. 0. 0. 1. ]] SLAMing on 170.64313336499998 meters 0.2796566708480997 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:0.02 [[ 9.99996310e-01 -2.23482685e-03 -1.54422459e-03 1.23383085e+00] [ 2.23643530e-03 9.99996958e-01 1.04065585e-03 1.29115681e-01] [ 1.54189420e-03 -1.04410557e-03 9.99998266e-01 1.86439470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70313336499999 meters 0.28075933500456196 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.02 [[ 9.99995030e-01 -1.05826027e-03 -2.96984825e-03 1.27080212e+00] [ 1.05929440e-03 9.99999379e-01 3.46657998e-04 1.34590895e-01] [ 2.96947955e-03 -3.49802219e-04 9.99995530e-01 2.29880636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.763133365 meters 0.2816554118321834 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.02 [[ 9.99994708e-01 -1.32586574e-03 -2.97101218e-03 1.27103172e+00] [ 1.32467380e-03 9.99999041e-01 -4.03118718e-04 1.37691855e-01] [ 2.97154381e-03 3.99180962e-04 9.99995505e-01 2.24463726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.823133365 meters 0.2804541570385093 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:0.02 [[ 0.99995642 0.00737126 -0.00572871 1.25104627] [-0.00737904 0.99997188 -0.00133832 0.14586364] [ 0.00571869 0.00138053 0.9999827 0.02178973] [ 0. 0. 0. 1. ]] SLAMing on 170.883133365 meters 0.27953912153357646 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:0.02 [[ 0.99996166 0.0069426 -0.00533682 1.24992449] [-0.00695654 0.99997243 -0.002599 0.15124259] [ 0.00531863 0.00263603 0.99998238 0.02209274] [ 0. 0. 0. 1. ]] SLAMing on 170.943133365 meters 0.28109778578793204 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:0.03 [[ 9.99993883e-01 -2.98689327e-04 -3.48485265e-03 1.26552916e+00] [ 2.92923373e-04 9.99998588e-01 -1.65496909e-03 1.63463208e-01] [ 3.48534205e-03 1.65393817e-03 9.99992558e-01 2.50934680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.003133365 meters 0.27952215515038914 Centerline is valid? [False, False] Translation: X:1.26, Y:0.17, Z:0.02 [[ 9.99994498e-01 -8.15019465e-04 -3.21546256e-03 1.26485374e+00] [ 8.06161779e-04 9.99995880e-01 -2.75505099e-03 1.68180449e-01] [ 3.21769473e-03 2.75244365e-03 9.99991035e-01 2.49627598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063133365 meters 0.2787557648192459 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 9.99994153e-01 -1.01793338e-03 -3.26469376e-03 1.26509385e+00] [ 1.00739638e-03 9.99994284e-01 -3.22758199e-03 1.70143285e-01] [ 3.26796056e-03 3.22427428e-03 9.99989462e-01 2.46488467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123133365 meters 0.27816090378838615 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 9.99993581e-01 -1.20795206e-03 -3.37314529e-03 1.26567090e+00] [ 1.19557601e-03 9.99992556e-01 -3.66860250e-03 1.72007780e-01] [ 3.37755168e-03 3.66454610e-03 9.99987582e-01 2.39613145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183133365 meters 0.2780607566047096 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 0.9999929 -0.00133037 -0.00352608 1.26605746] [ 0.00131638 0.99999126 -0.00396706 0.17324679] [ 0.00353132 0.00396239 0.99998591 0.02389065] [ 0. 0. 0. 1. ]] SLAMing on 171.24313336499998 meters 0.27624793423078636 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 0.99999271 -0.00130421 -0.00358953 1.26620282] [ 0.00129019 0.99999154 -0.00390477 0.17296879] [ 0.00359459 0.00390011 0.99998593 0.0239152 ] [ 0. 0. 0. 1. ]] SLAMing on 171.30313336499998 meters 0.27693537018535813 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 9.99992300e-01 -1.13104322e-03 -3.75779221e-03 1.26679067e+00] [ 1.11845031e-03 9.99993758e-01 -3.35155772e-03 1.70659484e-01] [ 3.76155951e-03 3.34732901e-03 9.99987323e-01 2.35531570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36313336499998 meters 0.2763194568738177 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 9.99992147e-01 -9.33638433e-04 -3.85149971e-03 1.26706222e+00] [ 9.22678909e-04 9.99995524e-01 -2.84631734e-03 1.68501022e-01] [ 3.85413990e-03 2.84274129e-03 9.99988532e-01 2.34789559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42313336499998 meters 0.277408405644147 Centerline is valid? [False, False] Translation: X:1.27, Y:0.17, Z:0.02 [[ 9.99991794e-01 -7.12699987e-04 -3.98800536e-03 1.26731050e+00] [ 7.03469114e-04 9.99997072e-01 -2.31558309e-03 1.66216123e-01] [ 3.98964400e-03 2.31275865e-03 9.99989367e-01 2.36804557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.483133365 meters 0.27755418567340095 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:0.02 [[ 9.99991749e-01 -3.96508098e-04 -4.04293491e-03 1.26726410e+00] [ 3.89888136e-04 9.99998582e-01 -1.63807163e-03 1.63229283e-01] [ 4.04357868e-03 1.63648182e-03 9.99990486e-01 2.40690869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.543133365 meters 0.2771352897408612 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:0.02 [[ 9.99992337e-01 -2.48343431e-04 -3.90686545e-03 1.26675610e+00] [ 2.43370792e-04 9.99999160e-01 -1.27321877e-03 1.61710653e-01] [ 3.90717836e-03 1.27225820e-03 9.99991558e-01 2.44800739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.603133365 meters 0.2782681312006735 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:0.03 [[ 9.99992662e-01 5.89257338e-05 -3.83037926e-03 1.26629291e+00] [-6.11564683e-05 9.99999829e-01 -5.82265020e-04 1.58636099e-01] [ 3.83034429e-03 5.82495000e-04 9.99992495e-01 2.50289367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663133365 meters 0.2784039775853245 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:0.03 [[ 9.99992760e-01 2.39081400e-04 -3.79777034e-03 1.26606118e+00] [-2.39544303e-04 9.99999964e-01 -1.21433679e-04 1.56711108e-01] [ 3.79774117e-03 1.22342534e-04 9.99992781e-01 2.53933160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.723133365 meters 0.27784740456742724 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 0.99998519 -0.00392122 -0.0037747 1.26576609] [ 0.00390604 0.99998428 -0.00402185 0.15494009] [ 0.00379041 0.00400705 0.99998479 0.02584909] [ 0. 0. 0. 1. ]] SLAMing on 171.783133365 meters 0.2755647678987432 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99991891e-01 -7.33122341e-05 -4.02648518e-03 1.26618969e+00] [ 7.26010799e-05 9.99999982e-01 -1.76764979e-04 1.54583242e-01] [ 4.02649807e-03 1.76471219e-04 9.99991878e-01 2.60607808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.843133365 meters 0.275614931889233 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99992241e-01 1.46089175e-04 -3.93644910e-03 1.26579951e+00] [-1.44094826e-04 9.99999861e-01 5.06915328e-04 1.51879718e-01] [ 3.93652261e-03 -5.06344173e-04 9.99992124e-01 2.65270332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903133365 meters 0.2746999426455874 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99990587e-01 3.24802998e-04 -4.32680589e-03 1.26647301e+00] [-3.19967447e-04 9.99999324e-01 1.11822526e-03 1.49256444e-01] [ 4.32716617e-03 -1.11683030e-03 9.99990014e-01 2.69829079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96313336499998 meters 0.2762038997921706 Centerline is valid? [False, False] Translation: X:1.29, Y:0.14, Z:0.03 [[ 9.99958590e-01 7.44804136e-03 -5.22929011e-03 1.29023918e+00] [-7.45095457e-03 9.99972097e-01 -5.37833265e-04 1.40914193e-01] [ 5.22513839e-03 5.76774196e-04 9.99986183e-01 2.61166342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02313336499998 meters 0.27469776937805573 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99975361e-01 -2.54319720e-03 -6.54287512e-03 1.26869236e+00] [ 2.54217473e-03 9.99996755e-01 -1.64584084e-04 1.37239900e-01] [ 6.54327246e-03 1.47946897e-04 9.99978582e-01 2.68268895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08313336499998 meters 0.27364670295339 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.03 [[ 9.99949740e-01 4.84784598e-03 -8.77586545e-03 1.25204647e+00] [-4.85843457e-03 9.99987495e-01 -1.18564125e-03 1.28615362e-01] [ 8.77000790e-03 1.22821863e-03 9.99960788e-01 2.50637037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14313336499998 meters 0.27695239090806306 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.02 [[ 0.99997541 -0.00157421 -0.00683345 1.27282252] [ 0.00158479 0.99999755 0.00154342 0.12683098] [ 0.00683101 -0.00155421 0.99997546 0.02460955] [ 0. 0. 0. 1. ]] SLAMing on 172.20313336499999 meters 0.27639307149520703 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 0.99997546 -0.00145494 -0.00685224 1.27266494] [ 0.00146744 0.99999727 0.00181899 0.12565902] [ 0.00684958 -0.001829 0.99997487 0.02501842] [ 0. 0. 0. 1. ]] SLAMing on 172.263133365 meters 0.2759370980409997 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.02 [[ 0.99997554 -0.00140453 -0.00685217 1.27267336] [ 0.00141783 0.99999712 0.00193751 0.1251452 ] [ 0.00684943 -0.00194718 0.99997465 0.02499967] [ 0. 0. 0. 1. ]] SLAMing on 172.323133365 meters 0.27510393665314015 Centerline is valid? [False, False] Translation: X:1.27, Y:0.12, Z:0.03 [[ 9.99976490e-01 -1.24725615e-03 -6.74274831e-03 1.27206782e+00] [ 1.26317717e-03 9.99996423e-01 2.35746317e-03 1.23395554e-01] [ 6.73978384e-03 -2.36592503e-03 9.99974489e-01 2.58122555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383133365 meters 0.2745556580803933 Centerline is valid? [False, False] Translation: X:1.27, Y:0.12, Z:0.03 [[ 9.99977090e-01 -1.10531245e-03 -6.67811697e-03 1.27170073e+00] [ 1.12376036e-03 9.99995562e-01 2.75932093e-03 1.21756481e-01] [ 6.67503741e-03 -2.76676232e-03 9.99973894e-01 2.63047407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443133365 meters 0.2760040147193234 Centerline is valid? [False, False] Translation: X:1.27, Y:0.12, Z:0.03 [[ 9.99976137e-01 -9.77083169e-04 -6.83886067e-03 1.27213901e+00] [ 9.98359758e-04 9.99994671e-01 3.10840853e-03 1.20290793e-01] [ 6.83578705e-03 -3.11516200e-03 9.99971783e-01 2.61866728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503133365 meters 0.2743637421912333 Centerline is valid? [False, False] Translation: X:1.27, Y:0.12, Z:0.03 [[ 9.99976327e-01 -9.12797301e-04 -6.81995519e-03 1.27192824e+00] [ 9.35098237e-04 9.99994225e-01 3.26748064e-03 1.19621929e-01] [ 6.81693326e-03 -3.27378062e-03 9.99971405e-01 2.65346081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563133365 meters 0.2757614385723516 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.9999547 0.00767404 -0.00563004 1.29198427] [-0.00766321 0.99996875 0.00194362 0.11873091] [ 0.00564478 -0.00190039 0.99998226 0.02720884] [ 0. 0. 0. 1. ]] SLAMing on 172.623133365 meters 0.2761158432193464 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.99997836 0.00319107 -0.00575221 1.29246796] [-0.0032068 0.99999114 -0.00272773 0.12060735] [ 0.00574345 0.00274611 0.99997974 0.02676898] [ 0. 0. 0. 1. ]] SLAMing on 172.683133365 meters 0.27527797192810366 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.99997831 0.00303761 -0.00584378 1.29282366] [-0.00305576 0.99999053 -0.00309964 0.12218499] [ 0.00583431 0.00311743 0.99997812 0.02650681] [ 0. 0. 0. 1. ]] SLAMing on 172.74313336499998 meters 0.27566500487746887 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.99997859 0.00293143 -0.00584963 1.2928904 ] [-0.00295109 0.99999002 -0.00335475 0.12325877] [ 0.00583974 0.00337194 0.99997726 0.02640172] [ 0. 0. 0. 1. ]] SLAMing on 172.80313336499998 meters 0.2754925867218749 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.99997906 0.00282525 -0.00582148 1.29262461] [-0.00284633 0.99998942 -0.00361468 0.12440981] [ 0.00581121 0.00363118 0.99997652 0.02682442] [ 0. 0. 0. 1. ]] SLAMing on 172.86313336499998 meters 0.2745463370651988 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99960370e-01 -3.93796481e-03 -7.98443843e-03 1.27207773e+00] [ 3.93230045e-03 9.99992006e-01 -7.24999005e-04 1.25481406e-01] [ 7.98722962e-03 6.93573063e-04 9.99967861e-01 2.75938938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92313336499998 meters 0.2740636730559156 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99960992e-01 -3.89833467e-03 -7.92575981e-03 1.27161474e+00] [ 3.89347584e-03 9.99992223e-01 -6.28379968e-04 1.25047304e-01] [ 7.92814780e-03 5.97496702e-04 9.99968393e-01 2.83299836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.983133365 meters 0.275257833479872 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 0.99996159 0.00521222 -0.00704663 1.29162033] [-0.00522163 0.9999855 -0.0013173 0.1217097 ] [ 0.00703967 0.00135404 0.9999743 0.02873439] [ 0. 0. 0. 1. ]] SLAMing on 173.043133365 meters 0.27520678481448374 Centerline is valid? [False, False] Translation: X:1.27, Y:0.12, Z:0.03 [[ 9.99964001e-01 -3.35906083e-03 -7.79193037e-03 1.27158690e+00] [ 3.35924487e-03 9.99994358e-01 1.05327868e-05 1.23774325e-01] [ 7.79185102e-03 -3.67074097e-05 9.99969642e-01 2.78921911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.103133365 meters 0.2759995312308371 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:0.03 [[ 9.99973319e-01 4.94384133e-03 -5.37764000e-03 1.29005797e+00] [-4.95046038e-03 9.99987004e-01 -1.21823419e-03 1.21590376e-01] [ 5.37154736e-03 1.24482348e-03 9.99984798e-01 2.88923342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.163133365 meters 0.2736811396310831 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:0.02 [[ 0.99998351 0.00399463 -0.00412677 1.25245691] [-0.00400193 0.99999044 -0.00176242 0.12501781] [ 0.00411969 0.00177891 0.99998993 0.02481794] [ 0. 0. 0. 1. ]] SLAMing on 173.223133365 meters 0.27618908500286765 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.02 [[ 9.99998251e-01 -1.32920652e-03 -1.31555570e-03 1.27390782e+00] [ 1.33043475e-03 9.99998680e-01 9.33185727e-04 1.26764428e-01] [ 1.31431356e-03 -9.34934356e-04 9.99998699e-01 2.40576091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283133365 meters 0.2746921361727253 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99999978e-01 1.87017778e-04 9.71060016e-05 1.26857738e+00] [-1.87225040e-04 9.99997695e-01 2.13878656e-03 1.29497066e-01] [-9.67057867e-05 -2.13880469e-03 9.99997708e-01 2.68264720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343133365 meters 0.27377319881863005 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99999995e-01 9.89837093e-05 -1.95674194e-05 1.26887465e+00] [-9.89459566e-05 9.99998152e-01 1.92003759e-03 1.30426679e-01] [ 1.97574357e-05 -1.92003564e-03 9.99998157e-01 2.67896062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403133365 meters 0.27561935314599945 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99999982e-01 -4.42938936e-05 -1.81990676e-04 1.26938925e+00] [ 4.45791590e-05 9.99998770e-01 1.56776776e-03 1.31949171e-01] [ 1.81921010e-04 -1.56777585e-03 9.99998754e-01 2.65433905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46313336499998 meters 0.2758955253657106 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.03 [[ 9.99999872e-01 -2.87440049e-04 -4.17038456e-04 1.27006739e+00] [ 2.87781085e-04 9.99999624e-01 8.17926313e-04 1.34960807e-01] [ 4.16803194e-04 -8.18046224e-04 9.99999579e-01 2.62372554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52313336499998 meters 0.27598933076081406 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999856e-01 -4.21051613e-04 -3.31894789e-04 1.26983422e+00] [ 4.21191323e-04 9.99999823e-01 4.20987490e-04 1.36601844e-01] [ 3.31717472e-04 -4.21127221e-04 9.99999856e-01 2.63388051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58313336499998 meters 0.2749108083143934 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999768e-01 -6.20719421e-04 -2.80229967e-04 1.26961846e+00] [ 6.20642608e-04 9.99999770e-01 -2.74108220e-04 1.39364740e-01] [ 2.80400047e-04 2.73934233e-04 9.99999923e-01 2.65676071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64313336499998 meters 0.27527753394845583 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999588e-01 -7.77983093e-04 -4.66794302e-04 1.27027865e+00] [ 7.77643303e-04 9.99999433e-01 -7.27663357e-04 1.41240507e-01] [ 4.67360147e-04 7.27300058e-04 9.99999626e-01 2.60585171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70313336499999 meters 0.27569607426547493 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999566e-01 -8.06953995e-04 -4.66070978e-04 1.27016271e+00] [ 8.06580941e-04 9.99999355e-01 -8.00058746e-04 1.41549622e-01] [ 4.66716288e-04 7.99682474e-04 9.99999571e-01 2.62985658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.763133365 meters 0.27625570300461005 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999626e-01 -7.33318988e-04 -4.59174389e-04 1.26981947e+00] [ 7.33034548e-04 9.99999540e-01 -6.19322801e-04 1.40777180e-01] [ 4.59628339e-04 6.18985979e-04 9.99999703e-01 2.70046983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.823133365 meters 0.2748147801480907 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999723e-01 -6.05912530e-04 -4.31733695e-04 1.26952394e+00] [ 6.05776941e-04 9.99999767e-01 -3.14118569e-04 1.39478637e-01] [ 4.31923923e-04 3.13856948e-04 9.99999857e-01 2.74653159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883133365 meters 0.27481131877028175 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99999798e-01 -4.76266932e-04 -4.20865463e-04 1.26922297e+00] [ 4.76269868e-04 9.99999887e-01 6.87656750e-06 1.38124675e-01] [ 4.20862140e-04 -7.07701165e-06 9.99999911e-01 2.80626301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943133365 meters 0.2757710273445808 Centerline is valid? [False, False] Translation: X:1.29, Y:0.14, Z:0.03 [[ 0.99997346 0.00707394 0.00174299 1.2891425 ] [-0.00707063 0.9999732 -0.00190018 0.13531798] [-0.00175639 0.00188781 0.99999668 0.02800345] [ 0. 0. 0. 1. ]] SLAMing on 174.003133365 meters 0.27566514570734807 Centerline is valid? [False, False] Translation: X:1.29, Y:0.14, Z:0.03 [[ 0.99997389 0.00704483 0.00160836 1.28970054] [-0.00704165 0.99997326 -0.0019759 0.13561036] [-0.00162224 0.00196453 0.99999675 0.02746652] [ 0. 0. 0. 1. ]] SLAMing on 174.063133365 meters 0.27501411089333555 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99996697e-01 -2.34192212e-03 1.05898351e-03 1.27022074e+00] [ 2.34366443e-03 9.99995897e-01 -1.64702610e-03 1.40468121e-01] [-1.05512196e-03 1.64950256e-03 9.99998083e-01 2.70283477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123133365 meters 0.27642479419062554 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:0.03 [[ 9.99996437e-01 -2.50181480e-03 9.30872286e-04 1.27068110e+00] [ 2.50376778e-03 9.99994655e-01 -2.10279206e-03 1.42345762e-01] [-9.25606514e-04 2.10511526e-03 9.99997356e-01 2.66304812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183133365 meters 0.2752089906002535 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99996072e-01 -2.73406593e-03 6.16510389e-04 1.27179847e+00] [ 2.73590814e-03 9.99991735e-01 -3.00734309e-03 1.46055845e-01] [-6.08283020e-04 3.00901799e-03 9.99995288e-01 2.56037516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24313336499998 meters 0.2765154803072056 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99995405e-01 -2.96760312e-03 6.19596272e-04 1.27186158e+00] [ 2.96985468e-03 9.99988873e-01 -3.66517975e-03 1.48780337e-01] [-6.08712579e-04 3.66700302e-03 9.99993091e-01 2.54010582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30313336499998 meters 0.27567283281794047 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99994810e-01 -3.14661624e-03 6.91585196e-04 1.27165136e+00] [ 3.14943638e-03 9.99986573e-01 -4.11523969e-03 1.50695139e-01] [-6.78626830e-04 4.11739644e-03 9.99991293e-01 2.54583874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36313336499998 meters 0.27594110723800686 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 9.99994235e-01 -3.32848835e-03 6.71640221e-04 1.27150936e+00] [ 3.33151985e-03 9.99984035e-01 -4.56410113e-03 1.52606836e-01] [-6.56437940e-04 4.56631240e-03 9.99989359e-01 2.58458069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42313336499998 meters 0.2740303965261537 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:0.03 [[ 0.99999712 -0.00155986 0.00182351 1.26604427] [ 0.00156501 0.99999479 -0.00282248 0.15313991] [-0.0018191 0.00282532 0.99999435 0.02941364] [ 0. 0. 0. 1. ]] SLAMing on 174.483133365 meters 0.27538234188479316 Centerline is valid? [False, False] Translation: X:1.29, Y:0.15, Z:0.03 [[ 0.99997384 -0.00606317 0.00394518 1.28647779] [ 0.00605774 0.99998069 0.00138512 0.15492333] [-0.0039535 -0.00136119 0.99999126 0.02976561] [ 0. 0. 0. 1. ]] SLAMing on 174.543133365 meters 0.2768872983823041 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99988304e-01 1.91082733e-03 4.44309635e-03 1.30531437e+00] [-1.90858966e-03 9.99998050e-01 -5.07813101e-04 1.51336256e-01] [-4.44405802e-03 4.99327114e-04 9.99990000e-01 3.19119592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.603133365 meters 0.2762234965446927 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99988858e-01 1.99459708e-03 4.27839235e-03 1.30558222e+00] [-1.99332436e-03 9.99997968e-01 -3.01721151e-04 1.50458087e-01] [-4.27898547e-03 2.93189566e-04 9.99990802e-01 3.22051677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.663133365 meters 0.27590849501334136 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99988234e-01 2.05947158e-03 4.39208756e-03 1.30501309e+00] [-2.05888410e-03 9.99997871e-01 -1.38275605e-04 1.49797790e-01] [-4.39236298e-03 1.29231179e-04 9.99990345e-01 3.29054163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.723133365 meters 0.2748222207471697 Centerline is valid? [False, False] Translation: X:1.30, Y:0.15, Z:0.03 [[ 9.99988445e-01 2.02550935e-03 4.35961989e-03 1.30498012e+00] [-2.02458811e-03 9.99997927e-01 -2.15714263e-04 1.50159170e-01] [-4.36004778e-03 2.06885336e-04 9.99990474e-01 3.31288405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.783133365 meters 0.27614736167382875 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:0.03 [[ 9.99969830e-01 -6.19395437e-03 4.68765751e-03 1.32568668e+00] [ 6.19134540e-03 9.99980670e-01 5.70868737e-04 1.53732461e-01] [-4.69110284e-03 -5.41828607e-04 9.99988850e-01 3.31889835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.843133365 meters 0.27508581991447745 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99989531e-01 1.93095359e-03 4.14831691e-03 1.30502043e+00] [-1.93107778e-03 9.99998135e-01 2.59323337e-05 1.48669681e-01] [-4.14825910e-03 -3.39427848e-05 9.99991395e-01 3.29665886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903133365 meters 0.2751395500671708 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99989678e-01 2.01747295e-03 4.07115082e-03 1.30530558e+00] [-2.01850265e-03 9.99997932e-01 2.48834183e-04 1.47724565e-01] [-4.07064038e-03 -2.57049244e-04 9.99991682e-01 3.27675562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96313336499998 meters 0.27644897602317725 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:0.03 [[ 9.99989699e-01 2.15726448e-03 3.99338955e-03 1.30625117e+00] [-2.16028361e-03 9.99997384e-01 7.51872571e-04 1.44829214e-01] [-3.99175711e-03 -7.60491680e-04 9.99991744e-01 3.10943720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02313336499998 meters 0.2773473892431657 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:0.03 [[ 9.99990471e-01 2.20242739e-03 3.76922543e-03 1.30677641e+00] [-2.20567330e-03 9.99997200e-01 8.57221725e-04 1.44349201e-01] [-3.76732691e-03 -8.65527237e-04 9.99992529e-01 3.11367719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08313336499998 meters 0.27897797830315807 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:0.03 [[ 9.99989440e-01 2.20970579e-03 4.02964674e-03 1.30602395e+00] [-2.21307700e-03 9.99997205e-01 8.32334419e-04 1.44574012e-01] [-4.02779626e-03 -8.41243548e-04 9.99991535e-01 3.14964294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14313336499998 meters 0.27739745735788207 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:0.03 [[ 9.99988843e-01 2.06329056e-03 4.24933857e-03 1.30563777e+00] [-2.06507222e-03 9.99997782e-01 4.14935396e-04 1.46326218e-01] [-4.24847301e-03 -4.23705957e-04 9.99990885e-01 3.11689783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20313336499999 meters 0.28046234466807424 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:0.04 [[ 9.99991294e-01 2.63693418e-03 3.23400386e-03 1.34222341e+00] [-2.63598664e-03 9.99996482e-01 -2.97218746e-04 1.50769560e-01] [-3.23477623e-03 2.88691367e-04 9.99994726e-01 3.55163051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263133365 meters 0.27686959511148457 Centerline is valid? [False, False] Translation: X:1.32, Y:0.15, Z:0.04 [[ 9.99990582e-01 -4.34007099e-03 -7.86246377e-06 1.32194191e+00] [ 4.34007773e-03 9.99988093e-01 2.23125882e-03 1.48339574e-01] [-1.82145152e-06 -2.23127193e-03 9.99997511e-01 3.70659030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.323133365 meters 0.2756204970849739 Centerline is valid? [False, False] Translation: X:1.32, Y:0.15, Z:0.04 [[ 9.99990844e-01 -4.27897082e-03 -5.06560111e-05 1.32206019e+00] [ 4.27907980e-03 9.99987981e-01 2.39314112e-03 1.47659483e-01] [ 4.04152213e-05 -2.39333596e-03 9.99997135e-01 3.70516713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383133365 meters 0.2776406176647637 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:0.04 [[ 0.99998609 0.00397035 0.00347101 1.34001223] [-0.0039758 0.99999087 0.00156674 0.1460713 ] [-0.00346476 -0.00158052 0.99999275 0.03773414] [ 0. 0. 0. 1. ]] SLAMing on 175.443133365 meters 0.2784286251479894 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:0.04 [[ 0.99998598 0.00402276 0.00344435 1.34012091] [-0.00402862 0.99999045 0.00169403 0.14551822] [-0.00343751 -0.00170788 0.99999263 0.0376582 ] [ 0. 0. 0. 1. ]] SLAMing on 175.503133365 meters 0.278243183057394 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.04 [[ 0.99998603 0.00412538 0.00330414 1.34068254] [-0.00413181 0.99998957 0.00194376 0.14431937] [-0.00329609 -0.00195738 0.99999265 0.03722984] [ 0. 0. 0. 1. ]] SLAMing on 175.563133365 meters 0.277306024152038 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.04 [[ 0.99998506 0.00430785 0.00336574 1.34047325] [-0.00431595 0.9999878 0.0024022 0.14238984] [-0.00335535 -0.00241669 0.99999145 0.037391 ] [ 0. 0. 0. 1. ]] SLAMing on 175.623133365 meters 0.2780376433258635 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.04 [[ 0.9999845 0.00449091 0.00328982 1.34066482] [-0.00450039 0.99998572 0.00288098 0.14038698] [-0.00327683 -0.00289574 0.99999044 0.03740952] [ 0. 0. 0. 1. ]] SLAMing on 175.683133365 meters 0.2772227129409159 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.04 [[ 9.99994767e-01 3.20922303e-04 3.21919145e-03 1.34076864e+00] [-3.17552701e-04 9.99999401e-01 -1.04717952e-03 1.38748051e-01] [-3.21952558e-03 1.04615177e-03 9.99994270e-01 3.75004361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74313336499998 meters 0.27602569865183535 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.04 [[ 0.99998736 -0.00374983 0.00334854 1.3403941 ] [ 0.00376544 0.99998202 -0.00466726 0.13593598] [-0.00333098 0.00467981 0.9999835 0.03772171] [ 0. 0. 0. 1. ]] SLAMing on 175.80313336499998 meters 0.27681971903044916 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:0.04 [[ 0.99998818 -0.00356885 0.0033021 1.34044136] [ 0.00358279 0.99998466 -0.00422518 0.13404643] [-0.00328697 0.00423696 0.99998562 0.03789341] [ 0. 0. 0. 1. ]] SLAMing on 175.86313336499998 meters 0.2788400791725082 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.04 [[ 0.99998332 -0.00196979 0.00542892 1.38366632] [ 0.0019893 0.99999157 -0.00359232 0.13459095] [-0.0054218 0.00360306 0.99997881 0.03688944] [ 0. 0. 0. 1. ]] SLAMing on 175.92313336499998 meters 0.2780682441005939 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.04 [[ 0.99998335 -0.00182076 0.00547522 1.38327486] [ 0.00183851 0.99999307 -0.00323728 0.13304433] [-0.00546928 0.00324729 0.99997977 0.03748304] [ 0. 0. 0. 1. ]] SLAMing on 175.983133365 meters 0.2748296626748789 Centerline is valid? [False, False] Translation: X:1.34, Y:0.13, Z:0.04 [[ 0.99998712 -0.00178245 0.00475153 1.33710504] [ 0.0017914 0.99999663 -0.00187985 0.12955253] [-0.00474816 0.00188834 0.99998694 0.04029604] [ 0. 0. 0. 1. ]] SLAMing on 176.043133365 meters 0.27660718468612455 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:0.05 [[ 0.99998969 -0.0014776 0.00429263 1.37260404] [ 0.00148925 0.99999521 -0.00271251 0.13146697] [-0.0042886 0.00271888 0.99998711 0.04551477] [ 0. 0. 0. 1. ]] SLAMing on 176.103133365 meters 0.2776362283042112 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:0.05 [[ 0.99999034 -0.0013948 0.00416788 1.37283759] [ 0.00140522 0.99999589 -0.00249856 0.13053753] [-0.00416437 0.00250439 0.99998819 0.04567503] [ 0. 0. 0. 1. ]] SLAMing on 176.163133365 meters 0.27599705541892294 Centerline is valid? [False, False] Translation: X:1.35, Y:0.13, Z:0.04 [[ 0.99998 0.00597928 0.00206012 1.35428082] [-0.00597147 0.99997504 -0.00377761 0.12718467] [-0.00208265 0.00376524 0.99999074 0.04442062] [ 0. 0. 0. 1. ]] SLAMing on 176.223133365 meters 0.27605595116881826 Centerline is valid? [False, False] Translation: X:1.35, Y:0.13, Z:0.04 [[ 0.9999809 0.00590575 0.00182042 1.35487908] [-0.00589851 0.99997476 -0.00395956 0.12796694] [-0.00184375 0.00394874 0.9999905 0.04431916] [ 0. 0. 0. 1. ]] SLAMing on 176.283133365 meters 0.2758195592833024 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.04 [[ 0.99998165 0.00582882 0.00165216 1.35524434] [-0.00582172 0.99997392 -0.00427351 0.12943401] [-0.00167702 0.00426382 0.9999895 0.04428418] [ 0. 0. 0. 1. ]] SLAMing on 176.343133365 meters 0.27630390823637296 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.04 [[ 0.99998256 0.00564518 0.00173612 1.35505036] [-0.00563669 0.99997231 -0.0048596 0.1318194 ] [-0.0017635 0.00484973 0.99998669 0.04426352] [ 0. 0. 0. 1. ]] SLAMing on 176.403133365 meters 0.277473237850019 Centerline is valid? [False, False] Translation: X:1.35, Y:0.13, Z:0.04 [[ 0.99998332 0.00549107 0.0017895 1.35489537] [-0.00548158 0.99997111 -0.00526527 0.13354972] [-0.00181836 0.00525537 0.99998454 0.04430991] [ 0. 0. 0. 1. ]] SLAMing on 176.46313336499998 meters 0.27808909242317525 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:0.04 [[ 0.99998495 0.00512216 0.00196668 1.35434952] [-0.00510964 0.99996695 -0.00632355 0.13797964] [-0.00199901 0.00631341 0.99997807 0.0446028 ] [ 0. 0. 0. 1. ]] SLAMing on 176.52313336499998 meters 0.2768073638985109 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:0.05 [[ 9.99955959e-01 -9.38317500e-03 -1.87979895e-04 1.35337362e+00] [ 9.38256314e-03 9.99951401e-01 -3.02721362e-03 1.44858788e-01] [ 2.16375634e-04 3.02531657e-03 9.99995400e-01 4.59728480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58313336499998 meters 0.2766522768189261 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99986341e-01 -5.22070480e-03 -2.49636958e-04 1.35330415e+00] [ 5.22089634e-03 9.99986072e-01 7.72907208e-04 1.46701331e-01] [ 2.45598361e-04 -7.74199980e-04 9.99999670e-01 4.62376540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64313336499998 meters 0.2778769203770858 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99993690e-01 -3.46168561e-03 7.97965942e-04 1.34809232e+00] [ 3.45982227e-03 9.99991312e-01 2.32478861e-03 1.48068941e-01] [-8.06006697e-04 -2.32201313e-03 9.99996979e-01 5.04419993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70313336499999 meters 0.27585852014082396 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99993371e-01 -3.57397112e-03 6.96304042e-04 1.34823779e+00] [ 3.57252586e-03 9.99991484e-01 2.06592199e-03 1.49197420e-01] [-7.03681658e-04 -2.06342073e-03 9.99997624e-01 5.06302401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.763133365 meters 0.2753296023301078 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99992909e-01 -3.69751442e-03 7.13864291e-04 1.34835569e+00] [ 3.69624607e-03 9.99991602e-01 1.76996511e-03 1.50466879e-01] [-7.20402768e-04 -1.76731394e-03 9.99998179e-01 5.02528604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.823133365 meters 0.27559110464155473 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99993139e-01 -3.65434175e-03 6.06183019e-04 1.34865549e+00] [ 3.65319759e-03 9.99991564e-01 1.87796104e-03 1.49979746e-01] [-6.13040617e-04 -1.87573365e-03 9.99998053e-01 5.01733601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.883133365 meters 0.2755105096965343 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99993543e-01 -3.57398718e-03 3.74556156e-04 1.34935970e+00] [ 3.57319638e-03 9.99991430e-01 2.09112535e-03 1.49013847e-01] [-3.82026601e-04 -2.08977349e-03 9.99997743e-01 4.98609897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.943133365 meters 0.27625668941858644 Centerline is valid? [False, False] Translation: X:1.35, Y:0.15, Z:0.05 [[ 9.99994591e-01 -3.26348274e-03 4.09409785e-04 1.34903409e+00] [ 3.26229113e-03 9.99990537e-01 2.87822730e-03 1.45629086e-01] [-4.18798956e-04 -2.87687612e-03 9.99995774e-01 5.04034260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.003133365 meters 0.276416979944963 Centerline is valid? [False, False] Translation: X:1.35, Y:0.14, Z:0.05 [[ 9.99995032e-01 -3.12904312e-03 3.79674733e-04 1.34923515e+00] [ 3.12781580e-03 9.99990016e-01 3.19120912e-03 1.44262880e-01] [-3.89656374e-04 -3.19000572e-03 9.99994836e-01 5.01864208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063133365 meters 0.2757693337881282 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:0.05 [[ 9.99989437e-01 4.58684746e-03 -2.93692484e-04 1.32968929e+00] [-4.58611265e-03 9.99986469e-01 2.45558246e-03 1.37971924e-01] [ 3.04951892e-04 -2.45420961e-03 9.99996942e-01 4.85483359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123133365 meters 0.27634315890802097 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:0.05 [[ 9.99999926e-01 3.30599234e-04 -1.99022708e-04 1.32946463e+00] [-3.30926458e-04 9.99998590e-01 -1.64637627e-03 1.37223376e-01] [ 1.98478137e-04 1.64644201e-03 9.99998625e-01 4.85031722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183133365 meters 0.2739613891212693 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:0.05 [[ 9.99999824e-01 5.68920622e-04 -1.67769652e-04 1.32913962e+00] [-5.69078752e-04 9.99999393e-01 -9.44002484e-04 1.34349645e-01] [ 1.67232488e-04 9.44097792e-04 9.99999540e-01 4.90776310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24313336499998 meters 0.2764278073214205 Centerline is valid? [False, False] Translation: X:1.35, Y:0.13, Z:0.05 [[ 0.99997839 -0.00609497 0.00246202 1.35156812] [ 0.00609065 0.99997991 0.00175818 0.12608382] [-0.00247269 -0.00174315 0.99999542 0.04724914] [ 0. 0. 0. 1. ]] SLAMing on 177.30313336499998 meters 0.27558766738032714 Centerline is valid? [False, False] Translation: X:1.35, Y:0.12, Z:0.05 [[ 0.99998092 -0.00574747 0.00226564 1.35217793] [ 0.00574143 0.99997997 0.00266373 0.12220179] [-0.00228091 -0.00265067 0.99999389 0.04706702] [ 0. 0. 0. 1. ]] SLAMing on 177.36313336499998 meters 0.2753078091033874 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:0.05 [[ 9.99997331e-01 -7.57792267e-04 2.18277840e-03 1.32880528e+00] [ 7.57833027e-04 9.99999713e-01 -1.78461946e-05 1.13181716e-01] [-2.18276425e-03 1.95003285e-05 9.99997618e-01 4.83573050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42313336499998 meters 0.2776831474295693 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99996664e-01 -4.88573774e-04 2.53630954e-03 1.36249740e+00] [ 4.89767380e-04 9.99999770e-01 -4.70007670e-04 1.09237332e-01] [-2.53607933e-03 4.71248303e-04 9.99996673e-01 5.40605758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.483133365 meters 0.27515480349572974 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99996233e-01 -1.18316522e-04 2.74242206e-03 1.36173677e+00] [ 1.17119602e-04 9.99999898e-01 4.36602929e-04 1.05389096e-01] [-2.74247344e-03 -4.36280093e-04 9.99996144e-01 5.47850129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543133365 meters 0.27625310247551993 Centerline is valid? [False, False] Translation: X:1.36, Y:0.10, Z:0.05 [[ 9.99996341e-01 -4.08651939e-05 2.70495467e-03 1.36189903e+00] [ 3.91662559e-05 9.99999802e-01 6.28133720e-04 1.04562055e-01] [-2.70497981e-03 -6.28025479e-04 9.99996144e-01 5.46500217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603133365 meters 0.2760378923558411 Centerline is valid? [False, False] Translation: X:1.36, Y:0.10, Z:0.05 [[ 9.99997172e-01 -1.00184309e-04 2.37629771e-03 1.36315999e+00] [ 9.89931536e-05 9.99999869e-01 5.01377525e-04 1.04915935e-01] [-2.37634763e-03 -5.01140869e-04 9.99997051e-01 5.34504858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663133365 meters 0.2767814708254988 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99997369e-01 -2.15043669e-04 2.28396674e-03 1.36351341e+00] [ 2.14675645e-04 9.99999964e-01 1.61377584e-04 1.06335911e-01] [-2.28400136e-03 -1.60886847e-04 9.99997379e-01 5.30742487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723133365 meters 0.27744810475639425 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99997596e-01 -4.24625731e-04 2.15113178e-03 1.36404714e+00] [ 4.25590954e-04 9.99999809e-01 -4.48266585e-04 1.08793240e-01] [-2.15094102e-03 4.49181010e-04 9.99997586e-01 5.25387935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783133365 meters 0.2761891437710012 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99997428e-01 -5.11977030e-04 2.20945401e-03 1.36397189e+00] [ 5.13432689e-04 9.99999652e-01 -6.58315050e-04 1.09701658e-01] [-2.20911620e-03 6.59447763e-04 9.99997342e-01 5.23809223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843133365 meters 0.2764081406641285 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99997279e-01 -3.55777738e-04 2.30553239e-03 1.36381592e+00] [ 3.56191388e-04 9.99999921e-01 -1.79008186e-04 1.07715610e-01] [-2.30546852e-03 1.79828909e-04 9.99997326e-01 5.23438600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903133365 meters 0.2751258008789026 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99998099e-01 -2.11648765e-04 1.93850959e-03 1.36455828e+00] [ 2.10973939e-04 9.99999917e-01 3.48314037e-04 1.05533568e-01] [-1.93858315e-03 -3.47904399e-04 9.99998060e-01 5.25815577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96313336499998 meters 0.27583581755179204 Centerline is valid? [False, False] Translation: X:1.37, Y:0.10, Z:0.05 [[ 9.99998569e-01 2.54553596e-05 1.69144556e-03 1.36513646e+00] [-2.74339706e-05 9.99999315e-01 1.16976231e-03 1.02210748e-01] [-1.69141462e-03 -1.16980704e-03 9.99997885e-01 5.25609904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02313336499998 meters 0.27524815383719076 Centerline is valid? [False, False] Translation: X:1.37, Y:0.10, Z:0.05 [[ 9.99998697e-01 3.59443149e-04 1.57375113e-03 1.36532223e+00] [-3.63096627e-04 9.99997239e-01 2.32183939e-03 9.75997571e-02] [-1.57291222e-03 -2.32240779e-03 9.99996066e-01 5.27444734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08313336499998 meters 0.2735612021490528 Centerline is valid? [False, False] Translation: X:1.34, Y:0.10, Z:0.05 [[ 9.99987435e-01 5.00519569e-03 -2.79652529e-04 1.34324752e+00] [-5.00552669e-03 9.99986757e-01 -1.19571868e-03 9.55432754e-02] [ 2.73664020e-04 1.19710346e-03 9.99999246e-01 5.33214316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14313336499998 meters 0.2759796409543707 Centerline is valid? [False, False] Translation: X:1.37, Y:0.10, Z:0.05 [[ 9.99998273e-01 4.49913633e-04 1.80318095e-03 1.36521245e+00] [-4.54472320e-04 9.99996700e-01 2.52852423e-03 9.60013330e-02] [-1.80203738e-03 -2.52933936e-03 9.99995178e-01 5.21483341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20313336499999 meters 0.27709649830582606 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:0.05 [[ 9.99963760e-01 7.26477187e-03 4.43863281e-03 1.38575661e+00] [-7.26204074e-03 9.99973432e-01 -6.31115118e-04 9.87227746e-02] [-4.44309979e-03 5.98858714e-04 9.99989950e-01 5.11860821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.263133365 meters 0.27674794141929665 Centerline is valid? [False, False] Translation: X:1.37, Y:0.10, Z:0.05 [[ 9.99993461e-01 -1.38049654e-03 3.34258731e-03 1.36741812e+00] [ 1.37827848e-03 9.99998829e-01 6.65788740e-04 1.02519405e-01] [-3.34350251e-03 -6.61177370e-04 9.99994192e-01 4.91983920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.323133365 meters 0.27709464757234215 Centerline is valid? [False, False] Translation: X:1.37, Y:0.10, Z:0.05 [[ 9.99993096e-01 -1.42596418e-03 3.43129049e-03 1.36729356e+00] [ 1.42406171e-03 9.99998831e-01 5.56827367e-04 1.02989933e-01] [-3.43208049e-03 -5.51937154e-04 9.99993958e-01 4.90055669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.383133365 meters 0.27432586424024724 Centerline is valid? [False, False] Translation: X:1.34, Y:0.10, Z:0.05 [[ 0.99998675 0.00356052 0.00371897 1.34274918] [-0.00354965 0.99998942 -0.00292596 0.10146761] [-0.00372935 0.00291272 0.9999888 0.05070526] [ 0. 0. 0. 1. ]] SLAMing on 178.443133365 meters 0.2749482979974561 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 0.99998497 -0.00408394 0.00365804 1.36318213] [ 0.00409169 0.9999894 -0.00211349 0.10695488] [-0.00364937 0.00212842 0.99999108 0.05141085] [ 0. 0. 0. 1. ]] SLAMing on 178.503133365 meters 0.27508261139523876 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 0.99998458 -0.00410566 0.00373963 1.3629216 ] [ 0.00411381 0.99998918 -0.00217292 0.10721209] [-0.00373066 0.00218828 0.99999065 0.05153396] [ 0. 0. 0. 1. ]] SLAMing on 178.563133365 meters 0.27736767524649886 Centerline is valid? [False, False] Translation: X:1.38, Y:0.11, Z:0.05 [[ 0.99997598 0.00463757 0.00515184 1.3824522 ] [-0.00461812 0.99998218 -0.00378242 0.1087738 ] [-0.00516928 0.00375854 0.99997958 0.05223696] [ 0. 0. 0. 1. ]] SLAMing on 178.623133365 meters 0.27613146927419835 Centerline is valid? [False, False] Translation: X:1.38, Y:0.11, Z:0.05 [[ 0.99997776 0.0043984 0.0050136 1.38308057] [-0.00437609 0.99998052 -0.0044516 0.11154363] [-0.00503308 0.00442956 0.99997752 0.05153381] [ 0. 0. 0. 1. ]] SLAMing on 178.683133365 meters 0.2762335012682604 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 9.99994772e-01 -1.50249235e-03 2.86337247e-03 1.36284280e+00] [ 1.50573356e-03 9.99998228e-01 -1.13013763e-03 1.15100536e-01] [-2.86166937e-03 1.13444320e-03 9.99995262e-01 5.15473756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74313336499998 meters 0.2755188638993402 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999423 -0.00177891 0.00289493 1.36249532] [ 0.0017842 0.99999674 -0.00182643 0.11816705] [-0.00289167 0.00183158 0.99999414 0.05204411] [ 0. 0. 0. 1. ]] SLAMing on 178.80313336499998 meters 0.2758534565362601 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999408 -0.00189843 0.00287021 1.36245876] [ 0.00190445 0.99999599 -0.00209391 0.11936365] [-0.00286622 0.00209936 0.99999369 0.05218981] [ 0. 0. 0. 1. ]] SLAMing on 178.86313336499998 meters 0.2748890976237022 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999383 -0.0018462 0.00298898 1.36197865] [ 0.00185212 0.99999633 -0.00197747 0.11885604] [-0.00298532 0.001983 0.99999358 0.05260591] [ 0. 0. 0. 1. ]] SLAMing on 178.92313336499998 meters 0.275419421260447 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999408 -0.00175192 0.00296252 1.36208215] [ 0.00175707 0.99999695 -0.00173706 0.11781521] [-0.00295947 0.00174225 0.9999941 0.05251119] [ 0. 0. 0. 1. ]] SLAMing on 178.983133365 meters 0.27506899956727326 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999454 -0.00161838 0.00287984 1.36226348] [ 0.00162242 0.9999977 -0.00140093 0.11636644] [-0.00287756 0.00140559 0.99999487 0.05257094] [ 0. 0. 0. 1. ]] SLAMing on 179.043133365 meters 0.2751285405098054 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 9.99994611e-01 -1.55432637e-03 2.89176330e-03 1.36221798e+00] [ 1.55795006e-03 9.99998004e-01 -1.25127683e-03 1.15706992e-01] [-2.88981263e-03 1.25577531e-03 9.99995036e-01 5.26200791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103133365 meters 0.2749427279867572 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999422 -0.00162334 0.0029875 1.3620996 ] [ 0.00162767 0.99999763 -0.00144721 0.11650776] [-0.00298514 0.00145206 0.99999449 0.05234317] [ 0. 0. 0. 1. ]] SLAMing on 179.163133365 meters 0.27553901118824203 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999377 -0.0016861 0.00310173 1.36184889] [ 0.00169117 0.99999723 -0.00163418 0.11729326] [-0.00309896 0.00163942 0.99999385 0.0522789 ] [ 0. 0. 0. 1. ]] SLAMing on 179.223133365 meters 0.276965374940671 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999444 -0.00164275 0.00290057 1.36239393] [ 0.00164726 0.99999744 -0.00155106 0.11678433] [-0.00289801 0.00155583 0.99999459 0.05216241] [ 0. 0. 0. 1. ]] SLAMing on 179.283133365 meters 0.27560005501704626 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99995107e-01 -1.44498118e-03 2.77434922e-03 1.36263551e+00] [ 1.44787077e-03 9.99998411e-01 -1.03981456e-03 1.14598443e-01] [-2.77284230e-03 1.04382637e-03 9.99995611e-01 5.23195773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343133365 meters 0.2767800113277842 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99995232e-01 -1.39438614e-03 2.75531880e-03 1.36263524e+00] [ 1.39692179e-03 9.99998602e-01 -9.18562030e-04 1.14073817e-01] [-2.75403412e-03 9.22406615e-04 9.99995782e-01 5.24331534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403133365 meters 0.2767971093497018 Centerline is valid? [False, False] Translation: X:1.36, Y:0.11, Z:0.05 [[ 9.99995248e-01 -1.48034897e-03 2.70411780e-03 1.36276791e+00] [ 1.48338866e-03 9.99998270e-01 -1.12243920e-03 1.14970704e-01] [-2.70245152e-03 1.12644512e-03 9.99995714e-01 5.23948298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46313336499998 meters 0.2765869992115542 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.9999952 -0.00170884 0.00258445 1.36350444] [ 0.00171339 0.99999698 -0.00176 0.11775364] [-0.00258144 0.00176442 0.99999511 0.0513895 ] [ 0. 0. 0. 1. ]] SLAMing on 179.52313336499998 meters 0.27686272070921997 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:0.05 [[ 0.99999373 -0.0021234 0.00283292 1.36287481] [ 0.00213218 0.99999292 -0.00310019 0.12327864] [-0.00282631 0.00310622 0.99999118 0.0514424 ] [ 0. 0. 0. 1. ]] SLAMing on 179.58313336499998 meters 0.27698660175653417 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.05 [[ 9.99994207e-01 1.89161596e-03 2.82976726e-03 1.36229706e+00] [-1.89283213e-03 9.99998117e-01 4.27161785e-04 1.26620401e-01] [-2.82895391e-03 -4.32515585e-04 9.99995905e-01 5.26140538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64313336499998 meters 0.277317431171356 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.05 [[ 9.99994811e-01 1.32188736e-03 2.93771976e-03 1.36133022e+00] [-1.31959267e-03 9.99998823e-01 -7.82913665e-04 1.32299272e-01] [-2.93875123e-03 7.79033009e-04 9.99995378e-01 5.36286852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70313336499999 meters 0.2754965592392222 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.05 [[ 9.99981574e-01 -5.94526126e-03 1.22679712e-03 1.34053331e+00] [ 5.94364802e-03 9.99981472e-01 1.31448270e-03 1.36416794e-01] [-1.23458933e-03 -1.30716683e-03 9.99998384e-01 5.43143158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763133365 meters 0.2756103292365879 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.06 [[ 9.99996937e-01 -2.14156665e-03 1.24123098e-03 1.33989763e+00] [ 2.13625846e-03 9.99988635e-01 4.26222226e-03 1.40829478e-01] [-1.25034471e-03 -4.25955761e-03 9.99990146e-01 5.52452830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823133365 meters 0.2756949351401399 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.06 [[ 9.99996973e-01 -2.22044666e-03 1.06018927e-03 1.34031422e+00] [ 2.21611551e-03 9.99989266e-01 4.06910784e-03 1.41661655e-01] [-1.06921313e-03 -4.06674602e-03 9.99991159e-01 5.52498409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883133365 meters 0.2757046241073524 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.05 [[ 9.99997067e-01 -2.26382372e-03 8.60947832e-04 1.34092516e+00] [ 2.26038904e-03 9.99989566e-01 3.96968058e-03 1.42081618e-01] [-8.69925506e-04 -3.96772286e-03 9.99991750e-01 5.49458086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943133365 meters 0.27548355035866906 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.06 [[ 9.99997251e-01 -2.14590946e-03 9.45533943e-04 1.34054620e+00] [ 2.14186039e-03 9.99988621e-01 4.26271380e-03 1.40828393e-01] [-9.54670582e-04 -4.26067688e-03 9.99990468e-01 5.53496059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.003133365 meters 0.276598054705334 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.05 [[ 9.99990957e-01 3.82636049e-03 1.85597545e-03 1.36254151e+00] [-3.82784758e-03 9.99992355e-01 7.98357362e-04 1.37956441e-01] [-1.85290646e-03 -8.05454533e-04 9.99997959e-01 5.48095301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063133365 meters 0.2764429470904991 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.05 [[ 9.99990572e-01 3.99713731e-03 1.69677633e-03 1.36334580e+00] [-3.99926221e-03 9.99991221e-01 1.25077832e-03 1.35827814e-01] [-1.69176190e-03 -1.25755238e-03 9.99997778e-01 5.38895357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123133365 meters 0.276832851564653 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.05 [[ 9.99990699e-01 3.99871760e-03 1.61626534e-03 1.36371595e+00] [-4.00075478e-03 9.99991204e-01 1.25915666e-03 1.35763405e-01] [-1.61121611e-03 -1.26561123e-03 9.99997901e-01 5.35319592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.183133365 meters 0.27563376516687826 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.05 [[ 9.99990609e-01 3.98724596e-03 1.69807399e-03 1.36341360e+00] [-3.98935779e-03 9.99991271e-01 1.24209568e-03 1.35922382e-01] [-1.69310663e-03 -1.24885825e-03 9.99997787e-01 5.37420113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24313336499998 meters 0.2759978622169589 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.05 [[ 9.99990586e-01 4.01368061e-03 1.64869460e-03 1.36351945e+00] [-4.01584919e-03 9.99991073e-01 1.31413591e-03 1.35641131e-01] [-1.64340537e-03 -1.32074445e-03 9.99997777e-01 5.37834067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30313336499998 meters 0.27665344315819285 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.05 [[ 0.99999034 0.00411721 0.00154149 1.36361311] [-0.00411965 0.99999026 0.00158608 0.13444544] [-0.00153495 -0.00159242 0.99999755 0.05413426] [ 0. 0. 0. 1. ]] SLAMing on 180.36313336499998 meters 0.2750243355342197 Centerline is valid? [False, False] Translation: X:1.36, Y:0.13, Z:0.05 [[ 0.99998964 0.00421456 0.00172063 1.36307275] [-0.00421771 0.99998943 0.00183235 0.13341 ] [-0.00171289 -0.00183959 0.99999684 0.0544015 ] [ 0. 0. 0. 1. ]] SLAMing on 180.42313336499998 meters 0.27597846664257353 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:0.06 [[ 0.99998949 -0.0033502 0.00312855 1.38241355] [ 0.00334034 0.99998945 0.00315336 0.13563331] [-0.00313908 -0.00314288 0.99999013 0.05600483] [ 0. 0. 0. 1. ]] SLAMing on 180.483133365 meters 0.2755114915131678 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.06 [[ 0.99999086 -0.00315822 0.00288042 1.3828958 ] [ 0.0031476 0.99998826 0.00368394 0.133372 ] [-0.00289203 -0.00367484 0.99998907 0.05624826] [ 0. 0. 0. 1. ]] SLAMing on 180.543133365 meters 0.27552195303473553 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.06 [[ 0.99999179 -0.00291598 0.00281271 1.38285229] [ 0.00290396 0.99998666 0.00427096 0.13085024] [-0.00282513 -0.00426276 0.99998692 0.05669768] [ 0. 0. 0. 1. ]] SLAMing on 180.603133365 meters 0.2753322626582342 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:0.06 [[ 0.99999202 -0.00275627 0.00289267 1.38232102] [ 0.00274274 0.99998533 0.00467014 0.12916027] [-0.0029055 -0.00466217 0.99998491 0.05746755] [ 0. 0. 0. 1. ]] SLAMing on 180.663133365 meters 0.27875526251174154 Centerline is valid? [False, False] Translation: X:1.40, Y:0.13, Z:0.06 [[ 0.99995964 0.0082327 0.00359627 1.40472435] [-0.00825197 0.99995151 0.0053749 0.13057771] [-0.00355184 -0.00540436 0.99997909 0.05637437] [ 0. 0. 0. 1. ]] SLAMing on 180.723133365 meters 0.2773123505847941 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:0.06 [[ 0.99999756 -0.00170416 0.00140417 1.38622249] [ 0.00169709 0.99998593 0.00502528 0.13362689] [-0.00141271 -0.00502288 0.99998639 0.05533328] [ 0. 0. 0. 1. ]] SLAMing on 180.783133365 meters 0.2785890494856195 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 9.99997432e-01 -1.88884778e-03 1.25189889e-03 1.38693490e+00] [ 1.88333633e-03 9.99988594e-01 4.38912375e-03 1.36182380e-01] [-1.26017500e-03 -4.38675474e-03 9.99989584e-01 5.44427979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.843133365 meters 0.28136014714563323 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 9.99981518e-01 5.52924131e-03 2.52807857e-03 1.40969322e+00] [-5.53205155e-03 9.99984086e-01 1.10597128e-03 1.44590607e-01] [-2.52192315e-03 -1.11993630e-03 9.99996193e-01 5.23212910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903133365 meters 0.2776274329421568 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999572 -0.00227733 0.00183822 1.38669302] [ 0.00227194 0.99999312 0.00293117 0.14620853] [-0.00184488 -0.00292698 0.99999401 0.05405138] [ 0. 0. 0. 1. ]] SLAMing on 180.96313336499998 meters 0.2789658123932338 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999558 -0.00240667 0.00174792 1.38654752] [ 0.00240204 0.99999362 0.00264518 0.14760175] [-0.00175428 -0.00264097 0.99999497 0.05471527] [ 0. 0. 0. 1. ]] SLAMing on 181.02313336499998 meters 0.2794641570183504 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.9999953 -0.00267098 0.00150326 1.38746093] [ 0.00266795 0.99999441 0.00201468 0.1503577 ] [-0.00150864 -0.00201066 0.99999684 0.05391883] [ 0. 0. 0. 1. ]] SLAMing on 181.08313336499998 meters 0.2791415806910469 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999441 -0.00293695 0.00159963 1.38710482] [ 0.00293472 0.99999472 0.00139222 0.15316364] [-0.00160371 -0.00138752 0.99999775 0.05406154] [ 0. 0. 0. 1. ]] SLAMing on 181.14313336499998 meters 0.2779631580405208 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:0.05 [[ 9.99983174e-01 5.51842652e-03 1.78875959e-03 1.36441584e+00] [-5.51903567e-03 9.99984714e-01 3.35784401e-04 1.54607593e-01] [-1.78687925e-03 -3.45650979e-04 9.99998344e-01 5.48033474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20313336499999 meters 0.2788669394612138 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.06 [[ 9.99996225e-01 -2.39468650e-03 1.34715801e-03 1.38478113e+00] [ 2.39390424e-03 9.99996965e-01 5.81986229e-04 1.63526295e-01] [-1.34854760e-03 -5.78759065e-04 9.99998923e-01 5.54681949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263133365 meters 0.2781492821303448 Centerline is valid? [False, False] Translation: X:1.38, Y:0.17, Z:0.06 [[ 9.99995770e-01 -2.55861027e-03 1.38355249e-03 1.38457171e+00] [ 2.55831687e-03 9.99996705e-01 2.13788939e-04 1.65179077e-01] [-1.38409493e-03 -2.10248469e-04 9.99999020e-01 5.56401629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323133365 meters 0.2759152974502393 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:0.06 [[ 9.99976032e-01 6.18733574e-03 3.10685251e-03 1.36163546e+00] [-6.18684486e-03 9.99980847e-01 -1.67584700e-04 1.61853204e-01] [-3.10782990e-03 1.48359069e-04 9.99995160e-01 5.60219473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383133365 meters 0.27789292621717226 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.05 [[ 9.99988874e-01 -2.88194323e-04 4.70844010e-03 1.38421371e+00] [ 2.78754921e-04 9.99997950e-01 2.00531647e-03 1.64045811e-01] [-4.70900837e-03 -2.00398166e-03 9.99986905e-01 5.43451915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443133365 meters 0.27723516877647136 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.05 [[ 9.99989781e-01 -3.16116788e-04 4.50972407e-03 1.38489704e+00] [ 3.07374071e-04 9.99998073e-01 1.93919803e-03 1.64265141e-01] [-4.51032839e-03 -1.93779205e-03 9.99987951e-01 5.38529811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503133365 meters 0.27749093543426395 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:0.05 [[ 9.99990423e-01 -2.77884808e-04 4.36763835e-03 1.38521292e+00] [ 2.68948512e-04 9.99997870e-01 2.04647890e-03 1.63831380e-01] [-4.36819774e-03 -2.04528463e-03 9.99988368e-01 5.39102883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563133365 meters 0.27842873252565425 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:0.05 [[ 9.99991000e-01 -1.77444084e-04 4.23889346e-03 1.38551238e+00] [ 1.67656764e-04 9.99997320e-01 2.30917660e-03 1.62688236e-01] [-4.23929184e-03 -2.30844513e-03 9.99988350e-01 5.39542450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623133365 meters 0.2789872565111846 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:0.05 [[ 9.99990591e-01 1.79814270e-05 4.33796965e-03 1.38518778e+00] [-3.03293429e-05 9.99995948e-01 2.84642455e-03 1.60371608e-01] [-4.33790089e-03 -2.84652934e-03 9.99986540e-01 5.41722866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.683133365 meters 0.27682376760186495 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.06 [[ 9.99988944e-01 3.63170406e-04 4.68821424e-03 1.38399998e+00] [-3.81952190e-04 9.99991903e-01 4.00589673e-03 1.55589922e-01] [-4.68672146e-03 -4.00764311e-03 9.99980987e-01 5.51694301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74313336499998 meters 0.2781199918240685 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999216 -0.00171695 0.00356837 1.38959285] [ 0.0017083 0.9999956 0.002426 0.15104278] [-0.00357252 -0.00241989 0.99999069 0.05123446] [ 0. 0. 0. 1. ]] SLAMing on 181.80313336499998 meters 0.27728108721535855 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999294 -0.00148767 0.003452 1.39000671] [ 0.00147739 0.99999447 0.00298066 0.14857635] [-0.00345641 -0.00297554 0.9999896 0.05098553] [ 0. 0. 0. 1. ]] SLAMing on 181.86313336499998 meters 0.277538940253737 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 9.99992385e-01 -1.36529847e-03 3.65604761e-03 1.38931622e+00] [ 1.35325040e-03 9.99993653e-01 3.29582978e-03 1.47288398e-01] [-3.66052419e-03 -3.29085713e-03 9.99987885e-01 5.14925064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92313336499998 meters 0.2772784485034412 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 9.99992549e-01 -1.29508971e-03 3.63648807e-03 1.38928584e+00] [ 1.28247610e-03 9.99993161e-01 3.46881560e-03 1.46561456e-01] [-3.64095563e-03 -3.46412604e-03 9.99987372e-01 5.16656891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.983133365 meters 0.2774833024786401 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 9.99992432e-01 -1.13920665e-03 3.71999272e-03 1.38898391e+00] [ 1.12484895e-03 9.99991920e-01 3.85941711e-03 1.44910469e-01] [-3.72435933e-03 -3.85520347e-03 9.99985633e-01 5.18959614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043133365 meters 0.2771325562724333 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 9.99992622e-01 -9.37110152e-04 3.72540948e-03 1.38864783e+00] [ 9.20769469e-04 9.99989959e-01 4.38557615e-03 1.42646769e-01] [-3.72948184e-03 -4.38211355e-03 9.99983444e-01 5.25975468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103133365 meters 0.27756171532413976 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 9.99992868e-01 -8.82814087e-04 3.67201792e-03 1.38875797e+00] [ 8.66210295e-04 9.99989406e-01 4.52084289e-03 1.42074312e-01] [-3.67597008e-03 -4.51762991e-03 9.99983039e-01 5.26500556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163133365 meters 0.2763141390730245 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:0.05 [[ 9.99987545e-01 4.67572280e-03 1.74570561e-03 1.36733039e+00] [-4.67808745e-03 9.99988142e-01 1.35293407e-03 1.40718520e-01] [-1.73935897e-03 -1.36108379e-03 9.99997561e-01 5.38147706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223133365 meters 0.2777202753723629 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 0.9999912 -0.00380395 0.00176683 1.38770688] [ 0.00380059 0.99999097 0.00190024 0.14428168] [-0.00177404 -0.00189351 0.99999663 0.05422089] [ 0. 0. 0. 1. ]] SLAMing on 182.283133365 meters 0.27836126196744965 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 0.99999138 -0.00382114 0.00162174 1.38803187] [ 0.00381813 0.99999099 0.00185404 0.14444958] [-0.00162881 -0.00184783 0.99999697 0.05425629] [ 0. 0. 0. 1. ]] SLAMing on 182.343133365 meters 0.2779817357057029 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 0.99999108 -0.00394209 0.00151865 1.38826306] [ 0.00393976 0.99999106 0.00153478 0.14579877] [-0.00152468 -0.00152879 0.99999767 0.0542292 ] [ 0. 0. 0. 1. ]] SLAMing on 182.403133365 meters 0.27654649926516434 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:0.05 [[ 9.99989652e-01 4.29190076e-03 1.50837998e-03 1.36629715e+00] [-4.29298106e-03 9.99990530e-01 7.13687625e-04 1.44933461e-01] [-1.50530262e-03 -7.20155687e-04 9.99998608e-01 5.37980242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46313336499998 meters 0.27733722364947716 Centerline is valid? [False, False] Translation: X:1.37, Y:0.15, Z:0.05 [[ 9.99990465e-01 4.06695723e-03 1.59044856e-03 1.36630343e+00] [-4.06714920e-03 9.99991722e-01 1.17486318e-04 1.47460588e-01] [-1.58995758e-03 -1.23953790e-04 9.99998728e-01 5.33445964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52313336499998 meters 0.27784676845796213 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.06 [[ 9.99996092e-01 -9.06420919e-04 -2.64484590e-03 1.38258125e+00] [ 9.07622186e-04 9.99999485e-01 4.53026512e-04 1.55297146e-01] [ 2.64443391e-03 -4.55425262e-04 9.99996400e-01 5.52594893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58313336499998 meters 0.2783303198913061 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.06 [[ 9.99995774e-01 -9.74469905e-04 -2.73896034e-03 1.38280526e+00] [ 9.75258300e-04 9.99999483e-01 2.86523938e-04 1.55995518e-01] [ 2.73867971e-03 -2.89193921e-04 9.99996208e-01 5.52582156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64313336499998 meters 0.27661021468093344 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996329e-01 -8.73805915e-04 -2.56494908e-03 1.38210396e+00] [ 8.75203265e-04 9.99999469e-01 5.43714820e-04 1.54969388e-01] [ 2.56447262e-03 -5.45957675e-04 9.99996563e-01 5.59358112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70313336499999 meters 0.27596610772463964 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996508e-01 -7.92137969e-04 -2.52110330e-03 1.38178287e+00] [ 7.94020200e-04 9.99999407e-01 7.45676967e-04 1.54129605e-01] [ 2.52051113e-03 -7.47676171e-04 9.99996544e-01 5.64160256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763133365 meters 0.2763518981532013 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996339e-01 -6.48402728e-04 -2.62716487e-03 1.38206271e+00] [ 6.51293658e-04 9.99999183e-01 1.09969298e-03 1.52505541e-01] [ 2.62644968e-03 -1.10140001e-03 9.99995944e-01 5.63912995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823133365 meters 0.27700031838049516 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996349e-01 -4.76389787e-04 -2.65993498e-03 1.38242155e+00] [ 4.80480338e-04 9.99998703e-01 1.53741159e-03 1.50576200e-01] [ 2.65919913e-03 -1.53868403e-03 9.99995281e-01 5.58268279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883133365 meters 0.27700452947310744 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996293e-01 -3.19101525e-04 -2.70407135e-03 1.38233741e+00] [ 3.24329446e-04 9.99998079e-01 1.93313382e-03 1.48886165e-01] [ 2.70344929e-03 -1.93400366e-03 9.99994475e-01 5.62441175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943133365 meters 0.2760401414361662 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99996424e-01 -1.44804362e-04 -2.67042071e-03 1.38199338e+00] [ 1.51175199e-04 9.99997143e-01 2.38565780e-03 1.46975763e-01] [ 2.67006762e-03 -2.38605297e-03 9.99993589e-01 5.68327208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.003133365 meters 0.27571685983256045 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:0.06 [[ 9.99996473e-01 1.08425690e-04 -2.65368723e-03 1.38205813e+00] [-1.00473679e-04 9.99995505e-01 2.99653938e-03 1.44257736e-01] [ 2.65400020e-03 -2.99626218e-03 9.99991989e-01 5.66538748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063133365 meters 0.274505316325635 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:0.06 [[ 9.99975874e-01 4.95505674e-03 -4.86814811e-03 1.36113772e+00] [-4.95882671e-03 9.99987414e-01 -7.62649390e-04 1.43655295e-01] [ 4.86430787e-03 7.86771293e-04 9.99987860e-01 5.69717005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123133365 meters 0.2771695262281 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.06 [[ 9.99991992e-01 -1.87644207e-04 -3.99751346e-03 1.38462032e+00] [ 1.97784979e-04 9.99996763e-01 2.53652561e-03 1.45741184e-01] [ 3.99702456e-03 -2.53729595e-03 9.99988793e-01 5.54718516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183133365 meters 0.275043082036166 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.05 [[ 0.99999564 -0.00192633 -0.00223965 1.34463385] [ 0.00193096 0.99999599 0.00207052 0.14283701] [ 0.00223566 -0.00207483 0.99999535 0.05300665] [ 0. 0. 0. 1. ]] SLAMing on 183.24313336499998 meters 0.2763793394249775 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:0.05 [[ 9.99989596e-01 4.36232424e-03 -1.33313752e-03 1.36722735e+00] [-4.36393066e-03 9.99989753e-01 -1.20446885e-03 1.41540472e-01] [ 1.32786958e-03 1.21027404e-03 9.99998386e-01 5.21070998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30313336499998 meters 0.2782458443744228 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:0.05 [[ 9.99995370e-01 -3.04174761e-03 8.81976693e-05 1.38566401e+00] [ 3.04171105e-03 9.99995289e-01 4.11771954e-04 1.44485553e-01] [-8.94497602e-05 -4.11501775e-04 9.99999911e-01 5.34986427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36313336499998 meters 0.27764334658937134 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 9.99995218e-01 -3.07078768e-03 3.67564617e-04 1.38511446e+00] [ 3.07068316e-03 9.99995245e-01 2.84583866e-04 1.45129690e-01] [-3.68436765e-04 -2.83453830e-04 9.99999892e-01 5.32791053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42313336499998 meters 0.2773225970314374 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 9.99994709e-01 -3.25245315e-03 5.08300151e-05 1.38604992e+00] [ 3.25246831e-03 9.99994665e-01 -3.00897901e-04 1.47477789e-01] [-4.98510876e-05 3.01061632e-04 9.99999953e-01 5.26455843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.483133365 meters 0.2803280724114461 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 9.99974336e-01 7.12736772e-03 7.26842530e-04 1.40851947e+00] [-7.12704762e-03 9.99974505e-01 -4.42043439e-04 1.52015004e-01] [-7.29974605e-04 4.36851853e-04 9.99999638e-01 5.18587491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543133365 meters 0.2788838409016722 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 9.99976458e-01 6.76024045e-03 1.17571334e-03 1.40718373e+00] [-6.75846982e-03 9.99976031e-01 -1.50351522e-03 1.57011271e-01] [-1.18584929e-03 1.49553380e-03 9.99998179e-01 5.22512122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603133365 meters 0.2778012779685682 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 9.99978256e-01 6.46996199e-03 1.27548365e-03 1.40680633e+00] [-6.46714520e-03 9.99976667e-01 -2.20029561e-03 1.60099972e-01] [-1.28968972e-03 2.19199903e-03 9.99996766e-01 5.24897344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663133365 meters 0.27859701926170677 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 9.99980496e-01 6.11689650e-03 1.26142225e-03 1.40707022e+00] [-6.11309327e-03 9.99976823e-01 -2.99716119e-03 1.63633390e-01] [-1.27972634e-03 2.98939154e-03 9.99994713e-01 5.20451591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723133365 meters 0.27899939071559093 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:0.05 [[ 0.99998377 0.0055134 0.00143588 1.40664703] [-0.00550704 0.9999752 -0.00438969 0.16988091] [-0.00146005 0.00438171 0.99998933 0.05196946] [ 0. 0. 0. 1. ]] SLAMing on 183.783133365 meters 0.27887411693759023 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.05 [[ 0.99999631 -0.0018784 0.00196016 1.42432201] [ 0.00188492 0.99999269 -0.00332622 0.17964144] [-0.0019539 0.00332991 0.99999255 0.05461012] [ 0. 0. 0. 1. ]] SLAMing on 183.843133365 meters 0.2772945968758789 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.05 [[ 0.99999611 -0.00203868 0.00190242 1.42461122] [ 0.00204575 0.99999099 -0.00371921 0.18128616] [-0.00189482 0.00372309 0.99999127 0.05425548] [ 0. 0. 0. 1. ]] SLAMing on 183.903133365 meters 0.2783256727014948 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.05 [[ 0.99999592 -0.00222108 0.00179456 1.42494106] [ 0.00222849 0.99998897 -0.00413449 0.18309008] [-0.00178536 0.00413847 0.99998984 0.05408863] [ 0. 0. 0. 1. ]] SLAMing on 183.96313336499998 meters 0.2773466049368645 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.05 [[ 0.9999954 -0.00235469 0.00190981 1.42456331] [ 0.00236319 0.99998727 -0.00445879 0.1845262 ] [-0.00189929 0.00446328 0.99998824 0.05425616] [ 0. 0. 0. 1. ]] SLAMing on 184.02313336499998 meters 0.2774635443157184 Centerline is valid? [False, False] Translation: X:1.42, Y:0.19, Z:0.05 [[ 0.99999518 -0.00244311 0.00191434 1.42459691] [ 0.00245203 0.99998607 -0.00467469 0.18544513] [-0.0019029 0.00467936 0.99998724 0.05415293] [ 0. 0. 0. 1. ]] SLAMing on 184.08313336499998 meters 0.27919709905773427 Centerline is valid? [False, False] Translation: X:1.43, Y:0.19, Z:0.05 [[ 9.99999671e-01 -1.71373799e-04 7.92471533e-04 1.43028807e+00] [ 1.73662382e-04 9.99995813e-01 -2.88873866e-03 1.88633854e-01] [-7.91973160e-04 2.88887533e-03 9.99995514e-01 5.00520605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14313336499998 meters 0.27721617827916395 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:0.05 [[ 9.99976973e-01 -6.57140488e-03 -1.69404793e-03 1.40978120e+00] [ 6.57161908e-03 9.99978399e-01 1.20902727e-04 1.88237328e-01] [ 1.69321684e-03 -1.32032581e-04 9.99998558e-01 5.06049648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20313336499999 meters 0.2769770940128516 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:0.05 [[ 0.9999959 -0.00223253 -0.00179241 1.40981868] [ 0.00224056 0.99998739 0.00449408 0.18752827] [ 0.00178236 -0.00449808 0.9999883 0.0509486 ] [ 0. 0. 0. 1. ]] SLAMing on 184.263133365 meters 0.27564941312712915 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:0.05 [[ 0.999996 -0.00213564 -0.00185527 1.40979361] [ 0.00214444 0.99998639 0.00475643 0.18642456] [ 0.00184509 -0.00476039 0.99998697 0.05134247] [ 0. 0. 0. 1. ]] SLAMing on 184.323133365 meters 0.27625677605895793 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:0.05 [[ 0.99999632 -0.00202025 -0.00181217 1.40965924] [ 0.00202936 0.99998525 0.00503815 0.18520679] [ 0.00180196 -0.00504181 0.99998567 0.05143418] [ 0. 0. 0. 1. ]] SLAMing on 184.383133365 meters 0.2753861806713433 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:0.05 [[ 9.99995834e-01 2.81432947e-03 -6.41019376e-04 1.38619522e+00] [-2.81334152e-03 9.99994861e-01 1.53695053e-03 1.79111152e-01] [ 6.45341567e-04 -1.53514072e-03 9.99998613e-01 5.19414573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443133365 meters 0.2782463220221043 Centerline is valid? [False, False] Translation: X:1.43, Y:0.17, Z:0.05 [[ 9.99995976e-01 2.05679048e-03 1.95375708e-03 1.43121401e+00] [-2.05876569e-03 9.99997371e-01 1.00950870e-03 1.72469383e-01] [-1.95167559e-03 -1.01352697e-03 9.99997582e-01 5.00189653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503133365 meters 0.2754990480550555 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:0.05 [[ 9.99994441e-01 4.98183267e-04 3.29695823e-03 1.39343561e+00] [-5.03561532e-04 9.99998544e-01 1.63065189e-03 1.60977903e-01] [-3.29614107e-03 -1.63230305e-03 9.99993235e-01 4.67576074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563133365 meters 0.2775235503773753 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:0.05 [[ 9.99978945e-01 6.11743919e-03 2.16477447e-03 1.41628981e+00] [-6.11493052e-03 9.99980627e-01 -1.16358867e-03 1.49390968e-01] [-2.17185071e-03 1.15032672e-03 9.99996980e-01 4.67963690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623133365 meters 0.2781065709842867 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:0.05 [[ 9.99978021e-01 6.28474351e-03 2.11189355e-03 1.41662968e+00] [-6.28309751e-03 9.99979953e-01 -7.85129198e-04 1.47689051e-01] [-2.11678555e-03 7.71842708e-04 9.99997462e-01 4.64151483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683133365 meters 0.27925055992848635 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:0.05 [[ 9.99977337e-01 6.38323571e-03 2.14002332e-03 1.41661753e+00] [-6.38210265e-03 9.99979491e-01 -5.35874459e-04 1.46571010e-01] [-2.14340004e-03 5.22204466e-04 9.99997567e-01 4.63108383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74313336499998 meters 0.27732426611231625 Centerline is valid? [False, False] Translation: X:1.40, Y:0.15, Z:0.05 [[ 9.99995564e-01 -2.60844328e-03 1.43824336e-03 1.39720669e+00] [ 2.60759990e-03 9.99996427e-01 5.87960012e-04 1.48067902e-01] [-1.43977188e-03 -5.84207040e-04 9.99998793e-01 4.53377818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80313336499998 meters 0.2773093265877806 Centerline is valid? [False, False] Translation: X:1.40, Y:0.15, Z:0.05 [[ 9.99995707e-01 -2.56404943e-03 1.41822259e-03 1.39732116e+00] [ 2.56307833e-03 9.99996480e-01 6.86122260e-04 1.47583178e-01] [-1.41997685e-03 -6.82484299e-04 9.99998759e-01 4.52086982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86313336499998 meters 0.27812569694177663 Centerline is valid? [False, False] Translation: X:1.40, Y:0.15, Z:0.05 [[ 9.99995901e-01 -2.51850082e-03 1.36205482e-03 1.39743078e+00] [ 2.51742130e-03 9.99996516e-01 7.93699518e-04 1.47090354e-01] [-1.36404901e-03 -7.90267399e-04 9.99998757e-01 4.52548550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92313336499998 meters 0.2783519748237149 Centerline is valid? [False, False] Translation: X:1.42, Y:0.14, Z:0.05 [[ 9.99976402e-01 6.86761062e-03 -1.77132571e-04 1.41979455e+00] [-6.86758821e-03 9.99976410e-01 1.26805510e-04 1.44521661e-01] [ 1.77999243e-04 -1.25586044e-04 9.99999976e-01 4.55830330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.983133365 meters 0.27850752657353167 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:0.05 [[ 9.99999234e-01 -8.63441995e-04 -8.86574051e-04 1.44040261e+00] [ 8.64409151e-04 9.99999031e-01 1.09108849e-03 1.49599675e-01] [ 8.85631101e-04 -1.09185402e-03 9.99999012e-01 4.66977572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043133365 meters 0.276697060672415 Centerline is valid? [False, False] Translation: X:1.42, Y:0.15, Z:0.05 [[ 0.99998975 0.00394364 -0.00222389 1.4175209 ] [-0.00394947 0.99998877 -0.00261966 0.14925765] [ 0.00221353 0.00262841 0.9999941 0.04806561] [ 0. 0. 0. 1. ]] SLAMing on 185.103133365 meters 0.27833033256615153 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:0.05 [[ 9.99999122e-01 -1.29249664e-03 2.92353868e-04 1.43854838e+00] [ 1.29223037e-03 9.99998752e-01 9.09160886e-04 1.48904816e-01] [-2.93528590e-04 -9.08782299e-04 9.99999544e-01 4.75710440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163133365 meters 0.2750856630960384 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 9.99992104e-01 3.97350432e-03 -5.05202385e-05 1.41475073e+00] [-3.97360003e-03 9.99989980e-01 -2.06140805e-03 1.44895331e-01] [ 4.23287185e-05 2.06159252e-03 9.99997874e-01 4.91942259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223133365 meters 0.27515772461862315 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 9.99991025e-01 4.21648236e-03 4.13428719e-04 1.41308603e+00] [-4.21602219e-03 9.99990499e-01 -1.10770273e-03 1.41204278e-01] [-4.18095400e-04 1.10594976e-03 9.99999301e-01 5.08080842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283133365 meters 0.27533375259619247 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 9.99989890e-01 4.47944064e-03 3.93654415e-04 1.41275390e+00] [-4.47934056e-03 9.99989935e-01 -2.54740182e-04 1.37585117e-01] [-3.94791547e-04 2.52974295e-04 9.99999890e-01 5.16000305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.343133365 meters 0.2756863746017728 Centerline is valid? [False, False] Translation: X:1.41, Y:0.13, Z:0.05 [[ 9.99988554e-01 4.77959532e-03 2.16911642e-04 1.41312476e+00] [-4.77971539e-03 9.99988422e-01 5.56450978e-04 1.34128267e-01] [-2.14249520e-04 -5.57481384e-04 9.99999822e-01 5.17335895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403133365 meters 0.2755244774151818 Centerline is valid? [False, False] Translation: X:1.41, Y:0.13, Z:0.05 [[ 9.99985986e-01 5.29118417e-03 1.75529117e-04 1.41297739e+00] [-5.29148383e-03 9.99984463e-01 1.75305540e-03 1.28790722e-01] [-1.66250651e-04 -1.75395964e-03 9.99998448e-01 5.22350447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46313336499998 meters 0.2754368478131702 Centerline is valid? [False, False] Translation: X:1.41, Y:0.13, Z:0.05 [[ 9.99999289e-01 1.18463469e-03 1.38674058e-04 1.41298150e+00] [-1.18436065e-03 9.99997378e-01 -1.95986693e-03 1.26199099e-01] [-1.40995421e-04 1.95970130e-03 9.99998070e-01 5.23842863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52313336499998 meters 0.2751632895133447 Centerline is valid? [False, False] Translation: X:1.41, Y:0.12, Z:0.05 [[ 9.99999103e-01 1.33541646e-03 1.03207761e-04 1.41300291e+00] [-1.33524980e-03 9.99997831e-01 -1.59836174e-03 1.24612838e-01] [-1.05342016e-04 1.59822250e-03 9.99998717e-01 5.25208475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58313336499998 meters 0.2766382481938435 Centerline is valid? [False, False] Translation: X:1.41, Y:0.12, Z:0.05 [[ 9.99998942e-01 1.45222327e-03 8.15148645e-05 1.41334430e+00] [-1.45211472e-03 9.99998079e-01 -1.31627552e-03 1.23301228e-01] [-8.34262339e-05 1.31615576e-03 9.99999130e-01 5.19661233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64313336499998 meters 0.27572493293862277 Centerline is valid? [False, False] Translation: X:1.41, Y:0.12, Z:0.05 [[ 9.99998871e-01 1.50144793e-03 5.64539613e-05 1.41336583e+00] [-1.50137913e-03 9.99998154e-01 -1.19948198e-03 1.22784602e-01] [-5.82548168e-05 1.19939586e-03 9.99999279e-01 5.20437260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70313336499999 meters 0.27556169857506335 Centerline is valid? [False, False] Translation: X:1.41, Y:0.12, Z:0.05 [[ 9.99999029e-01 1.39325091e-03 4.66943611e-06 1.41365265e+00] [-1.39324234e-03 9.99997905e-01 -1.49933720e-03 1.24089477e-01] [-6.75837925e-06 1.49932924e-03 9.99998876e-01 5.16357435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.763133365 meters 0.2770292975732942 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:0.05 [[ 9.99990375e-01 -3.90962633e-03 -1.99099208e-03 1.43805676e+00] [ 3.91173076e-03 9.99991794e-01 1.05417887e-03 1.31947066e-01] [ 1.98685429e-03 -1.06195695e-03 9.99997462e-01 5.00212328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.823133365 meters 0.27733895559023725 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:0.05 [[ 9.99989824e-01 -4.13431101e-03 -1.80536722e-03 1.43760080e+00] [ 4.13508514e-03 9.99991360e-01 4.25271453e-04 1.34695153e-01] [ 1.80359342e-03 -4.32732473e-04 9.99998280e-01 5.00024704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883133365 meters 0.2771165732185982 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:0.05 [[ 9.99989081e-01 -4.35680416e-03 -1.68976704e-03 1.43719550e+00] [ 4.35658821e-03 9.99990501e-01 -1.31461454e-04 1.37170300e-01] [ 1.69032374e-03 1.24098399e-04 9.99998564e-01 5.02037729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.943133365 meters 0.2781091884500295 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:0.05 [[ 9.99988707e-01 -4.45249406e-03 -1.66179614e-03 1.43715585e+00] [ 4.45191240e-03 9.99990028e-01 -3.53549736e-04 1.38158754e-01] [ 1.66335375e-03 3.46147572e-04 9.99998557e-01 5.01235218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.003133365 meters 0.2763813603282881 Centerline is valid? [False, False] Translation: X:1.43, Y:0.14, Z:0.05 [[ 9.99996987e-01 -2.41414850e-03 -4.45370083e-04 1.43161576e+00] [ 2.41474213e-03 9.99996190e-01 1.33722463e-03 1.42249218e-01] [ 4.42140127e-04 -1.33829606e-03 9.99999007e-01 5.35368679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063133365 meters 0.27621226979075675 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 9.99985552e-01 5.36143199e-03 -3.89231301e-04 1.41141861e+00] [-5.36141553e-03 9.99985627e-01 4.33159449e-05 1.39774061e-01] [ 3.89457942e-04 -4.12284883e-05 9.99999923e-01 5.26693432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123133365 meters 0.2763686562826012 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99996380e-01 -2.48075384e-03 -1.04242028e-03 1.43139491e+00] [ 2.48132213e-03 9.99996773e-01 5.44224227e-04 1.46946080e-01] [ 1.04106683e-03 -5.46808837e-04 9.99999309e-01 5.38287445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183133365 meters 0.2772396263101879 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99995764e-01 -2.79251912e-03 -8.20630539e-04 1.43079982e+00] [ 2.79230136e-03 9.99996066e-01 -2.66391155e-04 1.50591796e-01] [ 8.21371213e-04 2.64098578e-04 9.99999628e-01 5.38880425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24313336499998 meters 0.2771235885946491 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99995594e-01 -2.87532558e-03 -7.37283074e-04 1.43018199e+00] [ 2.87496822e-03 9.99995750e-01 -4.85300780e-04 1.51571802e-01] [ 7.38675338e-04 4.83178976e-04 9.99999610e-01 5.47696789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30313336499998 meters 0.2767801426710098 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.06 [[ 9.99995664e-01 -2.88086449e-03 -6.10822390e-04 1.42967414e+00] [ 2.88055302e-03 9.99995721e-01 -5.10179017e-04 1.51685120e-01] [ 6.12289533e-04 5.08417298e-04 9.99999683e-01 5.51907793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36313336499998 meters 0.2764557632961099 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.06 [[ 9.99995860e-01 -2.75952656e-03 -8.15234035e-04 1.43024548e+00] [ 2.75940495e-03 9.99996182e-01 -1.50263107e-04 1.50067151e-01] [ 8.15645577e-04 1.48012924e-04 9.99999656e-01 5.50459840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42313336499998 meters 0.2754537149993634 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99996160e-01 -2.56723121e-03 -1.04349935e-03 1.43105441e+00] [ 2.56761228e-03 9.99996637e-01 3.64007911e-04 1.47654558e-01] [ 1.04256135e-03 -3.66685815e-04 9.99999389e-01 5.45062476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.483133365 meters 0.2762210505745086 Centerline is valid? [False, False] Translation: X:1.43, Y:0.14, Z:0.05 [[ 9.99997040e-01 -2.17610064e-03 -1.08880024e-03 1.43144649e+00] [ 2.17748342e-03 9.99996822e-01 1.27043493e-03 1.43452981e-01] [ 1.08603219e-03 -1.27280202e-03 9.99998600e-01 5.40630975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.543133365 meters 0.2756594228417387 Centerline is valid? [False, False] Translation: X:1.43, Y:0.14, Z:0.05 [[ 9.99997263e-01 -2.00405463e-03 -1.20716733e-03 1.43186585e+00] [ 2.00607328e-03 9.99996588e-01 1.67333720e-03 1.41613661e-01] [ 1.20380975e-03 -1.67575428e-03 9.99997871e-01 5.38224221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603133365 meters 0.2749037831296202 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 0.99998579 0.00335146 -0.0041469 1.41140304] [-0.0033575 0.99999331 -0.00144996 0.14124272] [ 0.00414202 0.00146386 0.99999035 0.05428665] [ 0. 0. 0. 1. ]] SLAMing on 186.663133365 meters 0.27524257787287015 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99985557e-01 -4.47694597e-03 -2.97381415e-03 1.43020442e+00] [ 4.47536029e-03 9.99989840e-01 -5.39653418e-04 1.46459041e-01] [ 2.97619994e-03 5.26336734e-04 9.99995433e-01 5.49463416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.723133365 meters 0.2770277651297815 Centerline is valid? [False, False] Translation: X:1.43, Y:0.15, Z:0.05 [[ 9.99985306e-01 -4.56494140e-03 -2.92387331e-03 1.43028098e+00] [ 4.56275297e-03 9.99989306e-01 -7.54701595e-04 1.47371667e-01] [ 2.92728721e-03 7.41349594e-04 9.99995441e-01 5.45177798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783133365 meters 0.27595704550040273 Centerline is valid? [False, False] Translation: X:1.41, Y:0.14, Z:0.05 [[ 0.99999019 0.00317833 -0.00308637 1.41079702] [-0.0031846 0.99999287 -0.00202985 0.14373941] [ 0.0030799 0.00203966 0.99999318 0.05355939] [ 0. 0. 0. 1. ]] SLAMing on 186.843133365 meters 0.2751530135270214 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999071 0.00301552 -0.00308127 1.41083833] [-0.00302294 0.99999254 -0.00240568 0.14544551] [ 0.00307399 0.00241497 0.99999236 0.05345342] [ 0. 0. 0. 1. ]] SLAMing on 186.903133365 meters 0.27541774282845866 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999148 0.00278698 -0.00304659 1.41094281] [-0.002796 0.99999172 -0.00295795 0.14792546] [ 0.00303832 0.00296645 0.99999098 0.05305378] [ 0. 0. 0. 1. ]] SLAMing on 186.96313336499998 meters 0.2755779967458821 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999235 0.0026088 -0.00291608 1.41042324] [-0.00261881 0.99999067 -0.00343537 0.15007671] [ 0.00290709 0.00344298 0.99998985 0.05348085] [ 0. 0. 0. 1. ]] SLAMing on 187.02313336499998 meters 0.2756860990167404 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999324 0.00234708 -0.00283176 1.41036979] [-0.00235878 0.99998866 -0.00413693 0.15312771] [ 0.00282202 0.00414358 0.99998743 0.05313009] [ 0. 0. 0. 1. ]] SLAMing on 187.08313336499998 meters 0.27569116108071423 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999383 0.00222543 -0.00271847 1.40997121] [-0.00223745 0.9999877 -0.00442675 0.15451181] [ 0.00270858 0.00443281 0.99998651 0.05336047] [ 0. 0. 0. 1. ]] SLAMing on 187.14313336499998 meters 0.27571214803932537 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.05 [[ 0.99999384 0.00220241 -0.00273172 1.40954117] [-0.00221465 0.99998749 -0.00448414 0.15484811] [ 0.00272181 0.00449016 0.99998622 0.05429697] [ 0. 0. 0. 1. ]] SLAMing on 187.20313336499999 meters 0.27669791034390123 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 0.99999379 0.00205334 -0.00286298 1.41007248] [-0.00206727 0.999986 -0.00487068 0.15657482] [ 0.00285294 0.00487657 0.99998404 0.05379954] [ 0. 0. 0. 1. ]] SLAMing on 187.263133365 meters 0.2766564342577586 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 0.99999387 0.00189742 -0.00294395 1.41046938] [-0.00191296 0.9999842 -0.00528492 0.15834435] [ 0.00293387 0.00529052 0.9999817 0.05335141] [ 0. 0. 0. 1. ]] SLAMing on 187.323133365 meters 0.2768765849296775 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:0.05 [[ 0.9999927 -0.00276762 -0.00263266 1.43295368] [ 0.00276318 0.99999476 -0.00168937 0.16356646] [ 0.00263732 0.00168208 0.99999511 0.05315183] [ 0. 0. 0. 1. ]] SLAMing on 187.383133365 meters 0.2768838085061751 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:0.05 [[ 0.99999254 -0.00289474 -0.00255607 1.43273743] [ 0.00288966 0.99999385 -0.00198912 0.16493053] [ 0.00256181 0.00198172 0.99999475 0.0531579 ] [ 0. 0. 0. 1. ]] SLAMing on 187.443133365 meters 0.27479112971416947 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.05 [[ 0.99998071 0.00489152 -0.00382876 1.41294988] [-0.00490414 0.99998255 -0.00329295 0.16406735] [ 0.00381258 0.00331166 0.99998725 0.05201655] [ 0. 0. 0. 1. ]] SLAMing on 187.503133365 meters 0.27874610279634016 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99991084e-01 -1.07808438e-04 -4.22152114e-03 1.43677741e+00] [ 1.06410000e-04 9.99999939e-01 -3.31487285e-04 1.71358652e-01] [ 4.22155662e-03 3.31035117e-04 9.99991034e-01 5.11094807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563133365 meters 0.27700373289778113 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99991147e-01 -2.71008651e-04 -4.19908156e-03 1.43675468e+00] [ 2.68071454e-04 9.99999719e-01 -7.00032398e-04 1.73031082e-01] [ 4.19927009e-03 6.98900547e-04 9.99990939e-01 5.10035490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623133365 meters 0.2759684583428439 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99990900e-01 -3.89535193e-04 -4.24826541e-03 1.43664173e+00] [ 3.85366286e-04 9.99999443e-01 -9.82094314e-04 1.74387744e-01] [ 4.24864561e-03 9.80448239e-04 9.99990494e-01 5.14235067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683133365 meters 0.27537379131923495 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99991280e-01 -3.92327033e-04 -4.15760066e-03 1.43642117e+00] [ 3.88228342e-04 9.99999438e-01 -9.86591890e-04 1.74462604e-01] [ 4.15798539e-03 9.84969189e-04 9.99990870e-01 5.14421402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74313336499998 meters 0.27430953479994347 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99991036e-01 -3.22341905e-04 -4.22186200e-03 1.43637850e+00] [ 3.18931805e-04 9.99999622e-01 -8.08372569e-04 1.73651744e-01] [ 4.22212097e-03 8.07018836e-04 9.99990761e-01 5.18569961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80313336499998 meters 0.27468502100328196 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99990552e-01 -1.13226807e-04 -4.34554229e-03 1.43651386e+00] [ 1.12339000e-04 9.99999973e-01 -2.04546501e-04 1.71054615e-01] [ 4.34556534e-03 2.04056394e-04 9.99990537e-01 5.22301401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86313336499998 meters 0.2743967811654887 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99990412e-01 2.02778594e-05 -4.37896984e-03 1.43663908e+00] [-1.97842338e-05 9.99999993e-01 1.12769716e-04 1.69629236e-01] [ 4.37897210e-03 -1.12682001e-04 9.99990406e-01 5.21458997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92313336499998 meters 0.27487991031069114 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99984272e-01 -1.17365792e-03 -5.48430283e-03 1.44120504e+00] [ 1.16918259e-03 9.99998981e-01 -8.19160150e-04 1.67566980e-01] [ 5.48525866e-03 8.12735115e-04 9.99984626e-01 4.95428996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.983133365 meters 0.27275785593011936 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992491e-01 -1.50281211e-03 -3.57191942e-03 1.40240386e+00] [ 1.50687078e-03 9.99998222e-01 1.13385252e-03 1.58911468e-01] [ 3.57020910e-03 -1.13922642e-03 9.99992978e-01 4.65629979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043133365 meters 0.273916996075084 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992978e-01 -1.22260782e-03 -3.54242560e-03 1.40225731e+00] [ 1.22884195e-03 9.99997699e-01 1.75820663e-03 1.56022416e-01] [ 3.54026785e-03 -1.76254736e-03 9.99992180e-01 4.67785708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103133365 meters 0.2739153510649277 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992755e-01 -1.19359034e-03 -3.61456306e-03 1.40248327e+00] [ 1.20020354e-03 9.99997609e-01 1.82798289e-03 1.55622398e-01] [ 3.61237255e-03 -1.83230785e-03 9.99991797e-01 4.66457550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163133365 meters 0.2743311504284456 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992015e-01 -1.29428756e-03 -3.78079479e-03 1.40307054e+00] [ 1.30014209e-03 9.99997959e-01 1.54644442e-03 1.56694792e-01] [ 3.77878553e-03 -1.55134765e-03 9.99991657e-01 4.61843479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223133365 meters 0.274184640893379 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992224e-01 -1.39079343e-03 -3.69009214e-03 1.40286216e+00] [ 1.39558424e-03 9.99998186e-01 1.29603162e-03 1.57794413e-01] [ 3.68828293e-03 -1.30117138e-03 9.99992352e-01 4.61739145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283133365 meters 0.2768050816504867 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992835e-01 -1.53373154e-03 -3.46079006e-03 1.40226788e+00] [ 1.53695709e-03 9.99998387e-01 9.29557913e-04 1.59533314e-01] [ 3.45935878e-03 -9.34870338e-04 9.99993579e-01 4.62445774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343133365 meters 0.2766126119634248 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99993135e-01 -1.61322500e-03 -3.33571569e-03 1.40186728e+00] [ 1.61571451e-03 9.99998418e-01 7.43760484e-04 1.60424249e-01] [ 3.33451056e-03 -7.49144942e-04 9.99994160e-01 4.64130802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403133365 meters 0.27502852745540524 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99993035e-01 -1.56830501e-03 -3.38676164e-03 1.40191551e+00] [ 1.57121599e-03 9.99998398e-01 8.57026381e-04 1.59966827e-01] [ 3.38541213e-03 -8.62341746e-04 9.99993898e-01 4.65728439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46313336499998 meters 0.27768906461520687 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992699e-01 -1.48949883e-03 -3.51904029e-03 1.40239078e+00] [ 1.49320829e-03 9.99998332e-01 1.05171960e-03 1.59029804e-01] [ 3.51746789e-03 -1.05696658e-03 9.99993255e-01 4.62839042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52313336499998 meters 0.2761709165127951 Centerline is valid? [False, False] Translation: X:1.40, Y:0.16, Z:0.05 [[ 9.99992866e-01 -1.33832723e-03 -3.53225540e-03 1.40266056e+00] [ 1.34332444e-03 9.99998100e-01 1.41274292e-03 1.57365121e-01] [ 3.53035797e-03 -1.41747780e-03 9.99992764e-01 4.58363136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58313336499998 meters 0.27476421935430695 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.05 [[ 0.9999872 0.0035092 -0.00364461 1.37955173] [-0.00351593 0.99999212 -0.00184231 0.1518647 ] [ 0.00363812 0.0018551 0.99999166 0.04649777] [ 0. 0. 0. 1. ]] SLAMing on 188.64313336499998 meters 0.27390947617576944 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.05 [[ 9.99985620e-01 3.77003933e-03 -3.81407948e-03 1.37984770e+00] [-3.77414411e-03 9.99992306e-01 -1.06959442e-03 1.48455091e-01] [ 3.81001772e-03 1.08397393e-03 9.99992154e-01 4.67083407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70313336499999 meters 0.27669142676358754 Centerline is valid? [False, False] Translation: X:1.40, Y:0.15, Z:0.05 [[ 9.99977665e-01 -4.66602082e-03 -4.78510948e-03 1.40342147e+00] [ 4.66491640e-03 9.99989090e-01 -2.41938518e-04 1.47326421e-01] [ 4.78618616e-03 2.19610979e-04 9.99988522e-01 4.64257125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763133365 meters 0.2753927203528236 Centerline is valid? [False, False] Translation: X:1.40, Y:0.15, Z:0.05 [[ 9.99977732e-01 -4.52932276e-03 -4.90110843e-03 1.40377494e+00] [ 4.52979167e-03 9.99989737e-01 8.45777111e-05 1.45803572e-01] [ 4.90067505e-03 -1.06776828e-04 9.99987986e-01 4.62997868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823133365 meters 0.27371345792168367 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:0.04 [[ 9.99983195e-01 3.19386176e-03 -4.83830416e-03 1.38348436e+00] [-3.19812360e-03 9.99994505e-01 -8.73372379e-04 1.41476681e-01] [ 4.83548814e-03 8.88831197e-04 9.99987914e-01 4.49945732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883133365 meters 0.2748831659683801 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:0.04 [[ 9.99984682e-01 3.08967878e-03 -4.59229471e-03 1.38292394e+00] [-3.09518591e-03 9.99994499e-01 -1.19258807e-03 1.42924296e-01] [ 4.58858474e-03 1.20678380e-03 9.99988744e-01 4.49868529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943133365 meters 0.2758219861295431 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.04 [[ 0.9999869 0.00279435 -0.00428854 1.38233426] [-0.00280324 0.99999393 -0.00206767 0.14675873] [ 0.00428274 0.00207967 0.99998867 0.04467726] [ 0. 0. 0. 1. ]] SLAMing on 189.003133365 meters 0.2768955275779746 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.04 [[ 0.99998813 0.00249401 -0.0041863 1.38203576] [-0.00250566 0.999993 -0.00277881 0.14999337] [ 0.00417935 0.00278927 0.99998738 0.04471143] [ 0. 0. 0. 1. ]] SLAMing on 189.063133365 meters 0.27559858907597 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:0.04 [[ 0.99998892 0.00217312 -0.00417474 1.38188403] [-0.00218775 0.99999147 -0.00350283 0.15324126] [ 0.00416709 0.00351192 0.99998515 0.04488668] [ 0. 0. 0. 1. ]] SLAMing on 189.123133365 meters 0.27543874679276314 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:0.05 [[ 0.99999022 0.00172137 -0.00407427 1.38145544] [-0.00173971 0.99998835 -0.00450348 0.15783577] [ 0.00406647 0.00451053 0.99998156 0.0451114 ] [ 0. 0. 0. 1. ]] SLAMing on 189.183133365 meters 0.27630904871680506 Centerline is valid? [False, False] Translation: X:1.40, Y:0.17, Z:0.05 [[ 0.99997759 -0.00569547 -0.00351915 1.39933561] [ 0.00568292 0.9999775 -0.00356387 0.16745076] [ 0.00353937 0.0035438 0.99998746 0.0476311 ] [ 0. 0. 0. 1. ]] SLAMing on 189.24313336499998 meters 0.2753484030091496 Centerline is valid? [False, False] Translation: X:1.40, Y:0.17, Z:0.05 [[ 0.99997581 -0.00600915 -0.00350309 1.39932899] [ 0.00599409 0.99997282 -0.00429219 0.17066983] [ 0.00352879 0.00427108 0.99998465 0.04747727] [ 0. 0. 0. 1. ]] SLAMing on 189.30313336499998 meters 0.2772276647793182 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.05 [[ 0.99998869 -0.00426487 -0.00210719 1.44213228] [ 0.00425637 0.99998286 -0.00402086 0.18017889] [ 0.0021243 0.00401185 0.9999897 0.04706345] [ 0. 0. 0. 1. ]] SLAMing on 189.36313336499998 meters 0.27519073497019997 Centerline is valid? [False, False] Translation: X:1.40, Y:0.18, Z:0.04 [[ 9.99994005e-01 -3.46235822e-03 -4.10448560e-05 1.40217953e+00] [ 3.46223752e-03 9.99990507e-01 -2.64540555e-03 1.79256017e-01] [ 5.02038081e-05 2.64524759e-03 9.99996500e-01 4.40661648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42313336499998 meters 0.2765496377420578 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.04 [[ 9.99986697e-01 5.15771393e-03 6.85389122e-05 1.42327907e+00] [-5.15738787e-03 9.99978217e-01 -4.11910605e-03 1.78655501e-01] [-8.97825899e-05 4.11869777e-03 9.99991514e-01 4.45276887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.483133365 meters 0.2774879357357559 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.04 [[ 9.99987794e-01 4.93916018e-03 1.30530492e-04 1.42353837e+00] [-4.93849522e-03 9.99976853e-01 -4.68021033e-03 1.81089928e-01] [-1.53643779e-04 4.67950858e-03 9.99989039e-01 4.36740157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.543133365 meters 0.2773433449694953 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.04 [[ 9.99988447e-01 4.79832534e-03 2.86090092e-04 1.42318383e+00] [-4.79681838e-03 9.99975724e-01 -5.05397170e-03 1.82704682e-01] [-3.10333747e-04 5.05254098e-03 9.99987188e-01 4.36111936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.603133365 meters 0.2760037594370022 Centerline is valid? [False, False] Translation: X:1.42, Y:0.18, Z:0.04 [[ 9.99988939e-01 4.68739581e-03 3.88682963e-04 1.42294961e+00] [-4.68526001e-03 9.99974846e-01 -5.32496394e-03 1.83895732e-01] [-4.13633400e-04 5.32308396e-03 9.99985747e-01 4.35734103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.663133365 meters 0.27723894306520497 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994545e-01 -3.18777170e-03 8.64619462e-04 1.44304406e+00] [ 3.19143811e-03 9.99985779e-01 -4.27279292e-03 1.87819110e-01] [-8.50986478e-04 4.27552900e-03 9.99990498e-01 4.52339419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.723133365 meters 0.27510287046380605 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994762e-01 -3.11416828e-03 8.81600762e-04 1.44290447e+00] [ 3.11775382e-03 9.99986754e-01 -4.09534701e-03 1.87029240e-01] [-8.68835485e-04 4.09807418e-03 9.99991225e-01 4.54522216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.783133365 meters 0.27536610099329983 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994958e-01 -3.01961085e-03 9.82672182e-04 1.44243362e+00] [ 3.02336932e-03 9.99988034e-01 -3.84600444e-03 1.85891187e-01] [-9.71046986e-04 3.84895603e-03 9.99992121e-01 4.60076441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.843133365 meters 0.27610418066514847 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994742e-01 -3.08979598e-03 9.84826774e-04 1.44260860e+00] [ 3.09373270e-03 9.99987129e-01 -4.02123666e-03 1.86617564e-01] [-9.72389298e-04 4.02426231e-03 9.99991430e-01 4.56444626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.903133365 meters 0.27531431565266756 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994218e-01 -3.21497835e-03 1.10805021e-03 1.44228283e+00] [ 3.21974837e-03 9.99985441e-01 -4.33032513e-03 1.87985308e-01] [-1.09411218e-03 4.33386774e-03 9.99990010e-01 4.56821309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96313336499998 meters 0.2753368286169064 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99993823e-01 -3.29623379e-03 1.21991122e-03 1.44184462e+00] [ 3.30172539e-03 9.99984301e-01 -4.52734063e-03 1.88874551e-01] [-1.20496890e-03 4.53134048e-03 9.99989007e-01 4.60047965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02313336499998 meters 0.27543585240702595 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994154e-01 -3.25623143e-03 1.04321539e-03 1.44242075e+00] [ 3.26082753e-03 9.99984850e-01 -4.43471946e-03 1.88333271e-01] [-1.02875912e-03 4.43809528e-03 9.99989622e-01 4.56886909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08313336499998 meters 0.2739951447459277 Centerline is valid? [False, False] Translation: X:1.44, Y:0.19, Z:0.05 [[ 9.99994771e-01 -3.09370806e-03 9.41797862e-04 1.44274973e+00] [ 3.09745666e-03 9.99987182e-01 -4.00515795e-03 1.86472941e-01] [-9.29395000e-04 4.00805419e-03 9.99991536e-01 4.54980686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14313336499998 meters 0.27348867022073264 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.05 [[ 9.99995334e-01 -2.92124316e-03 8.93080539e-04 1.44284451e+00] [ 2.92441361e-03 9.99989353e-01 -3.56956754e-03 1.84508950e-01] [-8.82643456e-04 3.57216262e-03 9.99993230e-01 4.55666237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20313336499999 meters 0.27488403747725093 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.05 [[ 9.99995839e-01 -2.77484684e-03 7.89012650e-04 1.44319366e+00] [ 2.77737137e-03 9.99990969e-01 -3.21671853e-03 1.82911637e-01] [-7.80079623e-04 3.21889653e-03 9.99994515e-01 4.53835388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.263133365 meters 0.274592361299368 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.04 [[ 9.99996616e-01 -2.51510552e-03 6.64376750e-04 1.44394459e+00] [ 2.51677901e-03 9.99993632e-01 -2.53018158e-03 1.79678824e-01] [-6.58008846e-04 2.53184511e-03 9.99996578e-01 4.45519188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.323133365 meters 0.27351240399390575 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.04 [[ 9.99997375e-01 -2.18216290e-03 6.98285110e-04 1.44364775e+00] [ 2.18333091e-03 9.99996212e-01 -1.67631515e-03 1.75905802e-01] [-6.94624471e-04 1.67783534e-03 9.99998351e-01 4.49735924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.383133365 meters 0.2723281999214414 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99997918e-01 -1.90963551e-03 7.18992007e-04 1.44322121e+00] [ 1.91035420e-03 9.99997675e-01 -1.00021907e-03 1.72856013e-01] [-7.17080281e-04 1.00159051e-03 9.99999241e-01 4.57570694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.443133365 meters 0.2739888439821949 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.05 [[ 0.99998517 0.00505188 0.00203566 1.46453648] [-0.00504463 0.99998096 -0.00355394 0.17066633] [-0.00205358 0.00354362 0.99999161 0.04524019] [ 0. 0. 0. 1. ]] SLAMing on 190.503133365 meters 0.2731183774545254 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99998529e-01 -1.50169510e-03 8.28390390e-04 1.44337229e+00] [ 1.50190646e-03 9.99998840e-01 -2.54583179e-04 1.69497116e-01] [-8.28007123e-04 2.55826970e-04 9.99999624e-01 4.52078785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.563133365 meters 0.27479770213186944 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.05 [[ 9.99998454e-01 -1.40241574e-03 1.06097002e-03 1.44273935e+00] [ 1.40239064e-03 9.99999016e-01 2.44008314e-05 1.68275570e-01] [-1.06100320e-03 -2.29128992e-05 9.99999437e-01 4.54400203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.623133365 meters 0.2760981722523486 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.04 [[ 0.99998029 0.00554238 0.0029497 1.46413353] [-0.00553433 0.99998096 -0.00273086 0.16913749] [-0.00296478 0.00271448 0.99999192 0.04427018] [ 0. 0. 0. 1. ]] SLAMing on 190.683133365 meters 0.2758195072292122 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.04 [[ 0.99997998 0.00559069 0.00296274 1.46425222] [-0.00558295 0.99998099 -0.0026171 0.16861375] [-0.00297732 0.00260051 0.99999219 0.0439664 ] [ 0. 0. 0. 1. ]] SLAMing on 190.74313336499998 meters 0.2743053267712414 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.04 [[ 0.99999259 -0.00328503 0.00200507 1.44398824] [ 0.00328821 0.99999334 -0.00158194 0.16916639] [-0.00199986 0.00158852 0.99999674 0.04337041] [ 0. 0. 0. 1. ]] SLAMing on 190.80313336499998 meters 0.2750765500197211 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:0.04 [[ 0.99999229 -0.00341055 0.00194749 1.44423928] [ 0.00341423 0.99999239 -0.00188959 0.17048747] [-0.00194104 0.00189623 0.99999632 0.04311853] [ 0. 0. 0. 1. ]] SLAMing on 190.86313336499998 meters 0.27512138298438954 Centerline is valid? [False, False] Translation: X:1.44, Y:0.18, Z:0.04 [[ 0.99999117 -0.00372129 0.00195017 1.44447721] [ 0.00372741 0.9999881 -0.00314604 0.17606031] [-0.00193844 0.00315328 0.99999315 0.04248018] [ 0. 0. 0. 1. ]] SLAMing on 190.92313336499998 meters 0.2779623211055528 Centerline is valid? [False, False] Translation: X:1.47, Y:0.19, Z:0.04 [[ 0.99997222 0.00611349 0.00426337 1.46564288] [-0.00609712 0.99997403 -0.00384153 0.18543313] [-0.00428674 0.00381542 0.99998353 0.04158737] [ 0. 0. 0. 1. ]] SLAMing on 190.983133365 meters 0.277445824429892 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:0.04 [[ 0.99999102 -0.0022447 0.00359568 1.44655635] [ 0.00225728 0.99999134 -0.00349705 0.19602397] [-0.00358779 0.00350514 0.99998742 0.03997089] [ 0. 0. 0. 1. ]] SLAMing on 191.043133365 meters 0.2769957256713889 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:0.04 [[ 9.99993442e-01 1.42964628e-03 3.32742916e-03 1.44669839e+00] [-1.42689204e-03 9.99998638e-01 -8.29963266e-04 2.02277113e-01] [-3.32861118e-03 8.25209941e-04 9.99994120e-01 4.04853842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103133365 meters 0.2753930686066481 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:0.04 [[ 9.99994530e-01 1.23167734e-03 3.06971902e-03 1.44715534e+00] [-1.22773028e-03 9.99998418e-01 -1.28736045e-03 2.04284997e-01] [-3.07129977e-03 1.28358462e-03 9.99994460e-01 4.07129285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163133365 meters 0.27481661767937166 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99994550e-01 1.08552401e-03 3.11809727e-03 1.44704137e+00] [-1.08038119e-03 9.99998054e-01 -1.65055768e-03 2.05863653e-01] [-3.11988293e-03 1.64717995e-03 9.99993777e-01 4.06941421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223133365 meters 0.27498735539259245 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99994665e-01 8.91109328e-04 3.14255441e-03 1.44644665e+00] [-8.84311317e-04 9.99997268e-01 -2.16393817e-03 2.08322977e-01] [-3.14447413e-03 2.16114763e-03 9.99992721e-01 4.17877715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283133365 meters 0.27598511178256185 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99994881e-01 7.82175658e-04 3.10265524e-03 1.44654624e+00] [-7.74630872e-04 9.99996742e-01 -2.43217607e-03 2.09489705e-01] [-3.10454752e-03 2.42976020e-03 9.99992229e-01 4.17710904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343133365 meters 0.2764174633442257 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99995437e-01 7.23937878e-04 2.93283768e-03 1.44706868e+00] [-7.16392899e-04 9.99996434e-01 -2.57282101e-03 2.10084028e-01] [-2.93468979e-03 2.57070821e-03 9.99992389e-01 4.14975202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403133365 meters 0.27432662307716243 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99995281e-01 7.79864925e-04 2.97158682e-03 1.44687632e+00] [-7.72603907e-04 9.99996715e-01 -2.44384666e-03 2.09496014e-01] [-2.97348293e-03 2.44153926e-03 9.99992599e-01 4.17024999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46313336499998 meters 0.2754666073646575 Centerline is valid? [False, False] Translation: X:1.47, Y:0.21, Z:0.04 [[ 9.99965687e-01 -7.12179790e-03 4.23152306e-03 1.46667104e+00] [ 7.12735918e-03 9.99973754e-01 -1.30062746e-03 2.11724636e-01] [-4.22214919e-03 1.33074241e-03 9.99990201e-01 4.29588370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52313336499998 meters 0.27543910225296037 Centerline is valid? [False, False] Translation: X:1.47, Y:0.21, Z:0.04 [[ 0.99998855 -0.00274448 0.00392126 1.46732092] [ 0.00273211 0.99999129 0.00315677 0.21091193] [-0.00392989 -0.00314602 0.99998733 0.04301975] [ 0. 0. 0. 1. ]] SLAMing on 191.58313336499998 meters 0.2770035275453668 Centerline is valid? [False, False] Translation: X:1.47, Y:0.21, Z:0.04 [[ 0.99998827 -0.00288436 0.00389046 1.46738223] [ 0.00287356 0.99999201 0.00277725 0.21253165] [-0.00389844 -0.00276604 0.99998858 0.04297558] [ 0. 0. 0. 1. ]] SLAMing on 191.64313336499998 meters 0.27730324056473005 Centerline is valid? [False, False] Translation: X:1.47, Y:0.21, Z:0.04 [[ 0.99998786 -0.00295069 0.00394676 1.46728112] [ 0.00294037 0.99999225 0.00261905 0.21322903] [-0.00395445 -0.00260742 0.99998878 0.04287643] [ 0. 0. 0. 1. ]] SLAMing on 191.70313336499999 meters 0.2755597986927324 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99985200e-01 4.95567444e-03 2.24501774e-03 1.44753864e+00] [-4.95888216e-03 9.99986689e-01 1.42550743e-03 2.11725773e-01] [-2.23792351e-03 -1.43661911e-03 9.99996464e-01 4.20543230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763133365 meters 0.27781962938034305 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:0.04 [[ 9.99986125e-01 4.77860654e-03 2.21694427e-03 1.44778790e+00] [-4.78080955e-03 9.99988082e-01 9.89481618e-04 2.13617179e-01] [-2.21218951e-03 -1.00006668e-03 9.99997053e-01 4.16320020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823133365 meters 0.27733282330295095 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:0.04 [[ 9.99987899e-01 4.36371258e-03 2.27150483e-03 1.44778599e+00] [-4.36368371e-03 9.99990479e-01 -1.76635418e-05 2.18146546e-01] [-2.27156028e-03 7.75119944e-06 9.99997420e-01 4.13255788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883133365 meters 0.2765637855995663 Centerline is valid? [False, False] Translation: X:1.43, Y:0.22, Z:0.04 [[ 9.99989359e-01 -4.06191863e-03 2.18711484e-03 1.42712211e+00] [ 4.06044657e-03 9.99991527e-01 6.77084319e-04 2.24118166e-01] [-2.18984657e-03 -6.68196451e-04 9.99997379e-01 4.05308778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943133365 meters 0.27481801411789475 Centerline is valid? [False, False] Translation: X:1.43, Y:0.23, Z:0.04 [[ 9.99988803e-01 -4.21125282e-03 2.15842787e-03 1.42699534e+00] [ 4.21057681e-03 9.99991085e-01 3.17640927e-04 2.25693262e-01] [-2.15974630e-03 -3.08549144e-04 9.99997620e-01 4.09033770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003133365 meters 0.27628544807570476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:0.04 [[ 9.99981690e-01 4.46608433e-03 4.08338645e-03 1.44708748e+00] [-4.46364665e-03 9.99989854e-01 -6.05893776e-04 2.26503356e-01] [-4.08605100e-03 5.87655888e-04 9.99991479e-01 4.09259909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063133365 meters 0.2753965839771985 Centerline is valid? [False, False] Translation: X:1.42, Y:0.23, Z:0.04 [[ 9.99976372e-01 -4.53125563e-03 5.16941816e-03 1.42418126e+00] [ 4.53317303e-03 9.99989661e-01 -3.59256857e-04 2.30720621e-01] [-5.16773682e-03 3.82682235e-04 9.99986574e-01 4.09986861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123133365 meters 0.2752295431377139 Centerline is valid? [False, False] Translation: X:1.42, Y:0.23, Z:0.04 [[ 9.99976774e-01 -4.68131036e-03 4.95354979e-03 1.42477327e+00] [ 4.68493984e-03 9.99988765e-01 -7.21354361e-04 2.32285154e-01] [-4.95011725e-03 7.44544690e-04 9.99987471e-01 4.07988658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.183133365 meters 0.27759277544701894 Centerline is valid? [False, False] Translation: X:1.43, Y:0.23, Z:0.04 [[ 9.99975667e-01 -4.90824688e-03 4.95727189e-03 1.42514104e+00] [ 4.91471408e-03 9.99987086e-01 -1.29324997e-03 2.34834328e-01] [-4.95086028e-03 1.31758207e-03 9.99986876e-01 3.99842357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24313336499998 meters 0.27578114316289887 Centerline is valid? [False, False] Translation: X:1.44, Y:0.23, Z:0.04 [[ 0.99997347 0.00321518 0.00653667 1.44387756] [-0.00319715 0.99999106 -0.00276737 0.23380789] [-0.00654551 0.00274639 0.99997481 0.04168114] [ 0. 0. 0. 1. ]] SLAMing on 192.30313336499998 meters 0.2763391820144505 Centerline is valid? [False, False] Translation: X:1.44, Y:0.23, Z:0.04 [[ 0.99997377 0.00319076 0.00650225 1.44367732] [-0.00317243 0.99999097 -0.0028264 0.23409851] [-0.00651121 0.0028057 0.99997487 0.04226718] [ 0. 0. 0. 1. ]] SLAMing on 192.36313336499998 meters 0.27517609241264007 Centerline is valid? [False, False] Translation: X:1.44, Y:0.23, Z:0.04 [[ 0.99997457 0.00322775 0.00635969 1.44419811] [-0.00321042 0.99999111 -0.00273297 0.23362664] [-0.00636846 0.00271248 0.99997604 0.04187891] [ 0. 0. 0. 1. ]] SLAMing on 192.42313336499998 meters 0.27604545793935525 Centerline is valid? [False, False] Translation: X:1.47, Y:0.24, Z:0.04 [[ 0.99997238 -0.00510671 0.00539917 1.46537689] [ 0.00511736 0.99998499 -0.00195975 0.23827557] [-0.00538908 0.00198732 0.9999835 0.0425118 ] [ 0. 0. 0. 1. ]] SLAMing on 192.483133365 meters 0.27514468823462856 Centerline is valid? [False, False] Translation: X:1.47, Y:0.24, Z:0.04 [[ 0.99997313 -0.00506312 0.00530159 1.46543333] [ 0.00507303 0.99998541 -0.00185824 0.23781356] [-0.0052921 0.00188508 0.99998422 0.04289327] [ 0. 0. 0. 1. ]] SLAMing on 192.543133365 meters 0.27651811498929113 Centerline is valid? [False, False] Translation: X:1.46, Y:0.24, Z:0.04 [[ 9.99973416e-01 -4.90108260e-03 5.39877236e-03 1.46496632e+00] [ 4.90894469e-03 9.99986908e-01 -1.44398612e-03 2.35969945e-01] [-5.39162459e-03 1.47045001e-03 9.99984384e-01 4.34501994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603133365 meters 0.2742526877629012 Centerline is valid? [False, False] Translation: X:1.46, Y:0.23, Z:0.04 [[ 9.99973930e-01 -4.69863421e-03 5.48280890e-03 1.46460345e+00] [ 4.70385175e-03 9.99988496e-01 -9.39111913e-04 2.33748997e-01] [-5.47833329e-03 9.64877751e-04 9.99984528e-01 4.38458385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663133365 meters 0.27701017822166885 Centerline is valid? [False, False] Translation: X:1.48, Y:0.23, Z:0.04 [[ 0.99996677 0.00353475 0.00734609 1.4842883 ] [-0.0035226 0.99999241 -0.00166643 0.22989832] [-0.00735193 0.0016405 0.99997163 0.04475106] [ 0. 0. 0. 1. ]] SLAMing on 192.723133365 meters 0.2768813655160602 Centerline is valid? [False, False] Translation: X:1.48, Y:0.23, Z:0.04 [[ 0.9999655 0.00350025 0.00753344 1.48381953] [-0.00348701 0.99999235 -0.00176981 0.23032957] [-0.00753958 0.00174348 0.99997006 0.04480936] [ 0. 0. 0. 1. ]] SLAMing on 192.783133365 meters 0.2763370337203746 Centerline is valid? [False, False] Translation: X:1.48, Y:0.23, Z:0.04 [[ 0.99996606 0.0033759 0.00751518 1.48401313] [-0.00336027 0.99999217 -0.00209103 0.23170376] [-0.00752218 0.00206571 0.99996957 0.04444212] [ 0. 0. 0. 1. ]] SLAMing on 192.843133365 meters 0.2765405420873965 Centerline is valid? [False, False] Translation: X:1.48, Y:0.24, Z:0.04 [[ 0.99996827 0.00321515 0.00728905 1.48488967] [-0.00319236 0.99998999 -0.00313583 0.23633582] [-0.00729906 0.00311246 0.99996852 0.04351298] [ 0. 0. 0. 1. ]] SLAMing on 192.903133365 meters 0.2795218883234174 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 9.99973499e-01 -2.34817116e-03 6.89111394e-03 1.50720441e+00] [ 2.35187984e-03 9.99997094e-01 -5.30129662e-04 2.45818412e-01] [-6.88984908e-03 5.46322685e-04 9.99976115e-01 4.33858248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96313336499998 meters 0.2769010754436705 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 9.99973336e-01 -2.71049679e-03 6.78093628e-03 1.50702679e+00] [ 2.71991900e-03 9.99995348e-01 -1.38067963e-03 2.49507670e-01] [-6.77716241e-03 1.39908642e-03 9.99976056e-01 4.40599599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02313336499998 meters 0.27659316454064353 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 9.99972468e-01 -2.65627946e-03 6.92874542e-03 1.50657248e+00] [ 2.66480730e-03 9.99995703e-01 -1.22184902e-03 2.48925496e-01] [-6.92547008e-03 1.24027915e-03 9.99975249e-01 4.43322879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08313336499998 meters 0.27319036558662607 Centerline is valid? [False, False] Translation: X:1.48, Y:0.24, Z:0.04 [[ 0.99996858 0.0031044 0.0072942 1.48407311] [-0.00307206 0.99998543 -0.00443955 0.24454153] [-0.00730788 0.004417 0.99996354 0.04455201] [ 0. 0. 0. 1. ]] SLAMing on 193.14313336499998 meters 0.2761367325336231 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 9.99978826e-01 -2.79779470e-03 5.87543182e-03 1.51017558e+00] [ 2.80492191e-03 9.99995340e-01 -1.20516317e-03 2.45854819e-01] [-5.87203264e-03 1.22161777e-03 9.99982013e-01 4.20542802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20313336499999 meters 0.27653011315026255 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 9.99979359e-01 -2.87704352e-03 5.74501308e-03 1.51080165e+00] [ 2.88533881e-03 9.99994806e-01 -1.43614593e-03 2.46805505e-01] [-5.74085139e-03 1.45269259e-03 9.99982466e-01 4.12727823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263133365 meters 0.2777028533601298 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 0.9999775 -0.0029596 0.00602051 1.51007445] [ 0.00296979 0.99999417 -0.00168493 0.2478512 ] [-0.00601548 0.00170277 0.99998046 0.04146216] [ 0. 0. 0. 1. ]] SLAMing on 193.323133365 meters 0.2760330551737668 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 0.99997654 -0.00311822 0.00609903 1.50994688] [ 0.00313117 0.99999286 -0.00211471 0.24967057] [-0.00609239 0.00213375 0.99997916 0.04129191] [ 0. 0. 0. 1. ]] SLAMing on 193.383133365 meters 0.2769988702276055 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 0.99997671 -0.00309884 0.00608097 1.50988324] [ 0.00311148 0.99999302 -0.00206944 0.24946966] [-0.00607451 0.00208832 0.99997937 0.0415351 ] [ 0. 0. 0. 1. ]] SLAMing on 193.443133365 meters 0.2749892112174171 Centerline is valid? [False, False] Translation: X:1.51, Y:0.25, Z:0.04 [[ 0.99997678 -0.00298841 0.00612464 1.50953724] [ 0.0029993 0.99999394 -0.00176974 0.24817864] [-0.00611932 0.00178807 0.99997968 0.04211655] [ 0. 0. 0. 1. ]] SLAMing on 193.503133365 meters 0.27509338798765615 Centerline is valid? [False, False] Translation: X:1.51, Y:0.24, Z:0.04 [[ 9.99977204e-01 -2.69305069e-03 6.19178919e-03 1.50937426e+00] [ 2.69859672e-03 9.99995965e-01 -8.87526631e-04 2.44391401e-01] [-6.18937405e-03 9.04215541e-04 9.99980437e-01 4.21813251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563133365 meters 0.27554285938537815 Centerline is valid? [False, False] Translation: X:1.51, Y:0.24, Z:0.04 [[ 9.99978200e-01 -2.53208252e-03 6.09826986e-03 1.50978335e+00] [ 2.53509577e-03 9.99996668e-01 -4.86435517e-04 2.42631194e-01] [-6.09701785e-03 5.01884611e-04 9.99981287e-01 4.18247965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623133365 meters 0.2754166109462465 Centerline is valid? [False, False] Translation: X:1.51, Y:0.24, Z:0.04 [[ 9.99979859e-01 -2.19800600e-03 5.95402451e-03 1.51034233e+00] [ 2.19600541e-03 9.99997530e-01 3.42522991e-04 2.38970602e-01] [-5.95476267e-03 -3.29441022e-04 9.99982216e-01 4.14303204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683133365 meters 0.2763965478971237 Centerline is valid? [False, False] Translation: X:1.53, Y:0.23, Z:0.04 [[ 0.99997037 0.00395652 0.00660361 1.53242622] [-0.00394292 0.99999008 -0.00207152 0.23097199] [-0.00661174 0.00204542 0.99997605 0.04074308] [ 0. 0. 0. 1. ]] SLAMing on 193.74313336499998 meters 0.2748011895025173 Centerline is valid? [False, False] Translation: X:1.51, Y:0.23, Z:0.04 [[ 9.99965816e-01 -5.02257308e-03 6.56813651e-03 1.50993647e+00] [ 5.02760448e-03 9.99987080e-01 -7.49745336e-04 2.26299672e-01] [-6.56428600e-03 7.82741699e-04 9.99978148e-01 4.08176045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80313336499998 meters 0.27550651529033604 Centerline is valid? [False, False] Translation: X:1.51, Y:0.22, Z:0.04 [[ 9.99968062e-01 -4.63183151e-03 6.51313198e-03 1.51034007e+00] [ 4.63059132e-03 9.99989258e-01 2.05480034e-04 2.22064752e-01] [-6.51401376e-03 -1.75313819e-04 9.99978768e-01 4.04047435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86313336499998 meters 0.2749356005931182 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:0.04 [[ 9.99985058e-01 2.88420252e-03 4.64380765e-03 1.49298562e+00] [-2.88048409e-03 9.99995526e-01 -8.07216280e-04 2.13772145e-01] [-4.64611505e-03 7.93827805e-04 9.99988892e-01 3.84433126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92313336499998 meters 0.27427711760922574 Centerline is valid? [False, False] Translation: X:1.49, Y:0.21, Z:0.04 [[ 9.99984525e-01 3.07039544e-03 4.63927451e-03 1.49306863e+00] [-3.06896566e-03 9.99995241e-01 -3.15276268e-04 2.11679883e-01] [-4.64022046e-03 3.01033614e-04 9.99989189e-01 3.83201844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.983133365 meters 0.27630533062400575 Centerline is valid? [False, False] Translation: X:1.51, Y:0.21, Z:0.04 [[ 9.99974703e-01 -5.34834318e-03 4.68912846e-03 1.51499779e+00] [ 5.34453285e-03 9.99985378e-01 8.24743277e-04 2.11169464e-01] [-4.69347090e-03 -7.99661212e-04 9.99988666e-01 3.84129657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043133365 meters 0.2743397040772794 Centerline is valid? [False, False] Translation: X:1.52, Y:0.21, Z:0.04 [[ 9.99976131e-01 -5.22124312e-03 4.52503958e-03 1.51544627e+00] [ 5.21590215e-03 9.99985687e-01 1.19131273e-03 2.09559617e-01] [-4.53119495e-03 -1.16768214e-03 9.99989052e-01 3.82829842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103133365 meters 0.272839572422815 Centerline is valid? [False, False] Translation: X:1.49, Y:0.20, Z:0.04 [[ 9.99968830e-01 3.76877130e-03 6.93792024e-03 1.49238288e+00] [-3.77799757e-03 9.99991996e-01 1.31720708e-03 2.04155957e-01] [-6.93290045e-03 -1.34337747e-03 9.99975065e-01 3.88359207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163133365 meters 0.2746607659747316 Centerline is valid? [False, False] Translation: X:1.53, Y:0.20, Z:0.04 [[ 9.99978022e-01 1.84236319e-03 6.36883621e-03 1.52908413e+00] [-1.84153395e-03 9.99998295e-01 -1.36063301e-04 2.01334196e-01] [-6.36907603e-03 1.24331882e-04 9.99979710e-01 4.26016741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223133365 meters 0.27399606766475404 Centerline is valid? [False, False] Translation: X:1.53, Y:0.20, Z:0.04 [[ 9.99979308e-01 1.97164461e-03 6.12341741e-03 1.52972537e+00] [-1.97364954e-03 9.99998001e-01 3.21395249e-04 1.99408116e-01] [-6.12277149e-03 -3.33474079e-04 9.99981200e-01 4.23829506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283133365 meters 0.27215129902014196 Centerline is valid? [False, False] Translation: X:1.53, Y:0.20, Z:0.04 [[ 9.99977520e-01 2.18946961e-03 6.33761662e-03 1.52894290e+00] [-2.19672411e-03 9.99996940e-01 1.13793866e-03 1.96316179e-01] [-6.33510575e-03 -1.15183508e-03 9.99979270e-01 4.30799128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343133365 meters 0.27145876661699386 Centerline is valid? [False, False] Translation: X:1.53, Y:0.19, Z:0.04 [[ 0.99997712 0.00239608 0.00632562 1.52900893] [-0.00240791 0.99999536 0.0018638 0.19337126] [-0.00632112 -0.00187899 0.99997826 0.04296061] [ 0. 0. 0. 1. ]] SLAMing on 194.403133365 meters 0.2730415278281859 Centerline is valid? [False, False] Translation: X:1.55, Y:0.19, Z:0.04 [[ 0.99994762 -0.00653083 0.00788045 1.54994824] [ 0.00650984 0.9999752 0.00268644 0.18936349] [-0.0078978 -0.002635 0.99996534 0.04255293] [ 0. 0. 0. 1. ]] SLAMing on 194.46313336499998 meters 0.2706450320431742 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:0.04 [[ 9.99965506e-01 -1.09401247e-03 8.23346101e-03 1.52642242e+00] [ 1.09320818e-03 9.99999397e-01 1.02186172e-04 1.81036174e-01] [-8.23356784e-03 -9.31817600e-05 9.99966099e-01 4.37724088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52313336499998 meters 0.27185987209746326 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:0.04 [[ 9.99967234e-01 -8.34424381e-04 8.05195147e-03 1.52707928e+00] [ 8.28486335e-04 9.99999382e-01 7.40773990e-04 1.78219635e-01] [-8.05256461e-03 -7.34078786e-04 9.99967308e-01 4.32977191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58313336499998 meters 0.271945832109003 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:0.04 [[ 9.99969206e-01 -5.74966706e-04 7.82661748e-03 1.52824473e+00] [ 5.63938585e-04 9.99998845e-01 1.41118715e-03 1.75118878e-01] [-7.82741983e-03 -1.40672996e-03 9.99968376e-01 4.19346107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64313336499998 meters 0.2719229795650123 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99967565e-01 -3.81987473e-04 8.04502147e-03 1.52761901e+00] [ 3.66716434e-04 9.99998129e-01 1.89958693e-03 1.73038937e-01] [-8.04573203e-03 -1.89657508e-03 9.99965834e-01 4.22277565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70313336499999 meters 0.2722427174079132 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99967725e-01 -3.15023355e-04 8.02801290e-03 1.52729996e+00] [ 2.98460207e-04 9.99997825e-01 2.06428370e-03 1.72247701e-01] [-8.02864573e-03 -2.06182103e-03 9.99965644e-01 4.29725079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763133365 meters 0.2727640048269433 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99964640e-01 -1.99360940e-04 8.40702586e-03 1.52649303e+00] [ 1.78821969e-04 9.99996998e-01 2.44375315e-03 1.70791847e-01] [-8.40748782e-03 -2.44216338e-03 9.99961674e-01 4.29313164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823133365 meters 0.27191892151728386 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99964219e-01 -2.28563390e-04 8.45624971e-03 1.52640470e+00] [ 2.08530067e-04 9.99997170e-01 2.36986113e-03 1.71135721e-01] [-8.45676745e-03 -2.36801295e-03 9.99961437e-01 4.28574939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883133365 meters 0.27261519778255194 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99965877e-01 -1.91606826e-04 8.25876319e-03 1.52702693e+00] [ 1.71251756e-04 9.99996946e-01 2.46529993e-03 1.70701755e-01] [-8.25921034e-03 -2.46380148e-03 9.99962857e-01 4.24878387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.943133365 meters 0.2722704968413272 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99966829e-01 -5.49674442e-05 8.14477800e-03 1.52750034e+00] [ 3.20537786e-05 9.99996042e-01 2.81339912e-03 1.69157810e-01] [-8.14490041e-03 -2.81304473e-03 9.99962873e-01 4.20681623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003133365 meters 0.2720281680983102 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99967245e-01 2.24042689e-05 8.09371415e-03 1.52754300e+00] [-4.67607190e-05 9.99995471e-01 3.00912775e-03 1.68327175e-01] [-8.09361008e-03 -3.00940766e-03 9.99962718e-01 4.22458877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.063133365 meters 0.27344229314129836 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99967633e-01 3.85469431e-05 8.04559191e-03 1.52780490e+00] [-6.31683807e-05 9.99995316e-01 3.06000775e-03 1.68124837e-01] [-8.04543627e-03 -3.06041694e-03 9.99962952e-01 4.19228061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.123133365 meters 0.2746799847310609 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99968375e-01 1.06950637e-04 7.95221040e-03 1.52811524e+00] [-1.32618955e-04 9.99994783e-01 3.22736462e-03 1.67385588e-01] [-7.95182375e-03 -3.22831717e-03 9.99963173e-01 4.17549281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.183133365 meters 0.27525377260627515 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99968005e-01 2.21077068e-04 7.99630132e-03 1.52785448e+00] [-2.49111002e-04 9.99993826e-01 3.50503651e-03 1.66216785e-01] [-7.99547707e-03 -3.50691634e-03 9.99961886e-01 4.20963800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24313336499998 meters 0.272619000490057 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99953131e-01 5.06022364e-03 8.25406965e-03 1.50378200e+00] [-5.06067905e-03 9.99987194e-01 3.42889716e-05 1.61929976e-01] [-8.25379044e-03 -7.60585619e-05 9.99965934e-01 4.34003820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30313336499998 meters 0.2733947087255088 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99953266e-01 5.22850657e-03 8.13196658e-03 1.50400526e+00] [-5.23236993e-03 9.99986208e-01 4.53881034e-04 1.60122248e-01] [-8.12948130e-03 -4.96409280e-04 9.99966832e-01 4.35725886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36313336499998 meters 0.2735274406144216 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99954305e-01 5.30522289e-03 7.95247605e-03 1.50455248e+00] [-5.31060564e-03 9.99985684e-01 6.55900813e-04 1.59214875e-01] [-7.94888250e-03 -6.98103306e-04 9.99968163e-01 4.32980849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42313336499998 meters 0.27276662643642274 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99954180e-01 5.26463958e-03 7.99505462e-03 1.50433994e+00] [-5.26926600e-03 9.99985962e-01 5.57706511e-04 1.59685400e-01] [-7.99200626e-03 -5.99809026e-04 9.99967884e-01 4.35252050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.483133365 meters 0.2740468344537159 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99954034e-01 5.22152052e-03 8.04146587e-03 1.50422733e+00] [-5.22533411e-03 9.99986245e-01 4.53303580e-04 1.60155162e-01] [-8.03898833e-03 -4.95302089e-04 9.99967564e-01 4.35244506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.543133365 meters 0.2743228198593879 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99953687e-01 5.09988135e-03 8.16185333e-03 1.50364570e+00] [-5.10118825e-03 9.99986979e-01 1.39312480e-04 1.61640976e-01] [-8.16103658e-03 -1.80941178e-04 9.99966682e-01 4.41821583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.603133365 meters 0.2735232614778243 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.04 [[ 9.99953365e-01 5.04221267e-03 8.23679069e-03 1.50337236e+00] [-5.04232621e-03 9.99987287e-01 -6.98271768e-06 1.62314672e-01] [-8.23672119e-03 -3.45501935e-05 9.99966077e-01 4.43935993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.663133365 meters 0.27121686846294246 Centerline is valid? [False, False] Translation: X:1.48, Y:0.16, Z:0.04 [[ 9.99964932e-01 -4.39813175e-03 7.12675150e-03 1.48232573e+00] [ 4.39574201e-03 9.99990277e-01 3.50949011e-04 1.63276837e-01] [-7.12822573e-03 -3.19609343e-04 9.99974543e-01 4.44194024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.723133365 meters 0.2738624689344847 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:0.05 [[ 9.99982352e-01 -2.75947708e-03 5.26124572e-03 1.52244258e+00] [ 2.75517063e-03 9.99995864e-01 8.25595246e-04 1.66055205e-01] [-5.26350217e-03 -8.11085046e-04 9.99985819e-01 4.72707586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783133365 meters 0.271606906869838 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.05 [[ 9.99977469e-01 5.11892090e-03 4.34261712e-03 1.50229090e+00] [-5.11877077e-03 9.99986898e-01 -4.56870359e-05 1.62329476e-01] [-4.34279410e-03 2.34571450e-05 9.99990570e-01 4.65686695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843133365 meters 0.2735911893641427 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:0.05 [[ 9.99973092e-01 -2.61017247e-03 6.85588186e-03 1.52220027e+00] [ 2.60247146e-03 9.99995973e-01 1.13195280e-03 1.61123400e-01] [-6.85880885e-03 -1.11408010e-03 9.99975857e-01 4.68177062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.903133365 meters 0.27334954760437846 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:0.05 [[ 0.99997437 -0.0024279 0.00673485 1.52281633] [ 0.00241722 0.99999581 0.00159283 0.15895891] [-0.00673869 -0.00157651 0.99997605 0.04614526] [ 0. 0. 0. 1. ]] SLAMing on 195.96313336499998 meters 0.2741758366190388 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:0.05 [[ 0.99997565 -0.00234371 0.00657249 1.52353912] [ 0.00233194 0.99999566 0.00179851 0.1579515 ] [-0.00657668 -0.00178314 0.99997678 0.04542799] [ 0. 0. 0. 1. ]] SLAMing on 196.02313336499998 meters 0.27379621899400075 Centerline is valid? [False, False] Translation: X:1.52, Y:0.16, Z:0.04 [[ 0.99997651 -0.0023341 0.0064439 1.52402633] [ 0.00232222 0.99999559 0.00185125 0.15770124] [-0.0064482 -0.00183624 0.99997752 0.0449406 ] [ 0. 0. 0. 1. ]] SLAMing on 196.08313336499998 meters 0.27579762251451406 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:0.04 [[ 9.99959631e-01 5.47539851e-03 7.12434326e-03 1.54712319e+00] [-5.47173909e-03 9.99984888e-01 -5.33040894e-04 1.61227308e-01] [-7.12715421e-03 4.94036828e-04 9.99974479e-01 4.33997928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14313336499998 meters 0.2753656167948098 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:0.04 [[ 9.99960301e-01 5.30510570e-03 7.15912757e-03 1.54715411e+00] [-5.29821687e-03 9.99985483e-01 -9.80867319e-04 1.63150830e-01] [-7.16422725e-03 9.42897769e-04 9.99973892e-01 4.31303906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20313336499999 meters 0.275804205330596 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:0.04 [[ 9.99961054e-01 5.14705640e-03 7.16922220e-03 1.54687624e+00] [-5.13740450e-03 9.99985873e-01 -1.36406315e-03 1.64900731e-01] [-7.17614183e-03 1.32717884e-03 9.99973370e-01 4.36249626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.263133365 meters 0.27218369958517524 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99984342e-01 -2.21981675e-03 5.13697878e-03 1.52583898e+00] [ 2.21424702e-03 9.99996955e-01 1.08967553e-03 1.63803296e-01] [-5.13938202e-03 -1.07828393e-03 9.99986212e-01 4.47734905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323133365 meters 0.2722686982647846 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99984356e-01 -2.21152605e-03 5.13772337e-03 1.52580765e+00] [ 2.20584168e-03 9.99996949e-01 1.11180338e-03 1.63717623e-01] [-5.14016648e-03 -1.10045298e-03 9.99986184e-01 4.48473402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.383133365 meters 0.27270762454988684 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.05 [[ 9.99984706e-01 -2.19767349e-03 5.07524221e-03 1.52582518e+00] [ 2.19183727e-03 9.99996931e-01 1.15521483e-03 1.63590824e-01] [-5.07776541e-03 -1.14407306e-03 9.99986454e-01 4.51423978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443133365 meters 0.27238303250978896 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.05 [[ 9.99984983e-01 -2.16782089e-03 5.03338718e-03 1.52582842e+00] [ 2.16169465e-03 9.99996917e-01 1.22224256e-03 1.63283548e-01] [-5.03602126e-03 -1.21134356e-03 9.99986585e-01 4.53404099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503133365 meters 0.2728902567985891 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.05 [[ 9.99985145e-01 -2.15652805e-03 5.00584806e-03 1.52587327e+00] [ 2.15028509e-03 9.99996904e-01 1.25218118e-03 1.63159835e-01] [-5.00853292e-03 -1.24139858e-03 9.99986687e-01 4.53826174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563133365 meters 0.2738073658974976 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.05 [[ 9.99984114e-01 -2.20415390e-03 5.18776155e-03 1.52544038e+00] [ 2.19834368e-03 9.99996950e-01 1.12542276e-03 1.63708272e-01] [-5.19022633e-03 -1.11400040e-03 9.99985910e-01 4.53876551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623133365 meters 0.27186247739102837 Centerline is valid? [False, False] Translation: X:1.52, Y:0.17, Z:0.05 [[ 9.99982886e-01 -2.33806637e-03 5.36290466e-03 1.52491688e+00] [ 2.33422546e-03 9.99997015e-01 7.22346627e-04 1.65476433e-01] [-5.36457754e-03 -7.09816037e-04 9.99985359e-01 4.55995762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683133365 meters 0.27242051213860713 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.05 [[ 9.99982856e-01 -2.50966308e-03 5.29046195e-03 1.52533247e+00] [ 2.50853419e-03 9.99996829e-01 2.20007229e-04 1.67635234e-01] [-5.29099732e-03 -2.06732152e-04 9.99985981e-01 4.50149215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74313336499998 meters 0.27350289359793534 Centerline is valid? [False, False] Translation: X:1.53, Y:0.17, Z:0.04 [[ 9.99982557e-01 -2.55162324e-03 5.32680906e-03 1.52531209e+00] [ 2.55105844e-03 9.99996740e-01 1.12822462e-04 1.68063181e-01] [-5.32707957e-03 -9.92314925e-05 9.99985806e-01 4.48734375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80313336499998 meters 0.27525086170738183 Centerline is valid? [False, False] Translation: X:1.55, Y:0.16, Z:0.05 [[ 9.99969821e-01 6.22313834e-03 4.65083794e-03 1.54658968e+00] [-6.21890893e-03 9.99980236e-01 -9.23297138e-04 1.64252169e-01] [-4.65649183e-03 8.94346136e-04 9.99988759e-01 4.54749152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86313336499998 meters 0.27357096918947327 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99996263e-01 -2.09324709e-03 1.75847111e-03 1.52853945e+00] [ 2.09239756e-03 9.99997693e-01 4.84808029e-04 1.63993898e-01] [-1.75948188e-03 -4.81126797e-04 9.99998336e-01 4.47120908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92313336499998 meters 0.2756813390795613 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99996450e-01 -2.00334131e-03 1.75677012e-03 1.52867231e+00] [ 2.00205781e-03 9.99997728e-01 7.32059724e-04 1.62916125e-01] [-1.75823270e-03 -7.28539970e-04 9.99998189e-01 4.44656723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.983133365 meters 0.27504289345203237 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99996765e-01 -1.93281396e-03 1.65335699e-03 1.52921496e+00] [ 1.93132267e-03 9.99997727e-01 9.03102068e-04 1.62052977e-01] [-1.65509876e-03 -8.99905981e-04 9.99998225e-01 4.38297635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043133365 meters 0.2752489880421821 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99997025e-01 -1.83383827e-03 1.60836642e-03 1.52932298e+00] [ 1.83200218e-03 9.99997669e-01 1.14231881e-03 1.61004763e-01] [-1.61045750e-03 -1.13936888e-03 9.99998054e-01 4.38572910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.103133365 meters 0.27444421382762074 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 0.99999743 -0.00164859 0.00155506 1.52923781] [ 0.00164607 0.99999733 0.00161939 0.15892382] [-0.00155772 -0.00161683 0.99999748 0.04433564] [ 0. 0. 0. 1. ]] SLAMing on 197.163133365 meters 0.27454307603700834 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 0.99999725 -0.00166573 0.00165152 1.52907307] [ 0.00166311 0.99999736 0.00158382 0.15911845] [-0.00165416 -0.00158107 0.99999738 0.04418678] [ 0. 0. 0. 1. ]] SLAMing on 197.223133365 meters 0.2739560169225707 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99996891e-01 -1.76789323e-03 1.75835775e-03 1.52878891e+00] [ 1.76553680e-03 9.99997543e-01 1.34077949e-03 1.60225503e-01] [-1.76072379e-03 -1.33767087e-03 9.99997555e-01 4.42161397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283133365 meters 0.2741821112999873 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99996170e-01 -2.02083992e-03 1.89092996e-03 1.52828446e+00] [ 2.01952191e-03 9.99997717e-01 6.98671625e-04 1.63093004e-01] [-1.89233755e-03 -6.94850175e-04 9.99997968e-01 4.45120542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343133365 meters 0.27389663345167836 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.04 [[ 9.99995911e-01 -2.12100876e-03 1.91799946e-03 1.52821767e+00] [ 2.12013501e-03 9.99997648e-01 4.57473592e-04 1.64149882e-01] [-1.91896525e-03 -4.53405304e-04 9.99998056e-01 4.44865208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403133365 meters 0.2768000256183215 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.04 [[ 0.99998149 0.00465182 0.00392145 1.54899149] [-0.00464097 0.99998539 -0.00277312 0.16671268] [-0.00393429 0.00275487 0.99998847 0.04387802] [ 0. 0. 0. 1. ]] SLAMing on 197.46313336499998 meters 0.27425196356098214 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.04 [[ 0.99998228 0.00445999 0.00394318 1.54881956] [-0.0044473 0.99998492 -0.00322116 0.16873051] [-0.00395749 0.00320357 0.99998704 0.04409264] [ 0. 0. 0. 1. ]] SLAMing on 197.52313336499998 meters 0.275534136700147 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.04 [[ 0.99998298 0.00423268 0.00401588 1.54865625] [-0.00421758 0.99998403 -0.00376174 0.17113346] [-0.00403174 0.00374474 0.99998486 0.04404579] [ 0. 0. 0. 1. ]] SLAMing on 197.58313336499998 meters 0.27586313728683187 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:0.04 [[ 0.99998449 0.00388088 0.00399392 1.54918832] [-0.0038622 0.99998162 -0.00467471 0.17512934] [-0.00401199 0.00465921 0.9999811 0.04303432] [ 0. 0. 0. 1. ]] SLAMing on 197.64313336499998 meters 0.2757152125457746 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:0.04 [[ 0.99998554 0.00365655 0.00394275 1.54966459] [-0.0036359 0.9999797 -0.00523322 0.17762698] [-0.00396181 0.00521881 0.99997853 0.04227733] [ 0. 0. 0. 1. ]] SLAMing on 197.70313336499999 meters 0.27397364032115235 Centerline is valid? [False, False] Translation: X:1.53, Y:0.18, Z:0.04 [[ 0.99998398 -0.00473053 0.0031068 1.52990549] [ 0.00474297 0.99998072 -0.00400921 0.18070548] [-0.00308777 0.00402388 0.99998714 0.04105768] [ 0. 0. 0. 1. ]] SLAMing on 197.763133365 meters 0.2752167396375673 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:0.04 [[ 0.99997784 0.00406536 0.00527245 1.54781803] [-0.00403888 0.99997923 -0.00502221 0.17886765] [-0.00529275 0.0050008 0.99997349 0.04222719] [ 0. 0. 0. 1. ]] SLAMing on 197.823133365 meters 0.2744573017777263 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:0.04 [[ 0.99997787 0.00410814 0.00523202 1.54772254] [-0.00408245 0.99997961 -0.00491072 0.17840672] [-0.00525209 0.00488925 0.99997426 0.04264099] [ 0. 0. 0. 1. ]] SLAMing on 197.883133365 meters 0.2745517072238647 Centerline is valid? [False, False] Translation: X:1.55, Y:0.18, Z:0.04 [[ 0.99997781 0.0042167 0.00515732 1.54771053] [-0.00419287 0.99998053 -0.0046224 0.17713085] [-0.00517672 0.00460067 0.99997602 0.04306164] [ 0. 0. 0. 1. ]] SLAMing on 197.943133365 meters 0.27369327004743577 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.04 [[ 0.99997753 0.00439119 0.00506479 1.54795104] [-0.00437064 0.9999822 -0.00406139 0.17476572] [-0.00508253 0.00403916 0.99997893 0.04302016] [ 0. 0. 0. 1. ]] SLAMing on 198.003133365 meters 0.2753480236095259 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.04 [[ 0.99997655 0.00457688 0.00509352 1.54765228] [-0.00455931 0.99998364 -0.00345506 0.17234292] [-0.00510925 0.00343175 0.99998106 0.0435662 ] [ 0. 0. 0. 1. ]] SLAMing on 198.063133365 meters 0.2741232857955025 Centerline is valid? [False, False] Translation: X:1.57, Y:0.16, Z:0.05 [[ 0.99994897 -0.00490454 0.00883166 1.56510735] [ 0.00493216 0.999983 -0.00310878 0.1636661 ] [-0.00881626 0.00315218 0.99995617 0.04523419] [ 0. 0. 0. 1. ]] SLAMing on 198.123133365 meters 0.2720589696810871 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:0.04 [[ 0.99994769 0.00273485 0.00985556 1.5446586 ] [-0.00269974 0.99998997 -0.00357405 0.15333467] [-0.00986523 0.00354725 0.99994505 0.04444201] [ 0. 0. 0. 1. ]] SLAMing on 198.183133365 meters 0.27321016774971457 Centerline is valid? [False, False] Translation: X:1.54, Y:0.15, Z:0.04 [[ 0.99994723 0.00312337 0.00978635 1.5447993 ] [-0.00310059 0.99999245 -0.00234232 0.14814754] [-0.00979359 0.00231185 0.99994937 0.04443513] [ 0. 0. 0. 1. ]] SLAMing on 198.24313336499998 meters 0.27259572940568166 Centerline is valid? [False, False] Translation: X:1.54, Y:0.14, Z:0.05 [[ 9.99946975e-01 3.61702218e-03 9.64183725e-03 1.54481784e+00] [-3.61188417e-03 9.99993326e-01 -5.50246419e-04 1.40651152e-01] [-9.64376315e-03 5.15392042e-04 9.99953365e-01 4.50501571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30313336499998 meters 0.27377027431261924 Centerline is valid? [False, False] Translation: X:1.55, Y:0.14, Z:0.05 [[ 9.99948065e-01 4.01728672e-03 9.36635301e-03 1.54547765e+00] [-4.02435435e-03 9.99991632e-01 7.35851038e-04 1.35172353e-01] [-9.36331851e-03 -7.73506345e-04 9.99955864e-01 4.50331793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36313336499998 meters 0.2734730570396126 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:0.04 [[ 9.99964044e-01 2.26707736e-03 8.17130462e-03 1.54899917e+00] [-2.27567326e-03 9.99996867e-01 1.04281710e-03 1.22431633e-01] [-8.16891487e-03 -1.06137482e-03 9.99966071e-01 4.32107007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42313336499998 meters 0.27344041885837683 Centerline is valid? [False, False] Translation: X:1.55, Y:0.12, Z:0.04 [[ 0.99996343 0.00272047 0.00810748 1.54901227] [-0.00274001 0.99999337 0.00239994 0.11668831] [-0.0081009 -0.00242207 0.99996425 0.04347437] [ 0. 0. 0. 1. ]] SLAMing on 198.483133365 meters 0.2727210756492651 Centerline is valid? [False, False] Translation: X:1.55, Y:0.11, Z:0.04 [[ 0.9999633 0.00315201 0.00796656 1.54944212] [-0.00318047 0.99998859 0.00356301 0.11156004] [-0.00795524 -0.00358821 0.99996192 0.04330445] [ 0. 0. 0. 1. ]] SLAMing on 198.543133365 meters 0.27221771006265527 Centerline is valid? [False, False] Translation: X:1.53, Y:0.11, Z:0.04 [[ 0.99997501 -0.00513751 0.00485741 1.53118549] [ 0.00511041 0.9999714 0.00557433 0.10583914] [-0.00488591 -0.00554936 0.99997267 0.04300245] [ 0. 0. 0. 1. ]] SLAMing on 198.603133365 meters 0.2730968278062737 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:0.04 [[ 0.9999763 -0.00489498 0.00484193 1.53116438] [ 0.00486495 0.99996898 0.00619444 0.10312743] [-0.0048721 -0.00617074 0.99996909 0.0431487 ] [ 0. 0. 0. 1. ]] SLAMing on 198.663133365 meters 0.27370883071376473 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.04 [[ 0.99998329 0.00254294 0.00519167 1.51240805] [-0.00257073 0.99998237 0.00535199 0.09434968] [-0.00517797 -0.00536524 0.9999722 0.04168346] [ 0. 0. 0. 1. ]] SLAMing on 198.723133365 meters 0.27626030591752243 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:0.04 [[ 0.99998343 0.002857 0.0049974 1.5126089 ] [-0.00288973 0.99997435 0.00655411 0.08953607] [-0.00497854 -0.00656844 0.99996603 0.04213314] [ 0. 0. 0. 1. ]] SLAMing on 198.783133365 meters 0.275728027092998 Centerline is valid? [False, False] Translation: X:1.55, Y:0.08, Z:0.04 [[ 0.99996926 0.00288755 0.00728919 1.55496358] [-0.00293078 0.99997814 0.00592763 0.08290109] [-0.00727191 -0.00594881 0.99995586 0.04187595] [ 0. 0. 0. 1. ]] SLAMing on 198.843133365 meters 0.27366865047674543 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:0.05 [[ 9.99984417e-01 4.32586180e-03 3.52871358e-03 1.53159289e+00] [-4.32566804e-03 9.99990642e-01 -6.25390714e-05 8.27514160e-02] [-3.52895109e-03 4.72740533e-05 9.99993772e-01 4.59995145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903133365 meters 0.2744082913264085 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:0.05 [[ 9.99983161e-01 4.61622065e-03 3.51693836e-03 1.53132474e+00] [-4.61922985e-03 9.99988972e-01 8.47988369e-04 7.89491542e-02] [-3.51298508e-03 -8.64219636e-04 9.99993456e-01 4.65578663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96313336499998 meters 0.27354503197041563 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.05 [[ 9.99992877e-01 3.06531842e-03 2.20224612e-03 1.53482782e+00] [-3.06604608e-03 9.99995246e-01 3.27116047e-04 7.14590459e-02] [-2.20123294e-03 -3.33865905e-04 9.99997522e-01 4.54255077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02313336499998 meters 0.27421655731220085 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.05 [[ 9.99992248e-01 3.19133109e-03 2.30621437e-03 1.53437150e+00] [-3.19282453e-03 9.99994695e-01 6.44181753e-04 7.00989675e-02] [-2.30414634e-03 -6.51540097e-04 9.99997133e-01 4.58337734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08313336499998 meters 0.2727936641128432 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.05 [[ 9.99992121e-01 3.27828602e-03 2.23831689e-03 1.53460752e+00] [-3.28021761e-03 9.99994250e-01 8.59841049e-04 6.91615677e-02] [-2.23548522e-03 -8.67176441e-04 9.99997125e-01 4.56619244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14313336499998 meters 0.27587120339171994 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.05 [[ 0.99998553 -0.00502088 0.00193009 1.55688241] [ 0.00501778 0.99998612 0.0016095 0.06837619] [-0.00193814 -0.00159979 0.99999684 0.04590113] [ 0. 0. 0. 1. ]] SLAMing on 199.20313336499999 meters 0.2730696665769518 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99996467e-01 2.51019415e-03 8.74311400e-04 1.53725028e+00] [-2.51082404e-03 9.99996589e-01 7.20090476e-04 6.44432636e-02] [-8.72500851e-04 -7.22283174e-04 9.99999359e-01 4.46358999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263133365 meters 0.27419475587117104 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.04 [[ 0.99998353 -0.00515722 0.00252035 1.55751426] [ 0.00515308 0.99998537 0.00164604 0.065498 ] [-0.0025288 -0.00163303 0.99999547 0.04495876] [ 0. 0. 0. 1. ]] SLAMing on 199.323133365 meters 0.27616080485125777 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:0.04 [[ 0.99998446 -0.00497592 0.00251236 1.55755213] [ 0.00497075 0.99998553 0.00205762 0.06363181] [-0.00252256 -0.0020451 0.99999473 0.04490544] [ 0. 0. 0. 1. ]] SLAMing on 199.383133365 meters 0.27427801559186243 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99996711e-01 2.49274460e-03 -6.03844581e-04 1.54067354e+00] [-2.49205765e-03 9.99996250e-01 1.13572208e-03 6.07908296e-02] [ 6.06673382e-04 -1.13421353e-03 9.99999173e-01 4.22565435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.443133365 meters 0.2737276289977389 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99996624e-01 2.45498342e-03 -8.51693282e-04 1.54122142e+00] [-2.45410195e-03 9.99996454e-01 1.03446723e-03 6.12084424e-02] [ 8.54229862e-04 -1.03237359e-03 9.99999102e-01 4.23252452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.503133365 meters 0.27457530435020033 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99996401e-01 2.56585393e-03 -7.84231036e-04 1.54088251e+00] [-2.56480590e-03 9.99995820e-01 1.33447370e-03 5.99542906e-02] [ 7.87651823e-04 -1.33245750e-03 9.99998802e-01 4.27236780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.563133365 meters 0.27471474305240157 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99995797e-01 2.80116528e-03 -7.48077990e-04 1.54066048e+00] [-2.79975170e-03 9.99994306e-01 1.88402072e-03 5.75633003e-02] [ 7.53351183e-04 -1.88191836e-03 9.99997945e-01 4.29737947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.623133365 meters 0.2757478983575629 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99994941e-01 3.05732371e-03 -8.77971270e-04 1.54089260e+00] [-3.05510171e-03 9.99992155e-01 2.52112250e-03 5.48202169e-02] [ 8.85672270e-04 -2.51842746e-03 9.99996437e-01 4.31218350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.683133365 meters 0.2746372503758613 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99993833e-01 3.39835430e-03 -8.86470521e-04 1.54050149e+00] [-3.39542896e-03 9.99988853e-01 3.28087983e-03 5.14742444e-02] [ 8.97610232e-04 -3.27784965e-03 9.99994225e-01 4.38853792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74313336499998 meters 0.2747328719032759 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999813e-01 -4.31460417e-04 -4.33849800e-04 1.53925891e+00] [ 4.31417651e-04 9.99999902e-01 -9.86631698e-05 4.94978885e-02] [ 4.33892326e-04 9.84759809e-05 9.99999901e-01 4.42545536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80313336499998 meters 0.2742904465633276 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999849e-01 -3.30864238e-04 -4.38163438e-04 1.53934997e+00] [ 3.30951389e-04 9.99999925e-01 1.98842130e-04 4.82647287e-02] [ 4.38097616e-04 -1.98987111e-04 9.99999884e-01 4.40571864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86313336499998 meters 0.2741255879636988 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.05 [[ 9.99999891e-01 -1.53357370e-04 -4.41874576e-04 1.53881860e+00] [ 1.53625172e-04 9.99999805e-01 6.06089881e-04 4.64343230e-02] [ 4.41781541e-04 -6.06157697e-04 9.99999719e-01 4.51027082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92313336499998 meters 0.27689002187122524 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.05 [[ 9.99999849e-01 -3.61114172e-05 -5.48598811e-04 1.53903252e+00] [ 3.65949868e-05 9.99999611e-01 8.81478614e-04 4.52085740e-02] [ 5.48566766e-04 -8.81498557e-04 9.99999461e-01 4.51811322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.983133365 meters 0.2757072576153116 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:0.05 [[ 9.99999906e-01 5.49881432e-06 -4.32596808e-04 1.53877336e+00] [-5.07219787e-06 9.99999514e-01 9.86170605e-04 4.47722634e-02] [ 4.32602021e-04 -9.86168319e-04 9.99999420e-01 4.51365624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.043133365 meters 0.27580391193620357 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:0.04 [[ 9.99999968e-01 2.22943577e-05 -2.50877647e-04 1.53851746e+00] [-2.20368270e-05 9.99999473e-01 1.02647534e-03 4.45741428e-02] [ 2.50900400e-04 -1.02646978e-03 9.99999442e-01 4.47930803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103133365 meters 0.27596331647728045 Centerline is valid? [False, False] Translation: X:1.54, Y:0.04, Z:0.04 [[ 9.99999948e-01 -1.44700913e-05 -3.23649633e-04 1.53894514e+00] [ 1.47748868e-05 9.99999556e-01 9.41762439e-04 4.48944310e-02] [ 3.23635862e-04 -9.41767171e-04 9.99999504e-01 4.42504317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.163133365 meters 0.2754034824022468 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999894e-01 -6.10136322e-05 -4.56746384e-04 1.53943221e+00] [ 6.13955481e-05 9.99999649e-01 8.36198889e-04 4.53495369e-02] [ 4.56695204e-04 -8.36226842e-04 9.99999546e-01 4.38719481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223133365 meters 0.2770713842838546 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999848e-01 -1.55481962e-04 -5.29662868e-04 1.53982740e+00] [ 1.55801330e-04 9.99999806e-01 6.02977149e-04 4.63479797e-02] [ 5.29569013e-04 -6.03059579e-04 9.99999678e-01 4.34105858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283133365 meters 0.27693301228587097 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999800e-01 -3.72094376e-04 -5.12287917e-04 1.54012956e+00] [ 3.72110831e-04 9.99999930e-01 3.20254368e-05 4.87923533e-02] [ 5.12275965e-04 -3.22160583e-05 9.99999868e-01 4.27211012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343133365 meters 0.2772934517464391 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999767e-01 -4.03892049e-04 -5.50052691e-04 1.54021183e+00] [ 4.03866913e-04 9.99999917e-01 -4.58079151e-05 4.91236206e-02] [ 5.50071147e-04 4.55857564e-05 9.99999848e-01 4.27312892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403133365 meters 0.2766579099809169 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999695e-01 -3.88673812e-04 -6.77147228e-04 1.54062754e+00] [ 3.88674568e-04 9.99999924e-01 9.85671757e-07 4.89085377e-02] [ 6.77146794e-04 -1.24886136e-06 9.99999771e-01 4.24739956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46313336499998 meters 0.27604977419901633 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999782e-01 -3.46948484e-04 -5.61923081e-04 1.54011557e+00] [ 3.47005342e-04 9.99999935e-01 1.01090189e-04 4.85149087e-02] [ 5.61887971e-04 -1.01285157e-04 9.99999837e-01 4.29981469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52313336499998 meters 0.2752099697346746 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999898e-01 -4.29512440e-04 -1.36518084e-04 1.53894499e+00] [ 4.29484093e-04 9.99999886e-01 -2.07599066e-04 5.00752788e-02] [ 1.36607235e-04 2.07540412e-04 9.99999969e-01 4.35036445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58313336499998 meters 0.27735399654557774 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999791e-01 -5.93995175e-04 -2.55062264e-04 1.53937391e+00] [ 5.93820425e-04 9.99999589e-01 -6.84657436e-04 5.20571596e-02] [ 2.55468843e-04 6.84505832e-04 9.99999733e-01 4.31373623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64313336499998 meters 0.2771841174501976 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999640e-01 -7.62275148e-04 -3.73386084e-04 1.53978487e+00] [ 7.61843678e-04 9.99999044e-01 -1.15434360e-03 5.40310245e-02] [ 3.74265654e-04 1.15405872e-03 9.99999264e-01 4.28350967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70313336499999 meters 0.27622292513130076 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999680e-01 -7.46706712e-04 -2.87218918e-04 1.53920158e+00] [ 7.46383199e-04 9.99999089e-01 -1.12482680e-03 5.39242193e-02] [ 2.88058572e-04 1.12461207e-03 9.99999326e-01 4.36494009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763133365 meters 0.2749131351004013 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999766e-01 -6.75266213e-04 -1.08995984e-04 1.53845220e+00] [ 6.75161816e-04 9.99999316e-01 -9.55020712e-04 5.31954202e-02] [ 1.09640803e-04 9.54946899e-04 9.99999538e-01 4.43718945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823133365 meters 0.27493856102346226 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99999752e-01 -7.03568018e-04 -8.45774941e-06 1.53834229e+00] [ 7.03558968e-04 9.99999226e-01 -1.02629798e-03 5.34911556e-02] [ 9.17981330e-06 1.02629178e-03 9.99999473e-01 4.41009771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883133365 meters 0.2771400902249825 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:0.04 [[ 9.99984839e-01 -5.50557420e-03 -9.79536221e-05 1.56295619e+00] [ 5.50576410e-03 9.99982727e-01 2.05746533e-03 5.59181730e-02] [ 8.66244020e-05 -2.05797345e-03 9.99997879e-01 4.25364955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943133365 meters 0.2769348357838309 Centerline is valid? [False, False] Translation: X:1.54, Y:0.05, Z:0.04 [[ 9.99996409e-01 1.74840170e-03 -2.03122821e-03 1.54388569e+00] [-1.74674453e-03 9.99998140e-01 8.17333301e-04 5.44446560e-02] [ 2.03265346e-03 -8.13782329e-04 9.99997603e-01 4.09245604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003133365 meters 0.2765416003639012 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99996468e-01 1.53274908e-03 -2.17127795e-03 1.54460684e+00] [-1.53233062e-03 9.99998807e-01 1.94373850e-04 5.70187863e-02] [ 2.17157329e-03 -1.91046048e-04 9.99997624e-01 4.00509174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063133365 meters 0.27803122375896694 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:0.04 [[ 9.99997002e-01 1.27793673e-03 -2.08895670e-03 1.54463554e+00] [-1.27907276e-03 9.99999035e-01 -5.42579433e-04 6.00870901e-02] [ 2.08826130e-03 5.45249734e-04 9.99997671e-01 3.95655058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.123133365 meters 0.2792733226841731 Centerline is valid? [False, False] Translation: X:1.54, Y:0.07, Z:0.04 [[ 0.99998513 0.0050883 -0.00196102 1.5445844 ] [-0.00508348 0.99998407 0.00245288 0.06593533] [ 0.00197347 -0.00244287 0.99999507 0.03911276] [ 0. 0. 0. 1. ]] SLAMing on 201.18313336499997 meters 0.2785025992501908 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.04 [[ 0.99998929 -0.00392081 -0.00245848 1.52576113] [ 0.00392957 0.99998591 0.00356902 0.07055608] [ 0.00244445 -0.00357864 0.99999061 0.03753962] [ 0. 0. 0. 1. ]] SLAMing on 201.24313336499998 meters 0.2783620199107199 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.04 [[ 0.99998846 -0.00416624 -0.00239019 1.52551478] [ 0.00417333 0.99998688 0.00297083 0.07322786] [ 0.00237778 -0.00298077 0.99999273 0.03766406] [ 0. 0. 0. 1. ]] SLAMing on 201.30313336499998 meters 0.27877972067395396 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:0.04 [[ 0.99998739 -0.00441554 -0.00239048 1.5255198 ] [ 0.00442128 0.99998735 0.00240031 0.07576033] [ 0.00237985 -0.00241085 0.99999426 0.0375744 ] [ 0. 0. 0. 1. ]] SLAMing on 201.36313336499998 meters 0.27646290735386325 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:0.04 [[ 0.99998779 -0.00438535 -0.00227686 1.52505285] [ 0.00439099 0.99998728 0.00247998 0.07552016] [ 0.00226596 -0.00248995 0.99999433 0.03802141] [ 0. 0. 0. 1. ]] SLAMing on 201.42313336499998 meters 0.27560241267124713 Centerline is valid? [False, False] Translation: X:1.52, Y:0.07, Z:0.04 [[ 0.99998841 -0.00427174 -0.00222024 1.52486164] [ 0.00427803 0.99998683 0.00283586 0.07402011] [ 0.0022081 -0.00284533 0.99999351 0.03824995] [ 0. 0. 0. 1. ]] SLAMing on 201.483133365 meters 0.27612835775933126 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.04 [[ 0.99998702 -0.00411512 -0.00300298 1.52686575] [ 0.00412628 0.99998457 0.00371897 0.07011851] [ 0.00298763 -0.00373131 0.99998858 0.03761798] [ 0. 0. 0. 1. ]] SLAMing on 201.543133365 meters 0.2770588081076884 Centerline is valid? [False, False] Translation: X:1.53, Y:0.07, Z:0.04 [[ 0.999987 -0.00386871 -0.00332106 1.52787222] [ 0.00388359 0.9999824 0.00448511 0.06665938] [ 0.00330365 -0.00449795 0.99998443 0.03715935] [ 0. 0. 0. 1. ]] SLAMing on 201.603133365 meters 0.2769007695163825 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:0.03 [[ 0.99998671 0.00310522 -0.00411512 1.51045498] [-0.00309143 0.9999896 0.00335346 0.05764677] [ 0.00412549 -0.00334069 0.99998591 0.03455803] [ 0. 0. 0. 1. ]] SLAMing on 201.663133365 meters 0.27826304877451 Centerline is valid? [False, False] Translation: X:1.53, Y:0.06, Z:0.03 [[ 0.99998626 -0.0048037 -0.00210036 1.5297809 ] [ 0.00481298 0.99997858 0.00443585 0.05723975] [ 0.00207901 -0.0044459 0.99998796 0.03472311] [ 0. 0. 0. 1. ]] SLAMing on 201.723133365 meters 0.27797409672460216 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.9999925 0.00243985 -0.0030064 1.51074475] [-0.00243008 0.99999176 0.00325172 0.05287873] [ 0.00301431 -0.00324439 0.99999019 0.03220657] [ 0. 0. 0. 1. ]] SLAMing on 201.783133365 meters 0.27796180990143987 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.99999249 0.0024286 -0.00301919 1.51097658] [-0.00241884 0.99999186 0.00323055 0.05294906] [ 0.00302701 -0.00322323 0.99999022 0.03180116] [ 0. 0. 0. 1. ]] SLAMing on 201.843133365 meters 0.27770203702995844 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.99999201 0.00249983 -0.00312038 1.51120166] [-0.0024892 0.9999911 0.00340657 0.05216597] [ 0.00312887 -0.00339878 0.99998933 0.03185351] [ 0. 0. 0. 1. ]] SLAMing on 201.903133365 meters 0.2757634694135191 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.99999187 0.0026102 -0.00307406 1.51083971] [-0.00259879 0.99998973 0.00371164 0.05094407] [ 0.00308371 -0.00370362 0.99998839 0.03241499] [ 0. 0. 0. 1. ]] SLAMing on 201.96313336499998 meters 0.2758439696228507 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.99999185 0.00272322 -0.00298112 1.51036005] [-0.00271121 0.99998823 0.00402372 0.04964974] [ 0.00299205 -0.00401561 0.99998746 0.03303041] [ 0. 0. 0. 1. ]] SLAMing on 202.02313336499998 meters 0.27536654203144056 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.9999916 0.00284926 -0.00294773 1.51017791] [-0.0028364 0.99998649 0.00435546 0.04823572] [ 0.0029601 -0.00434706 0.99998617 0.03324383] [ 0. 0. 0. 1. ]] SLAMing on 202.08313336499998 meters 0.27640773131425606 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:0.03 [[ 0.99999089 0.00311577 -0.00291737 1.50987633] [-0.00310098 0.99998239 0.00506005 0.04524406] [ 0.00293309 -0.00505095 0.99998294 0.03375455] [ 0. 0. 0. 1. ]] SLAMing on 202.14313336499998 meters 0.2742482968191835 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:0.03 [[ 9.99995202e-01 -1.09360985e-03 -2.89814024e-03 1.50987591e+00] [ 1.09675736e-03 9.99998810e-01 1.08467826e-03 4.37126410e-02] [ 2.89695058e-03 -1.08785162e-03 9.99995212e-01 3.36242695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20313336499999 meters 0.275886457774463 Centerline is valid? [False, False] Translation: X:1.53, Y:0.04, Z:0.04 [[ 9.99970683e-01 7.58666664e-03 -1.03722153e-03 1.52806651e+00] [-7.58682556e-03 9.99971208e-01 -1.49367046e-04 3.92893769e-02] [ 1.03605846e-03 1.57231886e-04 9.99999451e-01 3.50259391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263133365 meters 0.2755888887243605 Centerline is valid? [False, False] Translation: X:1.53, Y:0.04, Z:0.04 [[ 9.99993538e-01 3.49152563e-03 -8.56145506e-04 1.52747130e+00] [-3.49479445e-03 9.99986494e-01 -3.84677106e-03 3.70780046e-02] [ 8.42702843e-04 3.84973825e-03 9.99992235e-01 3.52794185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.323133365 meters 0.27457535119822285 Centerline is valid? [False, False] Translation: X:1.53, Y:0.04, Z:0.04 [[ 9.99993034e-01 3.64386418e-03 -8.08939409e-04 1.52740187e+00] [-3.64666336e-03 9.99987274e-01 -3.48623586e-03 3.54863392e-02] [ 7.96225744e-04 3.48916150e-03 9.99993596e-01 3.51848201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.383133365 meters 0.2775847840858151 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:0.03 [[ 9.99999075e-01 -1.06940737e-03 8.40930009e-04 1.55130037e+00] [ 1.06949538e-03 9.99999423e-01 -1.04217166e-04 3.32740571e-02] [-8.40818073e-04 1.05116440e-04 9.99999641e-01 3.30671988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443133365 meters 0.274376006921272 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:0.03 [[ 0.99999622 -0.00192619 0.00196434 1.51151965] [ 0.00192164 0.99999548 0.00231374 0.02349974] [-0.00196879 -0.00230995 0.99999539 0.0321238 ] [ 0. 0. 0. 1. ]] SLAMing on 202.503133365 meters 0.27638021721756134 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:0.03 [[ 0.99999685 -0.00164802 0.00189191 1.51172358] [ 0.00164229 0.99999407 0.00302586 0.02039959] [-0.00189689 -0.00302275 0.99999363 0.03209942] [ 0. 0. 0. 1. ]] SLAMing on 202.563133365 meters 0.27747260483136527 Centerline is valid? [False, False] Translation: X:1.52, Y:0.01, Z:0.03 [[ 9.99993475e-01 -3.53441212e-03 7.46839313e-04 1.51697593e+00] [ 3.53305251e-03 9.99992113e-01 1.81403010e-03 1.42850703e-02] [-7.53244953e-04 -1.81137964e-03 9.99998076e-01 2.87749482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.623133365 meters 0.27417157769667994 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:0.03 [[ 9.99997285e-01 1.14721978e-03 -2.02833115e-03 1.49516542e+00] [-1.14925000e-03 9.99998840e-01 -1.00004713e-03 1.22623326e-02] [ 2.02718152e-03 1.00237547e-03 9.99997443e-01 3.02790942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68313336499997 meters 0.2773535854992845 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:0.03 [[ 9.99994658e-01 -4.74449825e-04 -3.23397221e-03 1.50085970e+00] [ 4.66626891e-04 9.99996965e-01 -2.41931165e-03 1.01731787e-02] [ 3.23511023e-03 2.41778967e-03 9.99991844e-01 2.64717487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74313336499998 meters 0.27738121726829734 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:0.03 [[ 9.99993980e-01 -6.74561060e-06 -3.46971862e-03 1.50152050e+00] [ 2.35894895e-06 9.99999201e-01 -1.26427268e-03 4.85891616e-03] [ 3.46972437e-03 1.26425689e-03 9.99993181e-01 2.63748426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80313336499998 meters 0.2760492956968254 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:0.03 [[ 9.99994120e-01 3.18309731e-04 -3.41438869e-03 1.50106707e+00] [-3.19992111e-04 9.99999828e-01 -4.92197382e-04 1.53811073e-03] [ 3.41423143e-03 4.93287066e-04 9.99994050e-01 2.70243732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86313336499998 meters 0.27735414187960317 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:0.03 [[ 9.99990032e-01 -4.26337056e-03 1.32644258e-03 1.51922844e+00] [ 4.25929739e-03 9.99986252e-01 3.05857121e-03 -5.70734476e-03] [-1.33946416e-03 -3.05289101e-03 9.99994443e-01 2.72207051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92313336499998 meters 0.27767780583087565 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99995874e-01 2.79361143e-03 6.68610018e-04 1.49992766e+00] [-2.79524604e-03 9.99993076e-01 2.45647392e-03 -1.35351838e-02] [-6.61742955e-04 -2.45833271e-03 9.99996759e-01 2.59492242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.983133365 meters 0.27757837509114736 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99995308e-01 3.01599852e-03 5.36096861e-04 1.49992701e+00] [-3.01756386e-03 9.99991115e-01 2.94345289e-03 -1.56037025e-02] [-5.27214648e-04 -2.94505679e-03 9.99995524e-01 2.65958151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.043133365 meters 0.27917041351595173 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99995057e-01 3.09814016e-03 5.35824676e-04 1.49992666e+00] [-3.09980591e-03 9.99990277e-01 3.13637686e-03 -1.64489927e-02] [-5.26102531e-04 -3.13802231e-03 9.99994938e-01 2.66083449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.103133365 meters 0.27789292863043186 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99994956e-01 3.14056209e-03 4.74722230e-04 1.50008588e+00] [-3.14208505e-03 9.99989808e-01 3.24213924e-03 -1.69149395e-02] [-4.64535252e-04 -3.24361450e-03 9.99994632e-01 2.65874247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.163133365 meters 0.2782491138798788 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:0.03 [[ 9.99991631e-01 -3.92769957e-03 1.14495006e-03 1.51926739e+00] [ 3.92270355e-03 9.99982916e-01 4.33359601e-03 -1.26010480e-02] [-1.16195156e-03 -4.32906845e-03 9.99989954e-01 2.79635821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223133365 meters 0.27871834853395255 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99995786e-01 2.89718169e-03 1.83470986e-04 1.50072710e+00] [-2.89772229e-03 9.99991247e-01 3.01815946e-03 -1.68877911e-02] [-1.74725224e-04 -3.01867839e-03 9.99995429e-01 2.63195466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283133365 meters 0.27674124347543483 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99996067e-01 2.80453893e-03 9.61787713e-06 1.50143470e+00] [-2.80455487e-03 9.99992136e-01 2.80389897e-03 -1.59846880e-02] [-1.75415769e-06 -2.80391492e-03 9.99996069e-01 2.56649298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343133365 meters 0.27777223390419375 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.02, Z:0.03 [[ 9.99996162e-01 2.76976081e-03 6.08104798e-05 1.50127910e+00] [-2.76991598e-03 9.99992464e-01 2.72010626e-03 -1.55880670e-02] [-5.32759778e-05 -2.72026426e-03 9.99996299e-01 2.57363494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.403133365 meters 0.2774882115811458 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:0.03 [[ 9.99990338e-01 -4.26109755e-03 1.08050020e-03 1.52080272e+00] [ 4.25690663e-03 9.99983521e-01 3.85176206e-03 -1.19745305e-02] [-1.09689513e-03 -3.84712526e-03 9.99991998e-01 2.67887081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46313336499998 meters 0.27696562721737966 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:0.03 [[ 9.99990613e-01 -4.23202036e-03 9.29555395e-04 1.52114754e+00] [ 4.22833987e-03 9.99983352e-01 3.92631840e-03 -1.23072595e-02] [-9.46156180e-04 -3.92235107e-03 9.99991860e-01 2.68347460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52313336499998 meters 0.27488443001939666 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99995556e-01 5.02335392e-04 -2.93851133e-03 1.50034310e+00] [-4.99056441e-04 9.99999252e-01 1.11648142e-03 -1.00341538e-02] [ 2.93906999e-03 -1.11500997e-03 9.99995059e-01 2.84842480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58313336499998 meters 0.27687650533804126 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99995539e-01 5.52272201e-04 -2.93559363e-03 1.50020118e+00] [-5.48653978e-04 9.99999089e-01 1.23319784e-03 -1.05211373e-02] [ 2.93627202e-03 -1.23158172e-03 9.99994931e-01 2.87619761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64313336499998 meters 0.27688840120112634 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99995061e-01 6.73005711e-04 -3.06994758e-03 1.50030919e+00] [-6.68294622e-04 9.99998598e-01 1.53535061e-03 -1.18023187e-02] [ 3.07097658e-03 -1.53329140e-03 9.99994109e-01 2.92154479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70313336499999 meters 0.27597978503779524 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99994838e-01 7.65140337e-04 -3.12067922e-03 1.50036437e+00] [-7.59645210e-04 9.99998160e-01 1.76168076e-03 -1.27603230e-02] [ 3.12202141e-03 -1.75930106e-03 9.99993579e-01 2.93572055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.763133365 meters 0.277492137478421 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.01, Z:0.03 [[ 9.99995013e-01 8.04080092e-04 -3.05407618e-03 1.49997145e+00] [-7.98431705e-04 9.99997970e-01 1.85022768e-03 -1.30864341e-02] [ 3.05555771e-03 -1.84777998e-03 9.99993625e-01 2.98468113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.823133365 meters 0.27599166091214206 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.02, Z:0.03 [[ 9.99995471e-01 -1.14645654e-03 -2.78282026e-03 1.46450412e+00] [ 1.15304223e-03 9.99996536e-01 2.36610370e-03 -1.57439584e-02] [ 2.78009798e-03 -2.36930169e-03 9.99993329e-01 2.61076700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.883133365 meters 0.2767502770796855 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.02, Z:0.03 [[ 9.99994738e-01 -1.10160704e-03 -3.05134682e-03 1.46502367e+00] [ 1.10917265e-03 9.99996313e-01 2.47884873e-03 -1.62333356e-02] [ 3.04860486e-03 -2.48222015e-03 9.99992272e-01 2.63712806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.943133365 meters 0.2756920926433666 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.02, Z:0.03 [[ 9.99994724e-01 -9.49498666e-04 -3.10640776e-03 1.46498098e+00] [ 9.58417058e-04 9.99995420e-01 2.87073827e-03 -1.78373730e-02] [ 3.10366777e-03 -2.87370036e-03 9.99991055e-01 2.67655679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003133365 meters 0.2757533319187053 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.02, Z:0.03 [[ 9.99994020e-01 -6.22991237e-04 -3.40174034e-03 1.46523632e+00] [ 6.36349818e-04 9.99992086e-01 3.92731512e-03 -2.20828656e-02] [ 3.39926674e-03 -3.92945633e-03 9.99986502e-01 2.76873689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063133365 meters 0.27784816972871335 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:0.03 [[ 9.99999129e-01 7.63602263e-04 -1.07646512e-03 1.50801947e+00] [-7.59998048e-04 9.99994118e-01 3.34463717e-03 -2.56542132e-02] [ 1.07901276e-03 -3.34381614e-03 9.99993827e-01 2.67092149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.123133365 meters 0.27653108344173316 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.04, Z:0.03 [[ 9.99990111e-01 4.39409848e-03 -6.85055087e-04 1.48611007e+00] [-4.39393746e-03 9.99990319e-01 2.36385037e-04 -3.70636875e-02] [ 6.86087154e-04 -2.33372611e-04 9.99999737e-01 2.73133258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18313336499997 meters 0.27535520945928754 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.04, Z:0.03 [[ 9.99988620e-01 4.69413107e-03 -8.51975153e-04 1.48637140e+00] [-4.69327736e-03 9.99988485e-01 1.00127903e-03 -4.02839030e-02] [ 8.56665477e-04 -9.97269075e-04 9.99999136e-01 2.75716100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24313336499998 meters 0.27464557990806615 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.04, Z:0.03 [[ 9.99987447e-01 4.93957036e-03 -8.40204843e-04 1.48603484e+00] [-4.93817866e-03 9.99986445e-01 1.65046905e-03 -4.29283899e-02] [ 8.48346062e-04 -1.64629925e-03 9.99998285e-01 2.82098702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30313336499998 meters 0.2760395671236479 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.03 [[ 9.99986192e-01 5.23416158e-03 -4.68320712e-04 1.48452874e+00] [-5.23294059e-03 9.99983002e-01 2.57146791e-03 -4.63449942e-02] [ 4.81772230e-04 -2.56898171e-03 9.99996584e-01 2.97045639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36313336499998 meters 0.275839041812538 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.03 [[ 9.99999285e-01 1.13563962e-03 -3.75819696e-04 1.48411660e+00] [-1.13608879e-03 9.99998638e-01 -1.19711917e-03 -4.85520380e-02] [ 3.74459688e-04 1.19754528e-03 9.99999213e-01 2.99783572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42313336499998 meters 0.27548453713794924 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.03 [[ 9.99999067e-01 1.27058465e-03 -5.01600105e-04 1.48427482e+00] [-1.27097219e-03 9.99998894e-01 -7.73061481e-04 -5.01897606e-02] [ 5.00617310e-04 7.73698280e-04 9.99999575e-01 3.02026124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.483133365 meters 0.2736941010080451 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.03 [[ 9.99998731e-01 1.51995235e-03 -4.78264685e-04 1.48394374e+00] [-1.51999927e-03 9.99998840e-01 -9.77511942e-05 -5.28959783e-02] [ 4.78115553e-04 9.84780321e-05 9.99999881e-01 3.07461812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.543133365 meters 0.27612046135202434 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.06, Z:0.03 [[ 0.99999434 -0.00275416 0.00193464 1.50835545] [ 0.00274841 0.99999182 0.00296911 -0.056908 ] [-0.0019428 -0.00296378 0.99999372 0.02776866] [ 0. 0. 0. 1. ]] SLAMing on 204.603133365 meters 0.2756857864407102 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.06, Z:0.03 [[ 0.99999452 -0.00275536 0.00183635 1.50871976] [ 0.00274987 0.99999177 0.00298462 -0.0569624 ] [-0.00184456 -0.00297956 0.99999386 0.0274776 ] [ 0. 0. 0. 1. ]] SLAMing on 204.663133365 meters 0.27705953729140315 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.06, Z:0.03 [[ 9.99994602e-01 -2.93058142e-03 1.48551644e-03 1.50991190e+00] [ 2.92674912e-03 9.99992401e-01 2.57541534e-03 -5.56097960e-02] [-1.49305262e-03 -2.57105370e-03 9.99995580e-01 2.67618520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723133365 meters 0.27610115500912225 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.05, Z:0.03 [[ 9.99996104e-01 1.79747022e-03 -2.13578624e-03 1.48850074e+00] [-1.79804677e-03 9.99998348e-01 -2.68055420e-04 -5.19617023e-02] [ 2.13530089e-03 2.71894619e-04 9.99997683e-01 2.86140645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783133365 meters 0.27598949673360335 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.05, Z:0.03 [[ 9.99996129e-01 1.71551903e-03 -2.19078295e-03 1.48878239e+00] [-1.71652517e-03 9.99998422e-01 -4.57466245e-04 -5.11660794e-02] [ 2.18999470e-03 4.61225009e-04 9.99997496e-01 2.83074601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843133365 meters 0.2774743513884231 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.05, Z:0.03 [[ 9.99992657e-01 -3.59408768e-03 -1.33013468e-03 1.51236854e+00] [ 3.59694983e-03 9.99991207e-01 2.15567244e-03 -5.04249816e-02] [ 1.32237531e-03 -2.16044104e-03 9.99996792e-01 2.63419762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903133365 meters 0.2747190983077956 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.05, Z:0.03 [[ 9.99998877e-01 8.27508452e-04 -1.24928580e-03 1.48729312e+00] [-8.28756755e-04 9.99999158e-01 -9.99026826e-04 -5.18943598e-02] [ 1.24845804e-03 1.00006106e-03 9.99998721e-01 2.86659301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96313336499998 meters 0.2769160136711443 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:0.03 [[ 0.9999966 0.00210064 0.00154791 1.52626049] [-0.00209689 0.99999487 -0.00242211 -0.0499715 ] [-0.00155299 0.00241886 0.99999587 0.02933787] [ 0. 0. 0. 1. ]] SLAMing on 205.02313336499998 meters 0.27557566606284023 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.03 [[ 0.99999568 0.00221491 0.00192986 1.5248353 ] [-0.00221066 0.99999514 -0.00219937 -0.05056455] [-0.00193472 0.0021951 0.99999572 0.03046145] [ 0. 0. 0. 1. ]] SLAMing on 205.08313336499998 meters 0.2730548022069002 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.05, Z:0.03 [[ 9.99998365e-01 -1.36829838e-03 1.18233447e-03 1.48066046e+00] [ 1.37140266e-03 9.99995604e-01 -2.62874228e-03 -5.21772671e-02] [-1.17873237e-03 2.63035944e-03 9.99995846e-01 3.26017911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14313336499998 meters 0.2762621611356632 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999745e-01 4.96126859e-04 5.14399512e-04 1.51733439e+00] [-4.94370885e-04 9.99994070e-01 -3.40816291e-03 -5.13333570e-02] [-5.16087342e-04 3.40790773e-03 9.99994060e-01 3.56466220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20313336499999 meters 0.2750681661401133 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999790e-01 5.05285275e-04 4.04816765e-04 1.51759622e+00] [-5.03910812e-04 9.99994133e-01 -3.38821012e-03 -5.14502474e-02] [-4.06526402e-04 3.38800541e-03 9.99994178e-01 3.56576020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263133365 meters 0.2748071687966825 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999864e-01 4.14459219e-04 3.17218466e-04 1.51773646e+00] [-4.13308747e-04 9.99993369e-01 -3.61826448e-03 -5.04446861e-02] [-3.18715985e-04 3.61813288e-03 9.99993404e-01 3.58103831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.323133365 meters 0.27462384968107884 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999932e-01 2.34961372e-04 2.83700381e-04 1.51785991e+00] [-2.33786706e-04 9.99991430e-01 -4.13347326e-03 -4.84637711e-02] [-2.84669156e-04 4.13340665e-03 9.99991417e-01 3.57787865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.383133365 meters 0.2750132980011103 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999955e-01 8.49140743e-05 2.87995500e-04 1.51800220e+00] [-8.36028539e-05 9.99989646e-01 -4.54988000e-03 -4.67723535e-02] [-2.88378867e-04 4.54985572e-03 9.99989608e-01 3.54503691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.443133365 meters 0.2771473728135719 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.03 [[ 9.99999991e-01 -3.50135456e-05 1.26272258e-04 1.51860799e+00] [ 3.56264578e-05 9.99988203e-01 -4.85716294e-03 -4.55321270e-02] [-1.26100702e-04 4.85716739e-03 9.99988196e-01 3.49800276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.503133365 meters 0.2744263511183884 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999964e-01 1.43869820e-04 2.26210369e-04 1.51800968e+00] [-1.42873341e-04 9.99990314e-01 -4.39896248e-03 -4.73288892e-02] [-2.26841056e-04 4.39893000e-03 9.99990299e-01 3.57207048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.563133365 meters 0.2743070627917418 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999922e-01 3.18564490e-04 2.35119399e-04 1.51787797e+00] [-3.17629753e-04 9.99992089e-01 -3.96497018e-03 -4.91566144e-02] [-2.36380638e-04 3.96489519e-03 9.99992112e-01 3.59304872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.623133365 meters 0.2750360060522267 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999886e-01 4.51245497e-04 1.53196305e-04 1.51802390e+00] [-4.50682554e-04 9.99993219e-01 -3.65500676e-03 -5.05216870e-02] [-1.54844572e-04 3.65493730e-03 9.99993309e-01 3.60254033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68313336499997 meters 0.27605352128124966 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:0.04 [[ 9.99999779e-01 5.65206661e-04 3.51421195e-04 1.51731453e+00] [-5.64015026e-04 9.99994123e-01 -3.38180496e-03 -5.15622595e-02] [-3.53330549e-04 3.38160601e-03 9.99994220e-01 3.65367014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74313336499998 meters 0.27768745705732994 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.05, Z:0.03 [[ 9.99992474e-01 -3.39938421e-03 1.87002959e-03 1.54230418e+00] [ 3.39938874e-03 9.99994222e-01 7.59564110e-07 -5.48764555e-02] [-1.87002136e-03 5.59739912e-06 9.99998251e-01 3.40133277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80313336499998 meters 0.27514745295502585 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:0.04 [[ 9.99997200e-01 1.89281066e-03 -1.42023604e-03 1.52139659e+00] [-1.89570145e-03 9.99996129e-01 -2.03685095e-03 -5.70582973e-02] [ 1.41637517e-03 2.03953759e-03 9.99996917e-01 3.60605578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86313336499998 meters 0.27531962282730205 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:0.04 [[ 9.99996958e-01 2.02682123e-03 -1.40583914e-03 1.52117311e+00] [-2.02926255e-03 9.99996432e-01 -1.73730810e-03 -5.83580729e-02] [ 1.40231291e-03 1.74015563e-03 9.99997503e-01 3.64138706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92313336499998 meters 0.27524490160550047 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:0.04 [[ 9.99996895e-01 2.08469020e-03 -1.36519900e-03 1.52115128e+00] [-2.08686199e-03 9.99996556e-01 -1.59133816e-03 -5.89738500e-02] [ 1.36187685e-03 1.59418220e-03 9.99997802e-01 3.62388294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.983133365 meters 0.2759521864006213 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:0.04 [[ 9.99996663e-01 2.18353206e-03 -1.38044918e-03 1.52097081e+00] [-2.18539069e-03 9.99996706e-01 -1.34632176e-03 -5.99597544e-02] [ 1.37750490e-03 1.34933408e-03 9.99998141e-01 3.66837611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.043133365 meters 0.2767171757006372 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:0.04 [[ 9.99989098e-01 -4.62706339e-03 6.27607876e-04 1.54020144e+00] [ 4.62703911e-03 9.99989294e-01 4.01291264e-05 -6.05782148e-02] [-6.27786837e-04 -3.72247227e-05 9.99999802e-01 3.79690933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.103133365 meters 0.2749819874913014 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.07, Z:0.04 [[ 9.99996307e-01 2.45612173e-03 -1.16355192e-03 1.52272865e+00] [-2.45579729e-03 9.99996945e-01 2.80182664e-04 -7.21479666e-02] [ 1.16423653e-03 -2.77324182e-04 9.99999284e-01 3.73726346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.163133365 meters 0.274839685968089 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.08, Z:0.04 [[ 9.99995027e-01 2.82661755e-03 -1.39829226e-03 1.52259925e+00] [-2.82435506e-03 9.99994704e-01 1.61737766e-03 -7.73526406e-02] [ 1.40285657e-03 -1.61342035e-03 9.99997714e-01 3.86614401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223133365 meters 0.2751064985182969 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.09, Z:0.04 [[ 9.99993217e-01 -3.34456864e-03 1.54273065e-03 1.54576083e+00] [ 3.33839560e-03 9.99986480e-01 3.98673936e-03 -9.29867898e-02] [-1.55604371e-03 -3.98156207e-03 9.99990863e-01 3.66020500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283133365 meters 0.27598485587848226 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.10, Z:0.04 [[ 9.99995183e-01 -2.79905266e-03 1.34129972e-03 1.54602479e+00] [ 2.79195251e-03 9.99982235e-01 5.26644257e-03 -9.86092360e-02] [-1.35601695e-03 -5.26267236e-03 9.99985233e-01 3.70281470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343133365 meters 0.27613241190614385 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.10, Z:0.04 [[ 9.99996491e-01 -2.35748535e-03 1.20814944e-03 1.54583170e+00] [ 2.34989152e-03 9.99977715e-01 6.24884217e-03 -1.02733654e-01] [-1.22285407e-03 -6.24598123e-03 9.99979746e-01 3.79472859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403133365 meters 0.27546608594445654 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:0.04 [[ 9.99990684e-01 7.63098274e-04 4.24844275e-03 1.52303241e+00] [-7.78310123e-04 9.99993289e-01 3.58006936e-03 -1.14053499e-01] [-4.24568229e-03 -3.58334262e-03 9.99984567e-01 3.84182831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46313336499998 meters 0.2760690370357811 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.12, Z:0.04 [[ 9.99953377e-01 7.06700576e-03 6.58040199e-03 1.54112152e+00] [-7.06642182e-03 9.99975026e-01 -1.11985554e-04 -1.20658307e-01] [-6.58102906e-03 6.54804368e-05 9.99978343e-01 3.85181459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52313336499998 meters 0.2756185244764168 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.13, Z:0.04 [[ 9.99966423e-01 -4.94671191e-03 6.53322877e-03 1.51926510e+00] [ 4.94503286e-03 9.99987736e-01 2.73131178e-04 -1.28839885e-01] [-6.53449975e-03 -2.40814976e-04 9.99978621e-01 3.96979431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58313336499998 meters 0.2762957867566565 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.13, Z:0.04 [[ 9.99967497e-01 -4.61507769e-03 6.61101644e-03 1.51845856e+00] [ 4.60637713e-03 9.99988505e-01 1.33069340e-03 -1.32828130e-01] [-6.61708170e-03 -1.30019731e-03 9.99977262e-01 4.09175388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64313336499998 meters 0.2749457242351714 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.14, Z:0.04 [[ 0.9999697 -0.00433748 0.00646462 1.51853542] [ 0.00432388 0.99998842 0.00211515 -0.13597993] [-0.00647372 -0.00208713 0.99997687 0.04136296] [ 0. 0. 0. 1. ]] SLAMing on 206.70313336499999 meters 0.2758183513980235 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.14, Z:0.04 [[ 0.99996995 -0.00416123 0.0065402 1.51808159] [ 0.00414483 0.99998824 0.00251928 -0.13765924] [-0.00655061 -0.0024921 0.99997544 0.0418578 ] [ 0. 0. 0. 1. ]] SLAMing on 206.763133365 meters 0.27558679204154185 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.14, Z:0.04 [[ 0.99996945 -0.00425195 0.00655833 1.51808174] [ 0.00423691 0.99998837 0.00230569 -0.13673781] [-0.00656806 -0.00227784 0.99997584 0.04178809] [ 0. 0. 0. 1. ]] SLAMing on 206.823133365 meters 0.27520168699029685 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.14, Z:0.04 [[ 0.99998865 0.00247741 0.00406941 1.49866776] [-0.00248356 0.99999578 0.00150712 -0.13650275] [-0.00406566 -0.00151721 0.99999058 0.04105782] [ 0. 0. 0. 1. ]] SLAMing on 206.883133365 meters 0.27765560675554435 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.13, Z:0.04 [[ 9.99979026e-01 -4.99642228e-03 4.12107358e-03 1.52082980e+00] [ 4.99084242e-03 9.99986617e-01 1.36315622e-03 -1.31937516e-01] [-4.12782933e-03 -1.34256000e-03 9.99990579e-01 4.04843817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.943133365 meters 0.2766381724442405 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.13, Z:0.04 [[ 9.99978786e-01 -5.16491490e-03 3.96879507e-03 1.52141065e+00] [ 5.16111660e-03 9.99986214e-01 9.66686315e-04 -1.30327665e-01] [-3.97373320e-03 -9.46182394e-04 9.99991657e-01 4.00578444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.003133365 meters 0.2762431969935439 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.12, Z:0.04 [[ 9.99998391e-01 1.74624791e-03 4.09611764e-04 1.50205745e+00] [-1.74627796e-03 9.99998473e-01 7.30152390e-05 -1.24380344e-01] [-4.09483635e-04 -7.37304176e-05 9.99999913e-01 4.01976169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.063133365 meters 0.27676584580105196 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.12, Z:0.04 [[ 9.99998942e-01 1.40476697e-03 3.77920563e-04 1.50213184e+00] [-1.40450156e-03 9.99998768e-01 -7.01658158e-04 -1.20935740e-01] [-3.78905763e-04 7.01126626e-04 9.99999682e-01 4.03096080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.123133365 meters 0.27509085581975473 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.12, Z:0.04 [[ 9.99999310e-01 1.06987304e-03 4.85043947e-04 1.50191097e+00] [-1.06914078e-03 9.99998292e-01 -1.50743509e-03 -1.17363835e-01] [-4.86655883e-04 1.50691547e-03 9.99998746e-01 4.03101528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18313336499997 meters 0.27572620899107886 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:0.04 [[ 0.99999008 -0.00208835 0.00393463 1.52127841] [ 0.00208157 0.99999634 0.00172769 -0.1106253 ] [-0.00393822 -0.00171948 0.99999077 0.04047377] [ 0. 0. 0. 1. ]] SLAMing on 207.24313336499998 meters 0.27539932701544856 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.11, Z:0.04 [[ 9.99988509e-01 -2.49562906e-03 4.09323268e-03 1.52115702e+00] [ 2.49286651e-03 9.99996662e-01 6.79869384e-04 -1.06207491e-01] [-4.09491572e-03 -6.69657689e-04 9.99991392e-01 4.00405335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30313336499998 meters 0.2753377381260321 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.10, Z:0.04 [[ 9.99987474e-01 -2.92441461e-03 4.06197395e-03 1.52175304e+00] [ 2.92594877e-03 9.99995650e-01 -3.71797920e-04 -1.01899146e-01] [-4.06086899e-03 3.83678390e-04 9.99991681e-01 3.91253673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36313336499998 meters 0.27599759403362484 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.09, Z:0.04 [[ 9.99986602e-01 -1.30576802e-03 5.00909913e-03 1.51841171e+00] [ 1.30618106e-03 9.99999144e-01 -7.91862377e-05 -9.16498332e-02] [-5.00899144e-03 8.57279672e-05 9.99987451e-01 4.05578910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42313336499998 meters 0.27591237101003124 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.08, Z:0.04 [[ 9.99981544e-01 4.62178605e-04 6.05793211e-03 1.51471099e+00] [-4.66732882e-04 9.99999610e-01 7.50395122e-04 -8.41555490e-02] [-6.05758293e-03 -7.53208708e-04 9.99981369e-01 4.21758995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.483133365 meters 0.27659640152177467 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.08, Z:0.05 [[ 0.99998713 0.00230702 0.00451819 1.55102356] [-0.00229975 0.99999605 -0.00161344 -0.07528381] [-0.00452189 0.00160302 0.99998849 0.04550446] [ 0. 0. 0. 1. ]] SLAMing on 207.543133365 meters 0.2740563297397625 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.05 [[ 9.99972325e-01 -4.94788454e-03 5.55592832e-03 1.52912579e+00] [ 4.94514649e-03 9.99987644e-01 5.06446083e-04 -6.40936960e-02] [-5.55836551e-03 -4.78957187e-04 9.99984437e-01 4.57605742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603133365 meters 0.27496882457493466 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.04 [[ 9.99973793e-01 -5.29535422e-03 4.93681763e-03 1.53117121e+00] [ 5.29906728e-03 9.99985687e-01 -7.39338408e-04 -5.89740701e-02] [-4.93283191e-03 7.65479561e-04 9.99987541e-01 4.43225500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.663133365 meters 0.2742609841059543 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:0.04 [[ 9.99974718e-01 -5.51180405e-03 4.49260323e-03 1.53244314e+00] [ 5.51827751e-03 9.99983752e-01 -1.42979528e-03 -5.62320552e-02] [-4.48464949e-03 1.45455057e-03 9.99988886e-01 4.37298931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.723133365 meters 0.275720529155583 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:0.04 [[ 0.99997412 0.00268315 0.00667538 1.55202541] [-0.00265556 0.99998791 -0.00413926 -0.05386174] [-0.00668641 0.00412143 0.99996915 0.04304504] [ 0. 0. 0. 1. ]] SLAMing on 207.783133365 meters 0.2767377048402118 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:0.04 [[ 0.99997115 0.00278559 0.00706732 1.55079051] [-0.00275541 0.99998706 -0.0042756 -0.05254612] [-0.00707914 0.004256 0.99996589 0.04378091] [ 0. 0. 0. 1. ]] SLAMing on 207.843133365 meters 0.2755465959754969 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:0.04 [[ 0.99997077 0.00271606 0.00714719 1.55036104] [-0.00268346 0.99998597 -0.00456702 -0.05118253] [-0.00715949 0.0045477 0.99996403 0.04437545] [ 0. 0. 0. 1. ]] SLAMing on 207.903133365 meters 0.27420208974887916 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:0.04 [[ 0.99996834 0.00270134 0.00748466 1.54935822] [-0.00266592 0.99998522 -0.00473933 -0.05011963] [-0.00749735 0.00471923 0.99996076 0.04494302] [ 0. 0. 0. 1. ]] SLAMing on 207.96313336499998 meters 0.2762435089975571 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99956524e-01 -1.31607999e-03 9.23133001e-03 1.57220984e+00] [ 1.32881705e-03 9.99998174e-01 -1.37376718e-03 -4.91383603e-02] [-9.22950516e-03 1.38597421e-03 9.99956447e-01 4.35810326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02313336499998 meters 0.2761692804783861 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99956421e-01 -1.26396304e-03 9.24976888e-03 1.57202090e+00] [ 1.27563992e-03 9.99998397e-01 -1.25660654e-03 -4.96430984e-02] [-9.24816575e-03 1.26835116e-03 9.99956430e-01 4.38602270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08313336499998 meters 0.27657325021210244 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99956457e-01 -1.20850073e-03 9.25330488e-03 1.57191812e+00] [ 1.21902049e-03 9.99998617e-01 -1.13131041e-03 -5.01987811e-02] [-9.25192490e-03 1.14254112e-03 9.99956547e-01 4.40453084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14313336499998 meters 0.2757783256087801 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99956212e-01 -1.08543745e-03 9.29489073e-03 1.57159373e+00] [ 1.09343996e-03 9.99999036e-01 -8.55919123e-04 -5.14049344e-02] [-9.29395272e-03 8.66045049e-04 9.99956435e-01 4.44721721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20313336499999 meters 0.27579918558575606 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99956331e-01 -1.00720610e-03 9.29097797e-03 1.57144394e+00] [ 1.01353590e-03 9.99999257e-01 -6.76601969e-04 -5.21848835e-02] [-9.29028959e-03 6.85989162e-04 9.99956609e-01 4.47900633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.263133365 meters 0.2754817840063171 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99955407e-01 -9.85499875e-04 9.39219199e-03 1.57111565e+00] [ 9.91393084e-04 9.99999315e-01 -6.22823106e-04 -5.23688394e-02] [-9.39157176e-03 6.32106687e-04 9.99955698e-01 4.49644584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.323133365 meters 0.27600266694436426 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.05, Z:0.04 [[ 0.99996274 0.0055275 0.00663069 1.55374796] [-0.00551421 0.99998276 -0.00202052 -0.05442896] [-0.00664175 0.00198389 0.99997598 0.04233591] [ 0. 0. 0. 1. ]] SLAMing on 208.383133365 meters 0.27707178838466295 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99970601e-01 -1.95424715e-03 7.41478039e-03 1.57422852e+00] [ 1.96482501e-03 9.99997062e-01 -1.41957414e-03 -5.20055598e-02] [-7.41198441e-03 1.43410115e-03 9.99971503e-01 4.26045378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443133365 meters 0.27735832978044983 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99970464e-01 -1.85902436e-03 7.45757179e-03 1.57399359e+00] [ 1.86807520e-03 9.99997527e-01 -1.20686190e-03 -5.29538609e-02] [-7.45530976e-03 1.22075756e-03 9.99971464e-01 4.28622112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.503133365 meters 0.27727017822282846 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.04 [[ 9.99971391e-01 -1.70336869e-03 7.36985385e-03 1.57435792e+00] [ 1.70949644e-03 9.99998198e-01 -8.25242428e-04 -5.47328955e-02] [-7.36843488e-03 8.37817558e-04 9.99972502e-01 4.25131578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.563133365 meters 0.27616003373163134 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99971364e-01 -1.59257336e-03 7.39825645e-03 1.57416590e+00] [ 1.59683189e-03 9.99998563e-01 -5.69741689e-04 -5.58526630e-02] [-7.39733846e-03 5.81539145e-04 9.99972470e-01 4.27566068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.623133365 meters 0.2758758137063888 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99972470e-01 -1.52772940e-03 7.26121668e-03 1.57432306e+00] [ 1.53083833e-03 9.99998739e-01 -4.22617117e-04 -5.65103002e-02] [-7.26056188e-03 4.33721232e-04 9.99973548e-01 4.30889905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68313336499997 meters 0.27602718857516223 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99973432e-01 -1.45553505e-03 7.14257328e-03 1.57469651e+00] [ 1.45733748e-03 9.99998908e-01 -2.47152177e-04 -5.73521402e-02] [-7.14220574e-03 2.57554751e-04 9.99974461e-01 4.28962595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74313336499998 meters 0.27699137992187184 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99973479e-01 -1.28257537e-03 7.16912377e-03 1.57433825e+00] [ 1.28131442e-03 9.99999163e-01 1.80475805e-04 -5.91215505e-02] [-7.16934924e-03 -1.71285117e-04 9.99974285e-01 4.34779058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80313336499998 meters 0.27728208963556455 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99973516e-01 -1.19215382e-03 7.17949930e-03 1.57420815e+00] [ 1.18933966e-03 9.99999214e-01 3.96229388e-04 -6.00497334e-02] [-7.17996603e-03 -3.87680032e-04 9.99974149e-01 4.36862081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86313336499998 meters 0.27739786019718876 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.04 [[ 9.99975723e-01 -9.19824471e-04 6.90709132e-03 1.57467947e+00] [ 9.11449736e-04 9.99998846e-01 1.21553352e-03 -6.36439676e-02] [-6.90820143e-03 -1.20920854e-03 9.99975407e-01 4.39901981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92313336499998 meters 0.2759293641143198 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.04 [[ 9.99974764e-01 -6.51849941e-04 7.07439600e-03 1.57402591e+00] [ 6.38499252e-04 9.99998011e-01 1.88927878e-03 -6.65273821e-02] [-7.07561346e-03 -1.88471410e-03 9.99973191e-01 4.44215535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.983133365 meters 0.2755118705563434 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99960936e-01 -3.22283245e-03 8.23042304e-03 1.56842504e+00] [ 3.22603936e-03 9.99994725e-01 -3.76394480e-04 -6.79614414e-02] [-8.22916657e-03 4.02931445e-04 9.99966059e-01 4.86157794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043133365 meters 0.2767847616185237 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99961259e-01 -3.15797010e-03 8.21629764e-03 1.56843248e+00] [ 3.15992985e-03 9.99994982e-01 -2.25548777e-04 -6.86479422e-02] [-8.21554413e-03 2.51502963e-04 9.99966220e-01 4.86629920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103133365 meters 0.2749207201902407 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99960587e-01 -3.11844424e-03 8.31261480e-03 1.56807719e+00] [ 3.11974305e-03 9.99995123e-01 -1.43283506e-04 -6.90058206e-02] [-8.31212744e-03 1.69211081e-04 9.99965439e-01 4.89150042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163133365 meters 0.2743709815400486 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99959669e-01 -3.08397636e-03 8.43507097e-03 1.56749317e+00] [ 3.08487886e-03 9.99995237e-01 -9.39851399e-05 -6.92161988e-02] [-8.43474095e-03 1.20002521e-04 9.99964420e-01 4.95031228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223133365 meters 0.275975589271055 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99959902e-01 -3.13267740e-03 8.38937916e-03 1.56794278e+00] [ 3.13452041e-03 9.99995066e-01 -2.06543831e-04 -6.88225283e-02] [-8.38869073e-03 2.32832229e-04 9.99964787e-01 4.88131258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283133365 meters 0.2755020979977391 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:0.05 [[ 9.99960412e-01 -3.17456373e-03 8.31248378e-03 1.56840887e+00] [ 3.17721654e-03 9.99994906e-01 -3.05950220e-04 -6.84775783e-02] [-8.31147018e-03 3.32348669e-04 9.99965404e-01 4.82283936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343133365 meters 0.27416451237188716 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.07, Z:0.05 [[ 9.99977058e-01 3.65112989e-03 5.70541776e-03 1.54948647e+00] [-3.64303887e-03 9.99992345e-01 -1.42787807e-03 -6.89067458e-02] [-5.71058745e-03 1.40706025e-03 9.99982705e-01 4.74318105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403133365 meters 0.2755952364703998 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 9.99986934e-01 -3.91759102e-03 3.28393447e-03 1.57148515e+00] [ 3.92149252e-03 9.99991612e-01 -1.18246349e-03 -6.43585097e-02] [-3.27927452e-03 1.19532596e-03 9.99993909e-01 4.75368683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46313336499998 meters 0.27708521750176585 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 9.99986630e-01 -4.03222995e-03 3.23745630e-03 1.57181541e+00] [ 4.03704161e-03 9.99990754e-01 -1.48109006e-03 -6.32176461e-02] [-3.23145427e-03 1.49414000e-03 9.99993663e-01 4.71304812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52313336499998 meters 0.27796215107545263 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:0.05 [[ 0.99996494 0.00579875 0.00604154 1.58834994] [-0.0057832 0.99997993 -0.00258796 -0.06255651] [-0.00605643 0.00255293 0.9999784 0.04801619] [ 0. 0. 0. 1. ]] SLAMing on 209.58313336499998 meters 0.27684226780620774 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 9.99981580e-01 -3.64198064e-03 4.85542982e-03 1.57066728e+00] [ 3.64801926e-03 9.99992583e-01 -1.23540641e-03 -5.91877439e-02] [-4.85089448e-03 1.25309635e-03 9.99987449e-01 4.73270653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64313336499998 meters 0.2772277795281485 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 9.99978937e-01 -3.56220517e-03 5.42551087e-03 1.56901972e+00] [ 3.56901415e-03 9.99992855e-01 -1.24582799e-03 -5.84959571e-02] [-5.42103421e-03 1.26516547e-03 9.99984506e-01 4.80940595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70313336499999 meters 0.27716599794039687 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 9.99977244e-01 -3.63456543e-03 5.68339987e-03 1.56839959e+00] [ 3.64286179e-03 9.99992313e-01 -1.45008420e-03 -5.75398933e-02] [-5.67808576e-03 1.47075504e-03 9.99982798e-01 4.81633269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763133365 meters 0.27489847983291 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:0.05 [[ 0.99997515 -0.00380927 0.00593282 1.56784087] [ 0.00382086 0.99999081 -0.00194208 -0.05541643] [-0.00592536 0.0019647 0.99998051 0.04811157] [ 0. 0. 0. 1. ]] SLAMing on 209.823133365 meters 0.2742181111279508 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.05 [[ 9.99981733e-01 8.63168277e-05 6.04364420e-03 1.56792767e+00] [-9.48384620e-05 9.99999002e-01 1.40974348e-03 -5.12960460e-02] [-6.04351649e-03 -1.41029090e-03 9.99980743e-01 4.74683600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.883133365 meters 0.27515891860394437 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:0.05 [[ 9.99981906e-01 -2.52963730e-04 6.01028693e-03 1.56848895e+00] [ 2.49357553e-04 9.99999788e-01 6.00742614e-04 -4.79391465e-02] [-6.01043763e-03 -5.99233034e-04 9.99981758e-01 4.65387273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.943133365 meters 0.27620568365391074 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.05 [[ 9.99981360e-01 -5.94290123e-04 6.07666007e-03 1.56885456e+00] [ 5.95243537e-04 9.99999811e-01 -1.55090345e-04 -4.48388478e-02] [-6.07656675e-03 1.58704547e-04 9.99981525e-01 4.55588752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.003133365 meters 0.277500122302993 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.05 [[ 9.99980443e-01 -7.34918026e-04 6.21068799e-03 1.56873495e+00] [ 7.38145053e-04 9.99999594e-01 -5.17316272e-04 -4.33440702e-02] [-6.21030529e-03 5.21890543e-04 9.99980580e-01 4.51823305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.063133365 meters 0.27576764336913984 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99980623e-01 -8.14019862e-04 6.17181266e-03 1.56904821e+00] [ 8.18383694e-04 9.99999417e-01 -7.04565956e-04 -4.25517594e-02] [-6.17123553e-03 7.09603215e-04 9.99980706e-01 4.47117050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.123133365 meters 0.27561944662985915 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99981487e-01 -8.32491622e-04 6.02767448e-03 1.56957467e+00] [ 8.36911570e-04 9.99999383e-01 -7.30790697e-04 -4.25441232e-02] [-6.02706239e-03 7.35821798e-04 9.99981566e-01 4.42938093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18313336499997 meters 0.27589914108903524 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99982009e-01 -7.82605959e-04 5.94714402e-03 1.56996521e+00] [ 7.86234535e-04 9.99999506e-01 -6.07824199e-04 -4.31473572e-02] [-5.94666540e-03 6.12489114e-04 9.99982131e-01 4.38593997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24313336499998 meters 0.2742348790673171 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99981284e-01 -8.08971812e-04 6.06441640e-03 1.56974007e+00] [ 8.13083813e-04 9.99999441e-01 -6.75618994e-04 -4.28671476e-02] [-6.06386645e-03 6.80537228e-04 9.99981383e-01 4.37521459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30313336499998 meters 0.27382654731135436 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99980008e-01 -9.65563398e-04 6.24907260e-03 1.56948975e+00] [ 9.72516193e-04 9.99998911e-01 -1.10966918e-03 -4.10464152e-02] [-6.24799434e-03 1.11572432e-03 9.99979859e-01 4.34155979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36313336499998 meters 0.27415090415394583 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99979289e-01 -1.14619743e-03 6.33310307e-03 1.56944885e+00] [ 1.15648842e-03 9.99998017e-01 -1.62153002e-03 -3.88915545e-02] [-6.33123192e-03 1.62882060e-03 9.99978631e-01 4.31095171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42313336499998 meters 0.27417213273960733 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:0.04 [[ 9.99979012e-01 -1.36148311e-03 6.33424899e-03 1.56961736e+00] [ 1.37537257e-03 9.99996658e-01 -2.18891562e-03 -3.65053104e-02] [-6.33124765e-03 2.19758163e-03 9.99977543e-01 4.27933663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.483133365 meters 0.27522395976387304 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997734 -0.00160976 0.00653632 1.56916583] [ 0.00162805 0.99999477 -0.00279435 -0.03388541] [-0.00653179 0.00280493 0.99997473 0.04281304] [ 0. 0. 0. 1. ]] SLAMing on 210.543133365 meters 0.2749809421285257 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997546 -0.00171994 0.00679054 1.56874165] [ 0.00174077 0.99999379 -0.00306274 -0.03272323] [-0.00678523 0.00307449 0.99997225 0.04246162] [ 0. 0. 0. 1. ]] SLAMing on 210.603133365 meters 0.2747942507119069 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997337 -0.00192333 0.00704012 1.5683917 ] [ 0.00194932 0.9999913 -0.00368668 -0.03030234] [-0.00703296 0.00370031 0.99996842 0.04208032] [ 0. 0. 0. 1. ]] SLAMing on 210.663133365 meters 0.2748369433382248 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.9999741 -0.00192922 0.00693391 1.56892274] [ 0.00195443 0.9999915 -0.00363121 -0.03070032] [-0.00692684 0.00364467 0.99996937 0.04140782] [ 0. 0. 0. 1. ]] SLAMing on 210.723133365 meters 0.2738284402684928 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997425 -0.00190682 0.00691904 1.56906005] [ 0.00193158 0.99999175 -0.00357354 -0.03097719] [-0.00691217 0.00358681 0.99996968 0.04115539] [ 0. 0. 0. 1. ]] SLAMing on 210.783133365 meters 0.2757859116110681 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997556 -0.00197818 0.00670563 1.570191 ] [ 0.00200113 0.99999216 -0.00341647 -0.0322581 ] [-0.00669882 0.00342981 0.99997168 0.03969555] [ 0. 0. 0. 1. ]] SLAMing on 210.843133365 meters 0.2733033289176493 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.04, Z:0.04 [[ 0.99997234 0.00550359 0.00500342 1.55060549] [-0.00548406 0.99997732 -0.00390853 -0.03510824] [-0.00502482 0.00388099 0.99997984 0.03883272] [ 0. 0. 0. 1. ]] SLAMing on 210.903133365 meters 0.2754152068746821 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.9999804 -0.00198821 0.00593758 1.57076223] [ 0.00200715 0.99999291 -0.00318656 -0.0332189 ] [-0.0059312 0.00319841 0.9999773 0.03950239] [ 0. 0. 0. 1. ]] SLAMing on 210.96313336499998 meters 0.27638596823995626 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997918 -0.00220797 0.00606412 1.5708993 ] [ 0.00223114 0.99999023 -0.00381667 -0.03051733] [-0.00605564 0.00383012 0.99997433 0.03868788] [ 0. 0. 0. 1. ]] SLAMing on 211.02313336499998 meters 0.2764565722521017 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997761 -0.00240329 0.00624597 1.57065532] [ 0.00243049 0.99998758 -0.00435099 -0.02829744] [-0.00623544 0.00436608 0.99997103 0.03840043] [ 0. 0. 0. 1. ]] SLAMing on 211.08313336499998 meters 0.2742271616170595 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:0.04 [[ 0.99997669 -0.00262696 0.00630265 1.57070351] [ 0.0026584 0.99998404 -0.00498527 -0.02566509] [-0.00628945 0.00500191 0.99996771 0.03802767] [ 0. 0. 0. 1. ]] SLAMing on 211.14313336499998 meters 0.27590927598637677 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.01, Z:0.04 [[ 0.99997907 -0.00574381 0.00297769 1.59177896] [ 0.0057489 0.99998203 -0.00170098 -0.01438484] [-0.00296786 0.00171806 0.99999412 0.03864973] [ 0. 0. 0. 1. ]] SLAMing on 211.20313336499999 meters 0.27306154509338765 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:0.04 [[ 9.99998390e-01 1.72879399e-03 4.80397189e-04 1.57187598e+00] [-1.72733303e-03 9.99993932e-01 -3.02511764e-03 -8.67907187e-03] [-4.85624079e-04 3.02428297e-03 9.99995309e-01 3.77443649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263133365 meters 0.2733418601403507 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:0.04 [[ 9.99999020e-01 1.32408379e-03 4.54855973e-04 1.57242200e+00] [-1.32216150e-03 9.99990303e-01 -4.20077425e-03 -3.77228343e-03] [-4.60413740e-04 4.20016874e-03 9.99991073e-01 3.68949720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.323133365 meters 0.2736156117852657 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:0.04 [[ 9.99999357e-01 9.02220183e-04 6.86934148e-04 1.57198820e+00] [-8.98543082e-04 9.99985368e-01 -5.33454024e-03 1.04886300e-03] [-6.91737026e-04 5.33391957e-03 9.99985535e-01 3.68115514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.383133365 meters 0.2745070112618126 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:0.04 [[ 9.99999566e-01 6.13950808e-04 7.01126650e-04 1.57226071e+00] [-6.09720747e-04 9.99981708e-01 -6.01759435e-03 3.92771509e-03] [-7.04808332e-04 6.01716424e-03 9.99981648e-01 3.62725167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.443133365 meters 0.27466006354443645 Centerline is valid? [False, False] Translation: X:1.57, Y:0.01, Z:0.04 [[ 0.99999499 0.00251901 0.00191512 1.56962877] [-0.00250904 0.99998336 -0.00519405 0.01192052] [-0.00192817 0.00518922 0.99998468 0.03642796] [ 0. 0. 0. 1. ]] SLAMing on 211.503133365 meters 0.2742925686146019 Centerline is valid? [False, False] Translation: X:1.57, Y:0.01, Z:0.04 [[ 0.99999542 0.00232299 0.00193834 1.56961275] [-0.00231183 0.99998085 -0.00574128 0.01422254] [-0.00195164 0.00573677 0.99998164 0.036366 ] [ 0. 0. 0. 1. ]] SLAMing on 211.563133365 meters 0.27484643414087734 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:0.04 [[ 0.99999582 0.00204025 0.00204886 1.5697951 ] [-0.00202638 0.99997518 -0.00674762 0.01846482] [-0.00206257 0.00674344 0.99997514 0.03557472] [ 0. 0. 0. 1. ]] SLAMing on 211.623133365 meters 0.27523936727629233 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:0.04 [[ 0.99998826 -0.00455652 0.00164664 1.54830379] [ 0.0045625 0.99998294 -0.0036463 0.02417535] [-0.00163 0.00365377 0.999992 0.03597146] [ 0. 0. 0. 1. ]] SLAMing on 211.68313336499997 meters 0.27440367855167014 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:0.04 [[ 9.99998418e-01 -4.45457662e-04 1.72190460e-03 1.54843887e+00] [ 4.45198747e-04 9.99999890e-01 1.50745829e-04 2.64436511e-02] [-1.72197156e-03 -1.49979001e-04 9.99998506e-01 3.52928643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74313336499998 meters 0.27380065451526303 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:0.03 [[ 9.99998386e-01 -7.75480310e-04 1.62046144e-03 1.54901212e+00] [ 7.76702265e-04 9.99999414e-01 -7.53585441e-04 3.02114993e-02] [-1.61987610e-03 7.54842841e-04 9.99998403e-01 3.46016830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80313336499998 meters 0.2751559549324711 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:0.03 [[ 9.99998219e-01 -1.07103888e-03 1.55383421e-03 1.54970567e+00] [ 1.07336379e-03 9.99998305e-01 -1.49617377e-03 3.34272753e-02] [-1.55222912e-03 1.49783894e-03 9.99997674e-01 3.35492364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86313336499998 meters 0.2751840023466625 Centerline is valid? [False, False] Translation: X:1.55, Y:0.03, Z:0.03 [[ 9.99999467e-01 9.69197965e-04 3.55798554e-04 1.55495226e+00] [-9.69354543e-04 9.99999433e-01 4.40165253e-04 3.37676330e-02] [-3.55371746e-04 -4.40509914e-04 9.99999840e-01 3.01557903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92313336499998 meters 0.27512624855099344 Centerline is valid? [False, False] Translation: X:1.55, Y:0.04, Z:0.03 [[ 9.99999552e-01 8.27664400e-04 4.59818759e-04 1.55477972e+00] [-8.27711581e-04 9.99999652e-01 1.02427801e-04 3.52466038e-02] [-4.59733823e-04 -1.02808353e-04 9.99999889e-01 2.99924030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.983133365 meters 0.27401789020504275 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:0.03 [[ 9.99999598e-01 8.05461975e-04 3.93531156e-04 1.55523407e+00] [-8.05483516e-04 9.99999674e-01 5.45809311e-05 3.54255227e-02] [-3.93487065e-04 -5.48978920e-05 9.99999921e-01 2.93262719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.043133365 meters 0.27725038368032273 Centerline is valid? [False, False] Translation: X:1.58, Y:0.04, Z:0.03 [[ 9.99991693e-01 -3.90427009e-03 1.17102175e-03 1.57986305e+00] [ 3.90059685e-03 9.99987517e-01 3.12283349e-03 3.67709481e-02] [-1.18319952e-03 -3.11823987e-03 9.99994438e-01 2.72358458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.103133365 meters 0.27606302990231046 Centerline is valid? [False, False] Translation: X:1.56, Y:0.04, Z:0.03 [[ 0.99999103 0.0036049 -0.00222205 1.56225457] [-0.00360056 0.9999916 0.00195687 0.03887073] [ 0.00222909 -0.00194885 0.99999562 0.02537894] [ 0. 0. 0. 1. ]] SLAMing on 212.163133365 meters 0.27822961701485804 Centerline is valid? [False, False] Translation: X:1.58, Y:0.05, Z:0.02 [[ 0.99998471 -0.00443875 -0.00329711 1.58392422] [ 0.00444543 0.99998808 0.00201984 0.04557977] [ 0.00328811 -0.00203446 0.99999252 0.024927 ] [ 0. 0. 0. 1. ]] SLAMing on 212.223133365 meters 0.2764079756016644 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:0.02 [[ 9.99973974e-01 4.19229451e-03 -5.87162076e-03 1.56430172e+00] [-4.18324636e-03 9.99990045e-01 1.55243159e-03 5.07858649e-02] [ 5.87807056e-03 -1.52782875e-03 9.99981557e-01 2.42219250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.283133365 meters 0.2767783010046383 Centerline is valid? [False, False] Translation: X:1.56, Y:0.05, Z:0.02 [[ 9.99976206e-01 3.83323305e-03 -5.73530398e-03 1.56425532e+00] [-3.82984581e-03 9.99992485e-01 6.01460305e-04 5.48070036e-02] [ 5.73756641e-03 -5.79480664e-04 9.99983372e-01 2.36589092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343133365 meters 0.27626850204556436 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:0.02 [[ 9.99978401e-01 3.29683590e-03 -5.68575784e-03 1.56465511e+00] [-3.30099997e-03 9.99994290e-01 -7.23139310e-04 6.05110908e-02] [ 5.68334131e-03 7.41892378e-04 9.99983574e-01 2.27060641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403133365 meters 0.2770284525148927 Centerline is valid? [False, False] Translation: X:1.57, Y:0.06, Z:0.02 [[ 9.99979611e-01 2.95905126e-03 -5.65870116e-03 1.56504842e+00] [-2.96761661e-03 9.99994463e-01 -1.50586305e-03 6.39146298e-02] [ 5.65421391e-03 1.52262521e-03 9.99982856e-01 2.18083180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46313336499998 meters 0.2759364897310446 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.02 [[ 0.99998168 0.00261763 -0.00545796 1.56446786] [-0.00263015 0.99999392 -0.00228745 0.06742832] [ 0.00545194 0.00230176 0.99998249 0.02194836] [ 0. 0. 0. 1. ]] SLAMing on 212.52313336499998 meters 0.2753163307280605 Centerline is valid? [False, False] Translation: X:1.56, Y:0.07, Z:0.02 [[ 0.99998316 0.00247511 -0.00524995 1.56394133] [-0.00248896 0.99999343 -0.00263479 0.0689567 ] [ 0.00524339 0.00264781 0.99998275 0.022 ] [ 0. 0. 0. 1. ]] SLAMing on 212.58313336499998 meters 0.27382078487363976 Centerline is valid? [False, False] Translation: X:1.55, Y:0.07, Z:0.02 [[ 9.99961463e-01 -6.21830819e-03 -6.19716206e-03 1.54515163e+00] [ 6.21098947e-03 9.99979992e-01 -1.19952537e-03 7.16115981e-02] [ 6.20449709e-03 1.16098863e-03 9.99980078e-01 2.02522338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64313336499998 meters 0.2765102824878015 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:0.02 [[ 0.99997097 0.00376713 -0.00662381 1.56722168] [-0.00377864 0.99999137 -0.00172531 0.07035144] [ 0.00661726 0.00175029 0.99997657 0.01966855] [ 0. 0. 0. 1. ]] SLAMing on 212.70313336499999 meters 0.27644864708180844 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:0.02 [[ 0.99997094 0.00364945 -0.00669305 1.56762103] [-0.00366295 0.99999128 -0.00200537 0.07154093] [ 0.00668567 0.00202983 0.99997559 0.01919152] [ 0. 0. 0. 1. ]] SLAMing on 212.763133365 meters 0.27642673495704706 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:0.02 [[ 0.99997219 0.0033627 -0.00665696 1.56777841] [-0.0033816 0.99999028 -0.00283012 0.07493694] [ 0.00664737 0.00285256 0.99997384 0.01865255] [ 0. 0. 0. 1. ]] SLAMing on 212.823133365 meters 0.27725007517244943 Centerline is valid? [False, False] Translation: X:1.57, Y:0.08, Z:0.02 [[ 9.99951067e-01 6.99838231e-03 -6.99181373e-03 1.56938591e+00] [-7.00366565e-03 9.99975207e-01 -7.31447162e-04 8.42318091e-02] [ 6.98652143e-03 7.80379696e-04 9.99975289e-01 1.71138877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.883133365 meters 0.2787891760910439 Centerline is valid? [False, False] Translation: X:1.59, Y:0.10, Z:0.02 [[ 9.99968859e-01 -5.12530514e-04 -7.87514013e-03 1.58808891e+00] [ 5.05656767e-04 9.99999490e-01 -8.74807560e-04 9.76004108e-02] [ 7.87558448e-03 8.70798200e-04 9.99968608e-01 1.84232748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.943133365 meters 0.27698344732122226 Centerline is valid? [False, False] Translation: X:1.59, Y:0.11, Z:0.02 [[ 9.99967252e-01 2.83918160e-03 -7.57851045e-03 1.58877653e+00] [-2.83659771e-03 9.99995915e-01 3.51675734e-04 1.11543598e-01] [ 7.57947797e-03 -3.30167032e-04 9.99971221e-01 1.62142886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.003133365 meters 0.27906677114115946 Centerline is valid? [False, False] Translation: X:1.59, Y:0.12, Z:0.02 [[ 9.99969303e-01 2.13750734e-03 -7.53821439e-03 1.58934748e+00] [-2.14934710e-03 9.99996469e-01 -1.56288021e-03 1.20149231e-01] [ 7.53484710e-03 1.57903448e-03 9.99970366e-01 1.51302580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.063133365 meters 0.2769757113126318 Centerline is valid? [False, False] Translation: X:1.59, Y:0.13, Z:0.01 [[ 9.99970216e-01 1.32428862e-03 -7.60349057e-03 1.58974898e+00] [-1.34963832e-03 9.99993545e-01 -3.32979331e-03 1.28502759e-01] [ 7.59903189e-03 3.33995610e-03 9.99965549e-01 1.47605896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123133365 meters 0.2777224666291041 Centerline is valid? [False, False] Translation: X:1.59, Y:0.14, Z:0.01 [[ 9.99971614e-01 4.46688636e-04 -7.52141628e-03 1.58988554e+00] [-4.83881936e-04 9.99987662e-01 -4.94389277e-03 1.35887298e-01] [ 7.51911510e-03 4.94739191e-03 9.99959492e-01 1.41555320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18313336499997 meters 0.2767350577401984 Centerline is valid? [False, False] Translation: X:1.57, Y:0.14, Z:0.01 [[ 0.99993762 -0.00821841 -0.00756428 1.56966047] [ 0.00818406 0.99995611 -0.00456084 0.14460254] [ 0.00760143 0.00449865 0.99996099 0.01238179] [ 0. 0. 0. 1. ]] SLAMing on 213.24313336499998 meters 0.27495938882616316 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:0.01 [[ 0.99996321 -0.00454036 -0.00727807 1.56850822] [ 0.0045259 0.99998775 -0.00200251 0.15073536] [ 0.00728707 0.0019695 0.99997151 0.01306882] [ 0. 0. 0. 1. ]] SLAMing on 213.30313336499998 meters 0.2746245472458644 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:0.01 [[ 9.99973635e-01 -4.78174277e-04 -7.24578204e-03 1.56837966e+00] [ 4.88841062e-04 9.99998799e-01 1.47043757e-03 1.54179692e-01] [ 7.24507021e-03 -1.47394083e-03 9.99972668e-01 1.31314208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36313336499998 meters 0.2746513509503403 Centerline is valid? [False, False] Translation: X:1.57, Y:0.16, Z:0.01 [[ 9.99973356e-01 -9.72584642e-04 -7.23479693e-03 1.56887831e+00] [ 9.74764630e-04 9.99999481e-01 2.97799840e-04 1.59314467e-01] [ 7.23450354e-03 -3.04844129e-04 9.99973784e-01 1.20884444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42313336499998 meters 0.2755815956850683 Centerline is valid? [False, False] Translation: X:1.57, Y:0.16, Z:0.01 [[ 9.99971833e-01 -1.28871177e-03 -7.39413066e-03 1.56961786e+00] [ 1.28458070e-03 9.99999016e-01 -5.63417996e-04 1.63021470e-01] [ 7.39484947e-03 5.53903769e-04 9.99972504e-01 1.12527745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.483133365 meters 0.2773205533990583 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:0.01 [[ 9.99963830e-01 1.14246070e-03 -8.42807878e-03 1.57461233e+00] [-1.13384680e-03 9.99998830e-01 1.02675606e-03 1.68832842e-01] [ 8.42924195e-03 -1.01716277e-03 9.99963956e-01 7.69301785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543133365 meters 0.2781032305475986 Centerline is valid? [False, False] Translation: X:1.57, Y:0.17, Z:0.01 [[ 9.99967953e-01 7.10104227e-04 -7.97422020e-03 1.57372279e+00] [-7.12439632e-04 9.99999704e-01 -2.90032562e-04 1.74548745e-01] [ 7.97401189e-03 2.95704418e-04 9.99968163e-01 7.28892954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.603133365 meters 0.27698179163058145 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:0.01 [[ 9.99968740e-01 4.32522383e-04 -7.89507877e-03 1.57368044e+00] [-4.40023262e-04 9.99999453e-01 -9.48357869e-04 1.77370165e-01] [ 7.89466427e-03 9.51802241e-04 9.99968384e-01 6.96057555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.663133365 meters 0.2775808797648732 Centerline is valid? [False, False] Translation: X:1.57, Y:0.18, Z:0.01 [[ 9.99968850e-01 1.41241810e-04 -7.89165459e-03 1.57399482e+00] [-1.54348501e-04 9.99998610e-01 -1.66024488e-03 1.80436547e-01] [ 7.89140912e-03 1.66141123e-03 9.99967482e-01 6.27693084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.723133365 meters 0.2770343394336037 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:0.01 [[ 9.99970883e-01 -3.75564226e-04 -7.62186732e-03 1.57355169e+00] [ 3.51405562e-04 9.99994911e-01 -3.17074328e-03 1.86672260e-01] [ 7.62301935e-03 3.16797259e-03 9.99965926e-01 5.80570649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.783133365 meters 0.27699630339532616 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:0.01 [[ 9.99971922e-01 -7.76004107e-04 -7.45340454e-03 1.57333251e+00] [ 7.44289457e-04 9.99990662e-01 -4.25688714e-03 1.91261906e-01] [ 7.45663830e-03 4.25122013e-03 9.99963162e-01 5.40149552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.843133365 meters 0.27646895596106874 Centerline is valid? [False, False] Translation: X:1.57, Y:0.19, Z:0.01 [[ 9.99972444e-01 -1.09490039e-03 -7.34255915e-03 1.57308437e+00] [ 1.05793262e-03 9.99986756e-01 -5.03672120e-03 1.94598031e-01] [ 7.34797661e-03 5.02881447e-03 9.99960358e-01 5.32225819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.903133365 meters 0.27791756399059897 Centerline is valid? [False, False] Translation: X:1.58, Y:0.20, Z:0.00 [[ 9.99963729e-01 1.01018932e-03 -8.45698481e-03 1.57881173e+00] [-1.04020785e-03 9.99993172e-01 -3.54590796e-03 1.98858621e-01] [ 8.45334503e-03 3.55457636e-03 9.99957952e-01 1.18168852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96313336499998 meters 0.2778515453494967 Centerline is valid? [False, False] Translation: X:1.58, Y:0.20, Z:0.00 [[ 9.99964467e-01 7.81152306e-04 -8.39373464e-03 1.57876053e+00] [-8.15245465e-04 9.99991430e-01 -4.05908537e-03 2.01099826e-01] [ 8.39049194e-03 4.06578409e-03 9.99956534e-01 9.50798420e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02313336499998 meters 0.27915813684780577 Centerline is valid? [False, False] Translation: X:1.58, Y:0.20, Z:0.00 [[ 9.99964187e-01 5.78360677e-04 -8.44331772e-03 1.57916227e+00] [-6.16765251e-04 9.99989474e-01 -4.54662196e-03 2.03241279e-01] [ 8.44059926e-03 4.55166667e-03 9.99954018e-01 3.58047776e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08313336499998 meters 0.2783353921918998 Centerline is valid? [False, False] Translation: X:1.58, Y:0.21, Z:-0.00 [[ 9.99963698e-01 1.61908822e-04 -8.51912868e-03 1.57971413e+00] [-2.10760881e-04 9.99983539e-01 -5.73381095e-03 2.08350038e-01] [ 8.51806009e-03 5.73539830e-03 9.99947273e-01 -5.27412457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14313336499998 meters 0.27801349977212547 Centerline is valid? [False, False] Translation: X:1.58, Y:0.21, Z:-0.00 [[ 9.99966258e-01 -1.73111794e-04 -8.21300264e-03 1.57870107e+00] [ 1.17355025e-04 9.99976949e-01 -6.78883727e-03 2.12895059e-01] [ 8.21398855e-03 6.78764436e-03 9.99943228e-01 -3.59709982e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20313336499999 meters 0.2785347306750708 Centerline is valid? [False, False] Translation: X:1.58, Y:0.22, Z:0.00 [[ 9.99967128e-01 -6.23562156e-04 -8.08413441e-03 1.57829912e+00] [ 5.58100071e-04 9.99967060e-01 -8.09732834e-03 2.18466376e-01] [ 8.08891731e-03 8.09255041e-03 9.99934538e-01 1.18072538e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.263133365 meters 0.28181308842779396 Centerline is valid? [False, False] Translation: X:1.58, Y:0.23, Z:-0.00 [[ 9.99962939e-01 2.88233842e-03 -8.11249803e-03 1.57889485e+00] [-2.92919941e-03 9.99979061e-01 -5.77045283e-03 2.27599098e-01] [ 8.09569576e-03 5.79400210e-03 9.99950443e-01 -9.62051081e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.323133365 meters 0.27924711554972004 Centerline is valid? [False, False] Translation: X:1.57, Y:0.23, Z:0.00 [[ 0.99996384 0.00497519 -0.00689715 1.57338496] [-0.00500717 0.99997676 -0.00462602 0.23482146] [ 0.00687397 0.00466039 0.99996551 0.00277508] [ 0. 0. 0. 1. ]] SLAMing on 214.383133365 meters 0.27676471769480304 Centerline is valid? [False, False] Translation: X:1.55, Y:0.24, Z:0.00 [[ 9.99986822e-01 -9.42898096e-04 -5.04649892e-03 1.54851035e+00] [ 9.30775442e-04 9.99996677e-01 -2.40400065e-03 2.44289947e-01] [ 5.04874888e-03 2.39927181e-03 9.99984377e-01 3.84269854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.443133365 meters 0.28072022473375446 Centerline is valid? [False, False] Translation: X:1.57, Y:0.26, Z:0.00 [[ 9.99953948e-01 -5.76030250e-03 -7.67593492e-03 1.57131179e+00] [ 5.75936041e-03 9.99983404e-01 -1.44833135e-04 2.61289480e-01] [ 7.67664182e-03 1.00617990e-04 9.99970529e-01 3.63862228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.503133365 meters 0.27882457401558797 Centerline is valid? [False, False] Translation: X:1.55, Y:0.26, Z:0.00 [[ 9.99950903e-01 2.79146835e-03 -9.50787082e-03 1.55130853e+00] [-2.80291755e-03 9.99995362e-01 -1.19106881e-03 2.61567911e-01] [ 9.50450190e-03 1.21766011e-03 9.99954090e-01 3.10730575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.563133365 meters 0.279854166462064 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:0.00 [[ 0.9999511 0.00235647 -0.0096044 1.55173121] [-0.00237906 0.99999443 -0.002341 0.26656833] [ 0.00959883 0.00236373 0.99995114 0.00269742] [ 0. 0. 0. 1. ]] SLAMing on 214.623133365 meters 0.2792910980897979 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:0.00 [[ 0.99995399 0.00198787 -0.00938413 1.55091399] [-0.00201834 0.99999272 -0.00323888 0.27049756] [ 0.00937762 0.00325767 0.99995072 0.00319809] [ 0. 0. 0. 1. ]] SLAMing on 214.68313336499997 meters 0.27849384420039425 Centerline is valid? [False, False] Translation: X:1.55, Y:0.28, Z:0.00 [[ 9.99959104e-01 1.37180257e-03 -8.93919008e-03 1.54953700e+00] [-1.41454591e-03 9.99987590e-01 -4.77700057e-03 2.77145690e-01] [ 8.93252604e-03 4.78945011e-03 9.99948634e-01 3.47092909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74313336499998 meters 0.2769364525394237 Centerline is valid? [False, False] Translation: X:1.55, Y:0.28, Z:0.00 [[ 9.99961673e-01 9.13406784e-04 -8.70732342e-03 1.54883386e+00] [-9.67101475e-04 9.99980532e-01 -6.16439802e-03 2.82888796e-01] [ 8.70152331e-03 6.17258262e-03 9.99943090e-01 3.67491258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80313336499998 meters 0.2805034670740705 Centerline is valid? [False, False] Translation: X:1.57, Y:0.30, Z:0.00 [[ 9.99946723e-01 -1.25801293e-03 -1.02454621e-02 1.57269779e+00] [ 1.24577102e-03 9.99998503e-01 -1.20115596e-03 2.99940445e-01] [ 1.02469578e-02 1.18832846e-03 9.99946792e-01 3.06557647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86313336499998 meters 0.28017266631133375 Centerline is valid? [False, False] Translation: X:1.57, Y:0.31, Z:0.00 [[ 0.99994741 -0.00180939 -0.01009426 1.57224545] [ 0.00178338 0.99999507 -0.00258439 0.3058043 ] [ 0.01009888 0.00256625 0.99994571 0.00312756] [ 0. 0. 0. 1. ]] SLAMing on 214.92313336499998 meters 0.2796046121693302 Centerline is valid? [False, False] Translation: X:1.57, Y:0.31, Z:0.00 [[ 0.99994755 -0.00212217 -0.01001951 1.57171378] [ 0.00208965 0.99999252 -0.00325486 0.30869474] [ 0.01002634 0.00323375 0.99994451 0.00366311] [ 0. 0. 0. 1. ]] SLAMing on 214.983133365 meters 0.2788175146338553 Centerline is valid? [False, False] Translation: X:1.57, Y:0.31, Z:0.00 [[ 0.99994472 -0.00239672 -0.01023735 1.57201863] [ 0.00235641 0.99998943 -0.00394782 0.31153583] [ 0.01024671 0.00392348 0.9999398 0.0039867 ] [ 0. 0. 0. 1. ]] SLAMing on 215.043133365 meters 0.2778522197024013 Centerline is valid? [False, False] Translation: X:1.57, Y:0.31, Z:0.00 [[ 0.99994413 -0.00266293 -0.01023008 1.5719506 ] [ 0.00261611 0.99998606 -0.00458726 0.31425146] [ 0.01024215 0.00456025 0.99993715 0.00401789] [ 0. 0. 0. 1. ]] SLAMing on 215.103133365 meters 0.2801909806239902 Centerline is valid? [False, False] Translation: X:1.59, Y:0.32, Z:0.00 [[ 0.99994458 0.00634314 -0.00840237 1.59341515] [-0.00638696 0.99996609 -0.00519816 0.31916483] [ 0.00836911 0.00525154 0.99995119 0.00365797] [ 0. 0. 0. 1. ]] SLAMing on 215.163133365 meters 0.27964543730745456 Centerline is valid? [False, False] Translation: X:1.59, Y:0.32, Z:0.00 [[ 0.99994567 0.00595996 -0.00855215 1.59390213] [-0.00601411 0.99996194 -0.00632064 0.32392918] [ 0.00851415 0.00637173 0.99994345 0.00334432] [ 0. 0. 0. 1. ]] SLAMing on 215.223133365 meters 0.2798534116435118 Centerline is valid? [False, False] Translation: X:1.59, Y:0.33, Z:0.00 [[ 0.99992643 -0.00892126 -0.00821863 1.59184582] [ 0.00889635 0.99995574 -0.00306226 0.33051388] [ 0.00824559 0.00298892 0.99996154 0.00418136] [ 0. 0. 0. 1. ]] SLAMing on 215.283133365 meters 0.27891169989725434 Centerline is valid? [False, False] Translation: X:1.59, Y:0.33, Z:0.01 [[ 9.99955561e-01 -4.65432551e-03 -8.19834033e-03 1.59125695e+00] [ 4.66293223e-03 9.99988597e-01 1.03101148e-03 3.30992593e-01] [ 8.19344818e-03 -1.06919397e-03 9.99965862e-01 5.11226368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343133365 meters 0.27728036308462484 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995251 0.00190142 -0.00955794 1.56921351] [-0.00192037 0.99999621 -0.00197321 0.32988774] [ 0.00955415 0.00199147 0.99995237 0.00623234] [ 0. 0. 0. 1. ]] SLAMing on 215.403133365 meters 0.2780350931234899 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995205 0.00190289 -0.00960614 1.56931742] [-0.00192188 0.99999622 -0.00196822 0.32987213] [ 0.00960236 0.00198659 0.99995192 0.00626177] [ 0. 0. 0. 1. ]] SLAMing on 215.46313336499998 meters 0.2784592834606747 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995188 0.00189261 -0.00962551 1.56914651] [-0.00191188 0.99999619 -0.00199313 0.32997737] [ 0.0096217 0.00201144 0.99995169 0.00672031] [ 0. 0. 0. 1. ]] SLAMing on 215.52313336499998 meters 0.2797532854692307 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995111 0.00189657 -0.00970423 1.56947617] [-0.00191589 0.9999962 -0.00198141 0.32992876] [ 0.00970044 0.0019999 0.99995095 0.00642692] [ 0. 0. 0. 1. ]] SLAMing on 215.58313336499998 meters 0.28015697341864637 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995066 0.00192358 -0.00974565 1.56959905] [-0.00194235 0.99999628 -0.00191652 0.32964971] [ 0.00974193 0.00193535 0.99995067 0.00638859] [ 0. 0. 0. 1. ]] SLAMing on 215.64313336499998 meters 0.2789973921488927 Centerline is valid? [False, False] Translation: X:1.57, Y:0.33, Z:0.01 [[ 0.99995102 0.00190664 -0.00971244 1.56932187] [-0.00192573 0.99999623 -0.00195671 0.32982183] [ 0.00970867 0.00197531 0.99995092 0.00678751] [ 0. 0. 0. 1. ]] SLAMing on 215.70313336499999 meters 0.28212862554413043 Centerline is valid? [False, False] Translation: X:1.59, Y:0.34, Z:0.01 [[ 9.99922853e-01 -4.51757752e-03 -1.15706018e-02 1.59332452e+00] [ 4.52219147e-03 9.99989705e-01 3.72632922e-04 3.38256713e-01] [ 1.15687993e-02 -4.24928651e-04 9.99932989e-01 5.56620699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.763133365 meters 0.28180911636365236 Centerline is valid? [False, False] Translation: X:1.57, Y:0.34, Z:0.01 [[ 9.99902012e-01 4.98528683e-03 -1.30810650e-02 1.57262419e+00] [-4.99172446e-03 9.99987436e-01 -4.59529779e-04 3.41858150e-01] [ 1.30786097e-02 5.24781822e-04 9.99914334e-01 5.35939463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.823133365 meters 0.28262881667320017 Centerline is valid? [False, False] Translation: X:1.59, Y:0.35, Z:0.00 [[ 9.99925945e-01 -1.03894533e-03 -1.21253569e-02 1.59468952e+00] [ 1.06398658e-03 9.99997314e-01 2.05892942e-03 3.50407329e-01] [ 1.21231853e-02 -2.07167817e-03 9.99924365e-01 4.61217883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.883133365 meters 0.28265712540659443 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:0.01 [[ 9.99924321e-01 -1.56728910e-03 -1.22023144e-02 1.59459192e+00] [ 1.57637247e-03 9.99998488e-01 7.34814893e-04 3.56014470e-01] [ 1.22011443e-02 -7.53994676e-04 9.99925279e-01 5.05253889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.943133365 meters 0.284026599172879 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:0.01 [[ 9.99923453e-01 -1.74577249e-03 -1.22490831e-02 1.59462310e+00] [ 1.74977989e-03 9.99998419e-01 3.16449648e-04 3.57794883e-01] [ 1.22485113e-02 -3.37858625e-04 9.99924927e-01 5.16959661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.003133365 meters 0.2818027960592388 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:0.01 [[ 9.99922348e-01 -1.79993220e-03 -1.23311708e-02 1.59483077e+00] [ 1.80247341e-03 9.99998357e-01 1.94969967e-04 3.58335174e-01] [ 1.23307996e-02 -2.17181435e-04 9.99923949e-01 5.13520208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.063133365 meters 0.28236314160406456 Centerline is valid? [False, False] Translation: X:1.60, Y:0.36, Z:0.01 [[ 9.99919149e-01 -1.79007753e-03 -1.25893284e-02 1.59535841e+00] [ 1.79306241e-03 9.99998367e-01 2.25813247e-04 3.58095820e-01] [ 1.25889037e-02 -2.48368442e-04 9.99920726e-01 5.30979741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.123133365 meters 0.279129488749283 Centerline is valid? [False, False] Translation: X:1.55, Y:0.35, Z:0.00 [[ 9.99943225e-01 -2.08197654e-03 -1.04504162e-02 1.55435755e+00] [ 2.07575885e-03 9.99997662e-01 -6.05781999e-04 3.54778390e-01] [ 1.04516530e-02 5.84055062e-04 9.99945209e-01 3.01353862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18313336499997 meters 0.2816145169321362 Centerline is valid? [False, False] Translation: X:1.60, Y:0.36, Z:0.00 [[ 9.99970511e-01 -1.50108585e-03 -7.53146454e-03 1.59578550e+00] [ 1.50815824e-03 9.99998427e-01 9.33453794e-04 3.57412371e-01] [ 7.53005150e-03 -9.44784908e-04 9.99971202e-01 3.34482868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24313336499998 meters 0.28078048629163943 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:0.00 [[ 9.99935727e-01 7.73748336e-03 -8.28687945e-03 1.57495295e+00] [-7.73672791e-03 9.99970063e-01 1.23215678e-04 3.56704273e-01] [ 8.28758475e-03 -5.90944268e-05 9.99965656e-01 3.02154916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30313336499998 meters 0.2815658510954454 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:0.00 [[ 9.99966303e-01 -8.18967260e-04 -8.16842417e-03 1.59336074e+00] [ 8.28259414e-04 9.99999014e-01 1.13425198e-03 3.63916216e-01] [ 8.16748720e-03 -1.14097933e-03 9.99965995e-01 4.48972820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36313336499998 meters 0.2811767197399248 Centerline is valid? [False, False] Translation: X:1.59, Y:0.37, Z:0.01 [[ 9.99966643e-01 -1.04611682e-03 -8.10054499e-03 1.59279574e+00] [ 1.05056616e-03 9.99999300e-01 5.45029490e-04 3.66418797e-01] [ 8.09996916e-03 -5.53521468e-04 9.99967042e-01 5.28697705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42313336499998 meters 0.28286698406836447 Centerline is valid? [False, False] Translation: X:1.59, Y:0.37, Z:0.01 [[ 9.99966056e-01 -1.12695842e-03 -8.16186243e-03 1.59301626e+00] [ 1.12984402e-03 9.99999301e-01 3.48944231e-04 3.67255636e-01] [ 8.16146348e-03 -3.58154018e-04 9.99966631e-01 5.11154913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.483133365 meters 0.28187989239732075 Centerline is valid? [False, False] Translation: X:1.59, Y:0.37, Z:0.00 [[ 9.99965383e-01 -1.37121999e-03 -8.20681250e-03 1.59313638e+00] [ 1.36883539e-03 9.99999019e-01 -2.96173512e-04 3.69954136e-01] [ 8.20721057e-03 2.84929484e-04 9.99966280e-01 4.99918764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.543133365 meters 0.2836849578492831 Centerline is valid? [False, False] Translation: X:1.60, Y:0.38, Z:0.00 [[ 9.99958822e-01 8.98314083e-04 -9.03033362e-03 1.59716035e+00] [-8.89691810e-04 9.99999145e-01 9.58784108e-04 3.77013043e-01] [ 9.03118718e-03 -9.50710413e-04 9.99958766e-01 2.20179449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.603133365 meters 0.28358021062696537 Centerline is valid? [False, False] Translation: X:1.60, Y:0.38, Z:0.00 [[ 9.99958688e-01 3.48937480e-04 -9.08300006e-03 1.59713398e+00] [-3.54208519e-04 9.99999770e-01 -5.78716954e-04 3.83378448e-01] [ 9.08279603e-03 5.81910322e-04 9.99958581e-01 2.41906250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.663133365 meters 0.2834353045398349 Centerline is valid? [False, False] Translation: X:1.60, Y:0.39, Z:0.00 [[ 9.99959631e-01 2.12887590e-05 -8.98529754e-03 1.59652235e+00] [-3.36037087e-05 9.99999060e-01 -1.37041797e-03 3.86743639e-01] [ 8.98525992e-03 1.37066459e-03 9.99958692e-01 3.04917006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.723133365 meters 0.2832412085797023 Centerline is valid? [False, False] Translation: X:1.60, Y:0.39, Z:0.00 [[ 9.99958593e-01 -3.45596560e-04 -9.09351820e-03 1.59650484e+00] [ 3.25182231e-04 9.99997424e-01 -2.24631466e-03 3.90447507e-01] [ 9.09427109e-03 2.24326460e-03 9.99956130e-01 3.52258496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.783133365 meters 0.28336244749940354 Centerline is valid? [False, False] Translation: X:1.60, Y:0.39, Z:0.00 [[ 9.99957023e-01 -4.75357812e-04 -9.25888378e-03 1.59681899e+00] [ 4.51819253e-04 9.99996661e-01 -2.54419329e-03 3.91717595e-01] [ 9.26006227e-03 2.53990060e-03 9.99953899e-01 3.68065735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.843133365 meters 0.28106186513211 Centerline is valid? [False, False] Translation: X:1.60, Y:0.39, Z:0.00 [[ 9.99957060e-01 -4.54681925e-04 -9.25593644e-03 1.59657440e+00] [ 4.31557514e-04 9.99996781e-01 -2.50017698e-03 3.91476560e-01] [ 9.25704344e-03 2.49607515e-03 9.99954037e-01 4.20140928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.903133365 meters 0.28312216326134426 Centerline is valid? [False, False] Translation: X:1.61, Y:0.39, Z:0.01 [[ 9.99929480e-01 -9.88240527e-03 -6.58584662e-03 1.61496969e+00] [ 9.87263703e-03 9.99950118e-01 -1.51408105e-03 3.89018929e-01] [ 6.60048086e-03 1.44895460e-03 9.99977167e-01 5.47269018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96313336499998 meters 0.27999035182080684 Centerline is valid? [False, False] Translation: X:1.60, Y:0.38, Z:0.00 [[ 0.99997165 -0.00170863 -0.00733295 1.5962333 ] [ 0.00168968 0.99999522 -0.00258985 0.37974538] [ 0.00733734 0.00257739 0.99996976 0.00435872] [ 0. 0. 0. 1. ]] SLAMing on 217.02313336499998 meters 0.28157291535739404 Centerline is valid? [False, False] Translation: X:1.62, Y:0.37, Z:0.01 [[ 0.99996125 0.00591464 -0.0065201 1.61605778] [-0.0059354 0.99997736 -0.00316984 0.37199922] [ 0.00650121 0.00320842 0.99997372 0.00543068] [ 0. 0. 0. 1. ]] SLAMing on 217.08313336499998 meters 0.28254137677423563 Centerline is valid? [False, False] Translation: X:1.63, Y:0.37, Z:0.01 [[ 9.99982592e-01 -2.46764959e-03 -5.35974105e-03 1.63416238e+00] [ 2.46114428e-03 9.99996227e-01 -1.21999201e-03 3.74095685e-01] [ 5.36273134e-03 1.20677967e-03 9.99984892e-01 6.75002157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14313336499998 meters 0.2822487667769474 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:0.01 [[ 9.99961366e-01 7.16113172e-03 -5.09756274e-03 1.61344066e+00] [-7.16913602e-03 9.99973094e-01 -1.55368373e-03 3.68768822e-01] [ 5.08629946e-03 1.59016883e-03 9.99985800e-01 5.59398420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20313336499999 meters 0.28520037700470474 Centerline is valid? [False, False] Translation: X:1.64, Y:0.37, Z:0.00 [[ 9.99986465e-01 4.65940501e-05 -5.20264053e-03 1.63558815e+00] [-4.16057259e-05 9.99999539e-01 9.58910350e-04 3.73405243e-01] [ 5.20268281e-03 -9.58680912e-04 9.99986006e-01 4.59821268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.263133365 meters 0.2845171181912374 Centerline is valid? [False, False] Translation: X:1.64, Y:0.37, Z:0.00 [[ 9.99986690e-01 1.43058780e-06 -5.15947561e-03 1.63557267e+00] [ 2.91497734e-06 9.99999645e-01 8.42241761e-04 3.73893686e-01] [ 5.15947499e-03 -8.42245590e-04 9.99986335e-01 4.37881039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323133365 meters 0.28282943535380783 Centerline is valid? [False, False] Translation: X:1.64, Y:0.37, Z:0.00 [[ 9.99986871e-01 2.04666637e-04 -5.12009545e-03 1.63526625e+00] [-1.97182643e-04 9.99998912e-01 1.46215252e-03 3.71327420e-01] [ 5.12038913e-03 -1.46112373e-03 9.99985823e-01 4.96581737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.383133365 meters 0.2821676680611084 Centerline is valid? [False, False] Translation: X:1.64, Y:0.37, Z:0.00 [[ 9.99985391e-01 3.88497353e-04 -5.39129933e-03 1.63592754e+00] [-3.76167233e-04 9.99997312e-01 2.28786620e-03 3.68150487e-01] [ 5.39217367e-03 -2.28580475e-03 9.99982850e-01 4.98001785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.443133365 meters 0.28158017862845003 Centerline is valid? [False, False] Translation: X:1.65, Y:0.36, Z:0.01 [[ 0.9999521 -0.00932679 -0.00296661 1.65490497] [ 0.00933623 0.99995134 0.00318664 0.36279431] [ 0.00293675 -0.00321418 0.99999052 0.00599672] [ 0. 0. 0. 1. ]] SLAMing on 217.503133365 meters 0.2810337050373006 Centerline is valid? [False, False] Translation: X:1.64, Y:0.35, Z:0.00 [[ 9.99995730e-01 -1.10205336e-03 -2.70672257e-03 1.63699047e+00] [ 1.10865033e-03 9.99996416e-01 2.43696411e-03 3.51482476e-01] [ 2.70402720e-03 -2.43995451e-03 9.99993367e-01 3.99147346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.563133365 meters 0.2813866299497463 Centerline is valid? [False, False] Translation: X:1.64, Y:0.35, Z:0.00 [[ 9.99995378e-01 -5.99793934e-04 -2.98068409e-03 1.63817427e+00] [ 6.10828138e-04 9.99992960e-01 3.70237281e-03 3.46121779e-01] [ 2.97844245e-03 -3.70417638e-03 9.99988704e-01 3.12267132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.623133365 meters 0.28226451166015476 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 9.99995126e-01 -3.71108198e-04 -3.10011677e-03 1.63857193e+00] [ 3.84145080e-04 9.99991082e-01 4.20575113e-03 3.43972676e-01] [ 3.09852833e-03 -4.20692152e-03 9.99986350e-01 3.00647665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68313336499997 meters 0.28269133798564366 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 9.99994843e-01 -2.05872008e-04 -3.20497163e-03 1.63890346e+00] [ 2.20617636e-04 9.99989390e-01 4.60118740e-03 3.42305330e-01] [ 3.20399037e-03 -4.60187075e-03 9.99984278e-01 2.89877136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74313336499998 meters 0.28063847544594617 Centerline is valid? [False, False] Translation: X:1.62, Y:0.34, Z:0.00 [[ 0.99997349 0.00653185 -0.0032176 1.61550336] [-0.00652533 0.99997664 0.00203415 0.33807595] [ 0.00323081 -0.0020131 0.99999275 0.00440491] [ 0. 0. 0. 1. ]] SLAMing on 217.80313336499998 meters 0.28262021178138125 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 9.99996107e-01 -2.34825005e-03 -1.50742248e-03 1.63519940e+00] [ 2.35231500e-03 9.99993587e-01 2.70053251e-03 3.41147458e-01] [ 1.50107129e-03 -2.70406793e-03 9.99995217e-01 4.80593522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86313336499998 meters 0.2836556656228207 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 9.99995953e-01 -2.33844486e-03 -1.62065739e-03 1.63582027e+00] [ 2.34285936e-03 9.99993536e-01 2.72736987e-03 3.41060333e-01] [ 1.61426911e-03 -2.73115580e-03 9.99994967e-01 4.01966564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92313336499998 meters 0.28476805852581183 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 0.99999565 -0.00228719 -0.00186078 1.63659798] [ 0.00229252 0.99999326 0.00286712 0.34044414] [ 0.00185421 -0.00287138 0.99999416 0.00347534] [ 0. 0. 0. 1. ]] SLAMing on 217.983133365 meters 0.2848073837538128 Centerline is valid? [False, False] Translation: X:1.64, Y:0.34, Z:0.00 [[ 0.99999587 -0.00216289 -0.00189054 1.63654022] [ 0.00216895 0.9999925 0.00320903 0.33901561] [ 0.00188358 -0.00321312 0.99999306 0.00380563] [ 0. 0. 0. 1. ]] SLAMing on 218.043133365 meters 0.28145893766003516 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99989029e-01 4.65838467e-03 -4.90675058e-04 1.61380857e+00] [-4.65786747e-03 9.99988601e-01 1.04998571e-03 3.31335810e-01] [ 4.95560702e-04 -1.04768869e-03 9.99999328e-01 4.13938923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.103133365 meters 0.28263628119965956 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99988890e-01 4.68100520e-03 -5.55287792e-04 1.61396643e+00] [-4.68038753e-03 9.99988433e-01 1.10848711e-03 3.31097564e-01] [ 5.60470202e-04 -1.10587584e-03 9.99999231e-01 4.14139973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.163133365 meters 0.2826099773481546 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99988392e-01 4.76658700e-03 -7.04057031e-04 1.61419024e+00] [-4.76565255e-03 9.99987769e-01 1.32299957e-03 3.30182136e-01] [ 7.10354612e-04 -1.31962892e-03 9.99998877e-01 4.45003291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.223133365 meters 0.2825065677257671 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99988457e-01 4.76089596e-03 -6.47495337e-04 1.61401139e+00] [-4.76004110e-03 9.99987806e-01 1.31545912e-03 3.30244711e-01] [ 6.53750205e-04 -1.31236184e-03 9.99998925e-01 4.52629122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.283133365 meters 0.28232368418494613 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99999663e-01 4.48534907e-04 -6.87553118e-04 1.61405694e+00] [-4.50549785e-04 9.99995597e-01 -2.93315728e-03 3.30175225e-01] [ 6.86234467e-04 2.93346607e-03 9.99995462e-01 4.51672466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.343133365 meters 0.28288379822801046 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99999626e-01 4.26014230e-04 -7.52496152e-04 1.61428530e+00] [-4.28262946e-04 9.99995436e-01 -2.99071310e-03 3.30414834e-01] [ 7.51218631e-04 2.99103425e-03 9.99995245e-01 4.34736821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.403133365 meters 0.28541589638855525 Centerline is valid? [False, False] Translation: X:1.64, Y:0.33, Z:0.00 [[ 9.99981878e-01 -6.00983235e-03 3.53248372e-04 1.63545871e+00] [ 6.00989951e-03 9.99981922e-01 -1.89376456e-04 3.34947133e-01] [-3.52103865e-04 1.91496011e-04 9.99999920e-01 3.50229734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46313336499998 meters 0.28389461492650714 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99995549e-01 2.95279129e-03 4.27583182e-04 1.61421876e+00] [-2.95230305e-03 9.99994994e-01 -1.13802856e-03 3.33183584e-01] [-4.30941402e-04 1.13676114e-03 9.99999261e-01 2.66670962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52313336499998 meters 0.2843054118256096 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.00 [[ 9.99995675e-01 2.88594379e-03 5.66549933e-04 1.61343272e+00] [-2.88519344e-03 9.99994966e-01 -1.32079257e-03 3.34001944e-01] [-5.70358814e-04 1.31915225e-03 9.99998967e-01 3.70655484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58313336499998 meters 0.2813970292564465 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.01 [[ 9.99996774e-01 1.45572861e-03 2.08148094e-03 1.60786343e+00] [-1.45038200e-03 9.99995651e-01 -2.56786329e-03 3.34625115e-01] [-2.08521000e-03 2.56483606e-03 9.99994537e-01 7.29369482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64313336499998 meters 0.28279156688184487 Centerline is valid? [False, False] Translation: X:1.61, Y:0.33, Z:0.01 [[ 0.99999639 0.0016286 0.00213619 1.60771757] [-0.00162409 0.99999646 -0.00210923 0.33269758] [-0.00213961 0.00210575 0.99999549 0.00737845] [ 0. 0. 0. 1. ]] SLAMing on 218.70313336499999 meters 0.28405102968236373 Centerline is valid? [False, False] Translation: X:1.63, Y:0.33, Z:0.01 [[ 9.99965769e-01 -7.67319062e-03 3.09578170e-03 1.62872022e+00] [ 7.67790486e-03 9.99969379e-01 -1.51379656e-03 3.32932183e-01] [-3.08407125e-03 1.53751386e-03 9.99994062e-01 7.35776412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763133365 meters 0.28225829726666607 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:0.01 [[ 9.99992333e-01 1.27701575e-03 3.70189070e-03 1.60815846e+00] [-1.27070234e-03 9.99997735e-01 -1.70730806e-03 3.24773916e-01] [-3.70406257e-03 1.70259097e-03 9.99991691e-01 7.11086517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823133365 meters 0.28126780707339205 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:0.01 [[ 9.99992748e-01 1.46590314e-03 3.51491903e-03 1.60876409e+00] [-1.46160581e-03 9.99998182e-01 -1.22485470e-03 3.22654661e-01] [-3.51670816e-03 1.21970839e-03 9.99993073e-01 6.82438881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.883133365 meters 0.2820366161634342 Centerline is valid? [False, False] Translation: X:1.61, Y:0.32, Z:0.01 [[ 9.99992437e-01 1.79153962e-03 3.45197172e-03 1.60877219e+00] [-1.79055500e-03 9.99998355e-01 -2.88302834e-04 3.18752482e-01] [-3.45248255e-03 2.82119708e-04 9.99994000e-01 7.24064438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.943133365 meters 0.28168130383824397 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 9.99990422e-01 2.04465437e-03 3.86984878e-03 1.60745242e+00] [-2.04739203e-03 9.99997657e-01 7.03604318e-04 3.14371104e-01] [-3.86840108e-03 -7.11520677e-04 9.99992265e-01 8.27792673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.003133365 meters 0.28258180160253776 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 0.99999088 0.00235532 0.00356158 1.60834191] [-0.00236117 0.99999587 0.00164085 0.31052926] [-0.0035577 -0.00164924 0.99999231 0.00794784] [ 0. 0. 0. 1. ]] SLAMing on 219.063133365 meters 0.2817363629568041 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 0.99999073 0.00275439 0.00331093 1.60953963] [-0.00276302 0.99999279 0.00260615 0.3060272 ] [-0.00330373 -0.00261527 0.99999112 0.00685203] [ 0. 0. 0. 1. ]] SLAMing on 219.123133365 meters 0.2824625038342135 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 0.99999054 0.00282495 0.00330714 1.60927198] [-0.00283418 0.99999209 0.00279007 0.30526187] [-0.00329924 -0.00279942 0.99999064 0.00748356] [ 0. 0. 0. 1. ]] SLAMing on 219.18313336499997 meters 0.28204539053298455 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 0.99999007 0.00285831 0.00342042 1.60900988] [-0.00286818 0.99999173 0.00288338 0.30487512] [-0.00341215 -0.00289316 0.99998999 0.00747604] [ 0. 0. 0. 1. ]] SLAMing on 219.24313336499998 meters 0.2845148328122122 Centerline is valid? [False, False] Translation: X:1.65, Y:0.31, Z:0.01 [[ 9.99996564e-01 2.11665830e-03 1.54674201e-03 1.64838632e+00] [-2.11975113e-03 9.99995752e-01 2.00068128e-03 3.09078708e-01] [-1.54250068e-03 -2.00395312e-03 9.99996802e-01 1.03645195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30313336499998 meters 0.2816407648881824 Centerline is valid? [False, False] Translation: X:1.65, Y:0.31, Z:0.01 [[ 0.99999597 0.00222713 0.00176132 1.64768801] [-0.00223121 0.99999482 0.00231791 0.30777208] [-0.00175615 -0.00232183 0.99999576 0.0108995 ] [ 0. 0. 0. 1. ]] SLAMing on 219.36313336499998 meters 0.2831308136299664 Centerline is valid? [False, False] Translation: X:1.65, Y:0.31, Z:0.01 [[ 9.99996266e-01 2.34828692e-03 1.39776775e-03 1.64867058e+00] [-2.35206464e-03 9.99993569e-01 2.70720603e-03 3.06098011e-01] [-1.39140146e-03 -2.71048356e-03 9.99995359e-01 1.06305565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42313336499998 meters 0.28052219126198236 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997730e-01 1.25400424e-03 1.72290253e-03 1.61196545e+00] [-1.25751644e-03 9.99997131e-01 2.03896483e-03 3.01676335e-01] [-1.72034072e-03 -2.04112677e-03 9.99996437e-01 7.04274403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.483133365 meters 0.28111832899490236 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997653e-01 1.32545713e-03 1.71379953e-03 1.61175301e+00] [-1.32925585e-03 9.99996658e-01 2.21730810e-03 3.00919529e-01] [-1.71085486e-03 -2.21958098e-03 9.99996073e-01 7.57565308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.543133365 meters 0.28000484353963667 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997753e-01 1.24092043e-03 1.71879894e-03 1.61167299e+00] [-1.24436065e-03 9.99997222e-01 2.00190481e-03 3.01842509e-01] [-1.71630996e-03 -2.00403911e-03 9.99996519e-01 7.69992250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.603133365 meters 0.2812041378963196 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997883e-01 1.12468156e-03 1.72310628e-03 1.61179513e+00] [-1.12759624e-03 9.99997934e-01 1.69148962e-03 3.03163127e-01] [-1.72120033e-03 -1.69342901e-03 9.99997085e-01 7.36817528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.663133365 meters 0.2808877802964671 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997792e-01 1.02224005e-03 1.83619054e-03 1.61123121e+00] [-1.02487645e-03 9.99998445e-01 1.43543340e-03 3.04347411e-01] [-1.83472033e-03 -1.43731210e-03 9.99997284e-01 7.98159731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.723133365 meters 0.2790020456503623 Centerline is valid? [False, False] Translation: X:1.59, Y:0.30, Z:0.01 [[ 9.99979678e-01 6.36783089e-03 3.07548661e-04 1.58928617e+00] [-6.36709755e-03 9.99977017e-01 -2.32930534e-03 3.02687556e-01] [-3.22374216e-04 2.32729981e-03 9.99997240e-01 9.16031126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.783133365 meters 0.28090952502428046 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997833e-01 -5.69170413e-04 2.00266451e-03 1.61181734e+00] [ 5.68805477e-04 9.99999822e-01 1.82789754e-04 3.01966948e-01] [-2.00276819e-03 -1.81650231e-04 9.99997978e-01 7.56246466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.843133365 meters 0.27946190350396405 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997515e-01 -3.63620002e-04 2.19959173e-03 1.61100714e+00] [ 3.61794853e-04 9.99999590e-01 8.30108023e-04 2.99162226e-01] [-2.19989267e-03 -8.29310159e-04 9.99997236e-01 8.47336873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.903133365 meters 0.2791072814768396 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997740e-01 -2.60859522e-04 2.10992740e-03 1.61133455e+00] [ 2.58570835e-04 9.99999378e-01 1.08492298e-03 2.98057361e-01] [-2.11020910e-03 -1.08437496e-03 9.99997186e-01 8.25081756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96313336499998 meters 0.2790338664776418 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997803e-01 -2.70633066e-04 2.07885140e-03 1.61157129e+00] [ 2.68418374e-04 9.99999396e-01 1.06554937e-03 2.98158180e-01] [-2.07913852e-03 -1.06498903e-03 9.99997271e-01 7.87692349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02313336499998 meters 0.27820004738058624 Centerline is valid? [False, False] Translation: X:1.61, Y:0.30, Z:0.01 [[ 9.99997707e-01 -2.09529682e-04 2.13133134e-03 1.61119259e+00] [ 2.06924380e-04 9.99999231e-01 1.22252971e-03 2.97493522e-01] [-2.13158586e-03 -1.22208588e-03 9.99996981e-01 8.48316907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08313336499998 meters 0.2795150275291649 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99999184e-01 -1.13589763e-03 5.85069492e-04 1.65025942e+00] [ 1.13536982e-03 9.99998949e-01 9.01671702e-04 2.96870414e-01] [-5.86093084e-04 -9.01006696e-04 9.99999422e-01 1.13433089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14313336499998 meters 0.2791934508829082 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99999421e-01 -9.46227754e-04 5.13387452e-04 1.65052425e+00] [ 9.45517542e-04 9.99998598e-01 1.38186737e-03 2.94822409e-01] [-5.14694293e-04 -1.38138115e-03 9.99998913e-01 1.12178548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20313336499999 meters 0.2811507648693585 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99999559e-01 -8.29732794e-04 4.41022758e-04 1.65072499e+00] [ 8.28993151e-04 9.99998254e-01 1.67465495e-03 2.93580518e-01] [-4.42411504e-04 -1.67428860e-03 9.99998501e-01 1.12008395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.263133365 meters 0.2773768588766585 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:0.01 [[ 9.99989037e-01 4.66575693e-03 -3.94840887e-04 1.62785546e+00] [-4.66641230e-03 9.99987709e-01 -1.67552937e-03 2.89468647e-01] [ 3.87018422e-04 1.67735349e-03 9.99998518e-01 1.25799276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.323133365 meters 0.2800865018336975 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99998227e-01 -1.52544908e-03 1.10420862e-03 1.65016630e+00] [ 1.52385644e-03 9.99997800e-01 1.44174497e-03 2.89879196e-01] [-1.10640550e-03 -1.44005976e-03 9.99998351e-01 1.11972446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.383133365 meters 0.2784023278564311 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:0.01 [[ 9.99989584e-01 4.55849450e-03 -2.26591663e-04 1.62842748e+00] [-4.55888579e-03 9.99988064e-01 -1.75744834e-03 2.88520294e-01] [ 2.18577640e-04 1.75846304e-03 9.99998430e-01 1.20739069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.443133365 meters 0.27886255192887094 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99990358e-01 -4.15958155e-03 -1.40762597e-03 1.64944432e+00] [ 4.15808931e-03 9.99990792e-01 -1.06137846e-03 2.93705458e-01] [ 1.41202789e-03 1.05551519e-03 9.99998446e-01 1.25833628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.503133365 meters 0.2784642281604811 Centerline is valid? [False, False] Translation: X:1.63, Y:0.29, Z:0.01 [[ 0.99998905 0.00421851 -0.00202746 1.62977986] [-0.00422296 0.99998868 -0.00219334 0.29060561] [ 0.00201819 0.00220188 0.99999554 0.01142033] [ 0. 0. 0. 1. ]] SLAMing on 220.563133365 meters 0.2801396934175794 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99999302e-01 -1.13094587e-03 -3.41832511e-04 1.65129293e+00] [ 1.13140917e-03 9.99998438e-01 1.35820264e-03 2.93875352e-01] [ 3.40295923e-04 -1.35858845e-03 9.99999019e-01 1.08923029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.623133365 meters 0.27862669640470417 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99998988e-01 -1.41922576e-03 -1.00126442e-04 1.65050968e+00] [ 1.41928456e-03 9.99998819e-01 5.89687732e-04 2.97154605e-01] [ 9.92894237e-05 -5.89829243e-04 9.99999821e-01 1.12458222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68313336499997 meters 0.27979499766185717 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99998923e-01 1.03559588e-03 -1.04023117e-03 1.65449574e+00] [-1.03324469e-03 9.99996916e-01 2.25825666e-03 3.03041955e-01] [ 1.04256660e-03 -2.25717942e-03 9.99996909e-01 8.89725617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74313336499998 meters 0.279989078728658 Centerline is valid? [False, False] Translation: X:1.65, Y:0.31, Z:0.01 [[ 9.99999402e-01 6.35340690e-04 -8.90095454e-04 1.65415232e+00] [-6.34173234e-04 9.99998939e-01 1.31127639e-03 3.07095953e-01] [ 8.90927617e-04 -1.31071113e-03 9.99998744e-01 8.73574882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80313336499998 meters 0.278501068885278 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99984246e-01 -5.39344036e-03 -1.55541666e-03 1.63125355e+00] [ 5.39919696e-03 9.99978502e-01 3.72086116e-03 3.12792558e-01] [ 1.53531498e-03 -3.72920054e-03 9.99991868e-01 9.71990415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86313336499998 meters 0.277839037315473 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 0.99998314 -0.00550062 -0.00186073 1.63179905] [ 0.00550702 0.99997886 0.00345583 0.31390414] [ 0.00184168 -0.00346602 0.9999923 0.01003953] [ 0. 0. 0. 1. ]] SLAMing on 220.92313336499998 meters 0.2759335883621129 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 9.99995763e-01 2.87114588e-03 -4.80967869e-04 1.61118427e+00] [-2.87006384e-03 9.99993383e-01 2.23547963e-03 3.08422256e-01] [ 4.87383075e-04 -2.23408975e-03 9.99997386e-01 9.31136176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.983133365 meters 0.2756054719931997 Centerline is valid? [False, False] Translation: X:1.61, Y:0.31, Z:0.01 [[ 9.99995639e-01 2.92764639e-03 -3.89081993e-04 1.61078058e+00] [-2.92671082e-03 9.99992876e-01 2.38375411e-03 3.07800575e-01] [ 3.96058010e-04 -2.38260498e-03 9.99997083e-01 9.74093598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.043133365 meters 0.27797243425741897 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99984218e-01 -5.60855389e-03 -3.27619821e-04 1.63103749e+00] [ 5.60969945e-03 9.99977760e-01 3.60710869e-03 3.11024803e-01] [ 3.07381871e-04 -3.60888962e-03 9.99993441e-01 1.04125033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.103133365 meters 0.27764521386389035 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99984906e-01 -5.48096988e-03 -3.82713096e-04 1.63152552e+00] [ 5.48242338e-03 9.99977342e-01 3.90615741e-03 3.09645606e-01] [ 3.61294894e-04 -3.90819665e-03 9.99992298e-01 9.76663932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.163133365 meters 0.27764494767799125 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99985137e-01 -5.44673301e-03 -2.43078896e-04 1.63120761e+00] [ 5.44765979e-03 9.99977199e-01 3.99046016e-03 3.09257259e-01] [ 2.21338383e-04 -3.99172506e-03 9.99992009e-01 9.75091712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.223133365 meters 0.27770540354660994 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99985187e-01 -5.44293256e-03 -2.54679988e-06 1.63038963e+00] [ 5.44289908e-03 9.99977162e-01 4.00632533e-03 3.09268070e-01] [-1.92594168e-05 -4.00627984e-03 9.99991975e-01 1.02926639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.283133365 meters 0.2773958161847805 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99985483e-01 -5.38633855e-03 -1.44365430e-04 1.63106962e+00] [ 5.38689111e-03 9.99976887e-01 4.14819544e-03 3.08571131e-01] [ 1.22018508e-04 -4.14891290e-03 9.99991386e-01 9.58532018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.343133365 meters 0.27673027295479374 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99985997e-01 -5.28562274e-03 -2.61653502e-04 1.63133248e+00] [ 5.28672451e-03 9.99976317e-01 4.40628490e-03 3.07475438e-01] [ 2.38357346e-04 -4.40760649e-03 9.99990258e-01 9.66865657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.403133365 meters 0.2772127811815793 Centerline is valid? [False, False] Translation: X:1.63, Y:0.31, Z:0.01 [[ 9.99986731e-01 -5.12920995e-03 -4.79134275e-04 1.63172173e+00] [ 5.13149333e-03 9.99974865e-01 4.89258553e-03 3.05509675e-01] [ 4.54027133e-04 -4.89497928e-03 9.99987916e-01 9.99648233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46313336499998 meters 0.2763749025682478 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99987288e-01 -4.99281597e-03 -7.03708381e-04 1.63241232e+00] [ 4.99647921e-03 9.99973453e-01 5.30371233e-03 3.03792500e-01] [ 6.77209239e-04 -5.30716097e-03 9.99985688e-01 9.67798053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52313336499998 meters 0.2748367677458793 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99988156e-01 -4.80759050e-03 -7.58091130e-04 1.63265612e+00] [ 4.81194603e-03 9.99971298e-01 5.85222917e-03 3.01517666e-01] [ 7.29934250e-04 -5.85580775e-03 9.99982588e-01 9.48960448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58313336499998 meters 0.27501892566132363 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99989004e-01 -4.54244657e-03 -1.16539300e-03 1.63371411e+00] [ 4.55014163e-03 9.99967286e-01 6.68755854e-03 2.98069427e-01] [ 1.13497699e-03 -6.69278771e-03 9.99976959e-01 9.31229873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64313336499998 meters 0.2762788128321568 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99989511e-01 -4.39246219e-03 -1.29747388e-03 1.63397691e+00] [ 4.40149871e-03 9.99965490e-01 7.04594713e-03 2.96532123e-01] [ 1.26648005e-03 -7.05158406e-03 9.99974335e-01 9.48030501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70313336499999 meters 0.2750307657436362 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99989920e-01 -4.36223818e-03 -1.06303241e-03 1.63318286e+00] [ 4.36970440e-03 9.99965066e-01 7.12542609e-03 2.96224901e-01] [ 1.03191247e-03 -7.12999941e-03 9.99974049e-01 1.00140712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.763133365 meters 0.2767373905290287 Centerline is valid? [False, False] Translation: X:1.63, Y:0.30, Z:0.01 [[ 9.99919638e-01 1.26394049e-02 9.81011904e-04 1.63113548e+00] [-1.26442229e-02 9.99907200e-01 5.07105129e-03 2.95190411e-01] [-9.16825795e-04 -5.08304790e-03 9.99986661e-01 1.03883063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.823133365 meters 0.2770698203611485 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99996216e-01 2.75081406e-03 9.58370854e-06 1.65143504e+00] [-2.75082928e-03 9.99986006e-01 4.51888947e-03 3.01550683e-01] [ 2.84705028e-06 -4.51889874e-03 9.99989790e-01 1.08329153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.883133365 meters 0.27696691771101056 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99996377e-01 2.69201413e-03 1.80432425e-06 1.65147753e+00] [-2.69199614e-03 9.99986754e-01 4.38693244e-03 3.02167584e-01] [ 1.00053838e-05 -4.38692140e-03 9.99990377e-01 1.07583128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.943133365 meters 0.277371482904344 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99996091e-01 2.79083662e-03 -1.72861263e-04 1.65174846e+00] [-2.78999936e-03 9.99985213e-01 4.66787601e-03 3.01008463e-01] [ 1.85885986e-04 -4.66737548e-03 9.99989090e-01 1.11407814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.003133365 meters 0.27432905301726396 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99996172e-01 2.73436960e-03 4.22896950e-04 1.64974713e+00] [-2.73646951e-03 9.99983518e-01 5.04733216e-03 2.98858726e-01] [-4.09088708e-04 -5.04847009e-03 9.99987173e-01 1.28089296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.063133365 meters 0.2744202481427424 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99995660e-01 2.91610672e-03 4.20979697e-04 1.64952344e+00] [-2.91842691e-03 9.99979948e-01 5.62023188e-03 2.96539193e-01] [-4.04582059e-04 -5.62143608e-03 9.99984118e-01 1.33956280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.123133365 meters 0.2744403704693913 Centerline is valid? [False, False] Translation: X:1.65, Y:0.30, Z:0.01 [[ 9.99995386e-01 3.01500938e-03 3.71719423e-04 1.64961732e+00] [-3.01714205e-03 9.99978179e-01 5.87685722e-03 2.95476840e-01] [-3.53992532e-04 -5.87795164e-03 9.99982662e-01 1.34752460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18313336499997 meters 0.27397113077116825 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99995202e-01 3.09104117e-03 2.01541066e-04 1.65005235e+00] [-3.09221040e-03 9.99976704e-01 6.08514188e-03 2.94607884e-01] [-1.82726947e-04 -6.08573589e-03 9.99981465e-01 1.34310417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24313336499998 meters 0.2727815612739355 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99995203e-01 3.09670395e-03 6.67260962e-05 1.65037462e+00] [-3.09705364e-03 9.99976565e-01 6.10560614e-03 2.94527578e-01] [-4.78172778e-05 -6.10578351e-03 9.99981358e-01 1.34330535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30313336499998 meters 0.274762919745918 Centerline is valid? [False, False] Translation: X:1.67, Y:0.30, Z:0.01 [[ 0.99996394 0.00796531 0.00294379 1.67291692] [-0.00797309 0.99996473 0.00264059 0.29625809] [-0.00292265 -0.00266397 0.99999218 0.01204563] [ 0. 0. 0. 1. ]] SLAMing on 222.36313336499998 meters 0.2721211428586954 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99997946e-01 -2.01430526e-03 2.25668066e-04 1.65377724e+00] [ 2.01375375e-03 9.99995049e-01 2.41805699e-03 2.92406098e-01] [-2.30537654e-04 -2.41759758e-03 9.99997051e-01 1.15599862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42313336499998 meters 0.27205736634672284 Centerline is valid? [False, False] Translation: X:1.65, Y:0.29, Z:0.01 [[ 9.99998286e-01 -1.84843700e-03 -1.10316983e-04 1.65448737e+00] [ 1.84876741e-03 9.99993566e-01 3.07416311e-03 2.89815909e-01] [ 1.04633877e-04 -3.07436179e-03 9.99995269e-01 1.17137347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.483133365 meters 0.2705340318264586 Centerline is valid? [False, False] Translation: X:1.65, Y:0.28, Z:0.01 [[ 9.99998572e-01 -1.64515854e-03 -3.87544249e-04 1.65475273e+00] [ 1.64684863e-03 9.99988956e-01 4.40184195e-03 2.84510149e-01] [ 3.80298241e-04 -4.40247389e-03 9.99990237e-01 1.24200350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.543133365 meters 0.27175212490193545 Centerline is valid? [False, False] Translation: X:1.66, Y:0.28, Z:0.01 [[ 9.99999070e-01 -1.25743370e-03 -5.28714824e-04 1.65515810e+00] [ 1.26041041e-03 9.99983143e-01 5.66796712e-03 2.79424671e-01] [ 5.21578819e-04 -5.66862824e-03 9.99983797e-01 1.22371378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.603133365 meters 0.2711879855251665 Centerline is valid? [False, False] Translation: X:1.66, Y:0.28, Z:0.01 [[ 9.99999324e-01 -9.80427685e-04 -6.25180661e-04 1.65502750e+00] [ 9.84339422e-04 9.99979748e-01 6.28766517e-03 2.76712984e-01] [ 6.19003399e-04 -6.28827631e-03 9.99980037e-01 1.29316248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.663133365 meters 0.2696035617177776 Centerline is valid? [False, False] Translation: X:1.65, Y:0.28, Z:0.01 [[ 9.99999423e-01 -8.35654228e-04 -6.74511546e-04 1.65469249e+00] [ 8.40165967e-04 9.99977091e-01 6.71656167e-03 2.75030336e-01] [ 6.68883370e-04 -6.71712450e-03 9.99977216e-01 1.39504189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723133365 meters 0.2708726229499495 Centerline is valid? [False, False] Translation: X:1.67, Y:0.27, Z:0.01 [[ 9.99974253e-01 7.14880435e-03 6.22612157e-04 1.67431510e+00] [-7.15207020e-03 9.99959781e-01 5.41143896e-03 2.72353405e-01] [-5.83901798e-04 -5.41575260e-03 9.99985164e-01 1.48909151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783133365 meters 0.27171021886379465 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:0.02 [[ 9.99990008e-01 -4.19544275e-03 1.54365441e-03 1.69121623e+00] [ 4.18982687e-03 9.99984658e-01 3.62346167e-03 2.77629913e-01] [-1.55883275e-03 -3.61695782e-03 9.99992244e-01 1.75865462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843133365 meters 0.2702921286466752 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:0.02 [[ 9.99990017e-01 -4.17462991e-03 1.59312494e-03 1.69055882e+00] [ 4.16869822e-03 9.99984434e-01 3.70863616e-03 2.77368520e-01] [-1.60858233e-03 -3.70195788e-03 9.99991854e-01 1.87717139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.903133365 meters 0.26995832553283894 Centerline is valid? [False, False] Translation: X:1.69, Y:0.28, Z:0.02 [[ 9.99989981e-01 -4.16583213e-03 1.63828969e-03 1.69025322e+00] [ 4.15968609e-03 9.99984365e-01 3.73718219e-03 2.77256965e-01] [-1.65383255e-03 -3.73032998e-03 9.99991675e-01 1.92449976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96313336499998 meters 0.2712766355521912 Centerline is valid? [False, False] Translation: X:1.71, Y:0.27, Z:0.02 [[ 0.99998463 0.00518499 0.00196406 1.71100486] [-0.00519269 0.99997875 0.00394066 0.27207748] [-0.00194359 -0.0039508 0.99999031 0.0187171 ] [ 0. 0. 0. 1. ]] SLAMing on 223.02313336499998 meters 0.27038384312989305 Centerline is valid? [False, False] Translation: X:1.71, Y:0.27, Z:0.02 [[ 0.99998409 0.00520586 0.0021712 1.71033507] [-0.00521452 0.99997839 0.00400458 0.27176381] [-0.0021503 -0.00401584 0.99998962 0.01916233] [ 0. 0. 0. 1. ]] SLAMing on 223.08313336499998 meters 0.272759097042862 Centerline is valid? [False, False] Translation: X:1.71, Y:0.27, Z:0.02 [[ 9.99997794e-01 7.19602295e-04 1.97359957e-03 1.71094710e+00] [-7.17969296e-04 9.99999399e-01 -8.28004998e-04 2.74741108e-01] [-1.97419422e-03 8.26586187e-04 9.99997710e-01 1.88525606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14313336499998 meters 0.2710795341366092 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998463e-01 4.63386582e-04 1.69088830e-03 1.71188742e+00] [-4.60627843e-04 9.99998563e-01 -1.63155731e-03 2.78172730e-01] [-1.69164192e-03 1.63077593e-03 9.99997239e-01 1.82545772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20313336499999 meters 0.2714501419055761 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998510e-01 2.84982974e-04 1.70253197e-03 1.71180627e+00] [-2.81459383e-04 9.99997819e-01 -2.06949969e-03 2.80030538e-01] [-1.70311803e-03 2.06901741e-03 9.99996409e-01 1.83809364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.263133365 meters 0.2702944818714996 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998911e-01 2.68835208e-04 1.45097866e-03 1.71259739e+00] [-2.65772425e-04 9.99997737e-01 -2.11061921e-03 2.80240451e-01] [-1.45154279e-03 2.11023128e-03 9.99996720e-01 1.78439992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.323133365 meters 0.2707418735586561 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998989e-01 3.81060584e-04 1.36982768e-03 1.71285617e+00] [-3.78620109e-04 9.99998342e-01 -1.78141041e-03 2.78891823e-01] [-1.37050423e-03 1.78088996e-03 9.99997475e-01 1.76521792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.383133365 meters 0.2715458476714255 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998821e-01 4.76448575e-04 1.45996376e-03 1.71262846e+00] [-4.74225409e-04 9.99998728e-01 -1.52272217e-03 2.77789054e-01] [-1.46068741e-03 1.52202802e-03 9.99997775e-01 1.76765657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.443133365 meters 0.2708083898990263 Centerline is valid? [False, False] Translation: X:1.71, Y:0.28, Z:0.02 [[ 9.99998966e-01 3.98098765e-04 1.38159049e-03 1.71274859e+00] [-3.95708936e-04 9.99998426e-01 -1.72960935e-03 2.78653971e-01] [-1.38227687e-03 1.72906086e-03 9.99997550e-01 1.78244509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.503133365 meters 0.2727343923628477 Centerline is valid? [False, False] Translation: X:1.74, Y:0.28, Z:0.02 [[ 9.99984353e-01 -5.52848560e-03 8.54730079e-04 1.73679555e+00] [ 5.52724657e-03 9.99983680e-01 1.44524983e-03 2.81412958e-01] [-8.62706173e-04 -1.44050291e-03 9.99998590e-01 1.67772370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563133365 meters 0.271178062486211 Centerline is valid? [False, False] Translation: X:1.72, Y:0.28, Z:0.02 [[ 9.99994287e-01 3.32797853e-03 5.92270172e-04 1.71517810e+00] [-3.32816860e-03 9.99994410e-01 3.20218103e-04 2.83089796e-01] [-5.91201183e-04 -3.22187448e-04 9.99999773e-01 1.64166716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623133365 meters 0.2724879770641434 Centerline is valid? [False, False] Translation: X:1.71, Y:0.29, Z:0.02 [[ 9.99995259e-01 3.00904107e-03 6.53469115e-04 1.71491161e+00] [-3.00876985e-03 9.99995387e-01 -4.15643848e-04 2.86325987e-01] [-6.54716790e-04 4.13675740e-04 9.99999700e-01 1.66917681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68313336499997 meters 0.2712316046209289 Centerline is valid? [False, False] Translation: X:1.71, Y:0.29, Z:0.02 [[ 9.99995873e-01 2.77321459e-03 7.50478743e-04 1.71464310e+00] [-2.77243356e-03 9.99995616e-01 -1.03974760e-03 2.88920431e-01] [-7.53358897e-04 1.03766266e-03 9.99999178e-01 1.68384390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74313336499998 meters 0.2696802554322218 Centerline is valid? [False, False] Translation: X:1.71, Y:0.29, Z:0.02 [[ 9.99996273e-01 2.58339349e-03 8.83180569e-04 1.71391430e+00] [-2.58205306e-03 9.99995518e-01 -1.51551484e-03 2.91060558e-01] [-8.87091782e-04 1.51322878e-03 9.99998462e-01 1.77810927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80313336499998 meters 0.2706735402914689 Centerline is valid? [False, False] Translation: X:1.71, Y:0.29, Z:0.02 [[ 9.99996763e-01 2.37550091e-03 9.12042189e-04 1.71374357e+00] [-2.37367006e-03 9.99995176e-01 -2.00328430e-03 2.93162612e-01] [-9.16796594e-04 2.00111293e-03 9.99997578e-01 1.80167003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86313336499998 meters 0.27007314955014633 Centerline is valid? [False, False] Translation: X:1.71, Y:0.30, Z:0.02 [[ 9.99997630e-01 2.07821677e-03 6.48433731e-04 1.71452975e+00] [-2.07644064e-03 9.99994124e-01 -2.72786494e-03 2.96315170e-01] [-6.54099015e-04 2.72651204e-03 9.99996069e-01 1.76805078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92313336499998 meters 0.2712865035834633 Centerline is valid? [False, False] Translation: X:1.73, Y:0.30, Z:0.02 [[ 9.99982316e-01 -5.92726812e-03 4.84947591e-04 1.73446433e+00] [ 5.92798038e-03 9.99981333e-01 -1.48071918e-03 3.02426320e-01] [-4.76161919e-04 1.48356775e-03 9.99998786e-01 1.94076373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.983133365 meters 0.27305564570123764 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.02 [[ 0.99999495 0.00202192 0.00245095 1.75295553] [-0.00201492 0.9999939 -0.00285221 0.30113219] [-0.0024567 0.00284726 0.99999293 0.02057801] [ 0. 0. 0. 1. ]] SLAMing on 224.043133365 meters 0.2703327149118235 Centerline is valid? [False, False] Translation: X:1.73, Y:0.30, Z:0.02 [[ 9.99992605e-01 -3.75215168e-03 8.43396287e-04 1.73035517e+00] [ 3.75206006e-03 9.99992955e-01 1.10184890e-04 3.02423294e-01] [-8.43803775e-04 -1.07019602e-04 9.99999638e-01 2.23526988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.103133365 meters 0.2737812784706402 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.02 [[ 9.99987186e-01 5.03884110e-03 4.86756188e-04 1.75253683e+00] [-5.03859891e-03 9.99987182e-01 -4.97525826e-04 3.00723083e-01] [-4.89256902e-04 4.95066882e-04 9.99999758e-01 2.17649756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.163133365 meters 0.2730505143957499 Centerline is valid? [False, False] Translation: X:1.73, Y:0.31, Z:0.02 [[ 9.99996460e-01 -2.62595096e-03 -4.29786597e-04 1.73421203e+00] [ 2.62617622e-03 9.99996414e-01 5.24393811e-04 3.07506889e-01] [ 4.28408024e-04 -5.25520650e-04 9.99999770e-01 1.95522712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.223133365 meters 0.2735347068050775 Centerline is valid? [False, False] Translation: X:1.73, Y:0.31, Z:0.02 [[ 9.99995706e-01 -2.86404708e-03 -6.20867369e-04 1.73496309e+00] [ 2.86400895e-03 9.99995897e-01 -6.22937957e-05 3.10122084e-01] [ 6.21043234e-04 6.05153585e-05 9.99999805e-01 1.89496639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.283133365 meters 0.27332307477463086 Centerline is valid? [False, False] Translation: X:1.74, Y:0.31, Z:0.02 [[ 9.99995356e-01 -2.96411356e-03 -7.08303978e-04 1.73515241e+00] [ 2.96389677e-03 9.99995561e-01 -3.06923470e-04 3.11163897e-01] [ 7.09210590e-04 3.04822705e-04 9.99999702e-01 1.90124841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.343133365 meters 0.2749563124530574 Centerline is valid? [False, False] Translation: X:1.75, Y:0.31, Z:0.02 [[ 9.99988020e-01 4.82519818e-03 8.23234012e-04 1.75340824e+00] [-4.82397591e-03 9.99987269e-01 -1.48029479e-03 3.06320228e-01] [-8.30366247e-04 1.47630579e-03 9.99998566e-01 2.01897037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.403133365 meters 0.2737782769757265 Centerline is valid? [False, False] Translation: X:1.73, Y:0.30, Z:0.02 [[ 9.99989183e-01 -4.53317219e-03 -1.04167898e-03 1.73218326e+00] [ 4.53160554e-03 9.99988605e-01 -1.50143779e-03 3.03469729e-01] [ 1.04847338e-03 1.49670107e-03 9.99998330e-01 2.04994277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46313336499998 meters 0.274801675785309 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.02 [[ 9.99993347e-01 3.58295303e-03 -6.84142480e-04 1.75231351e+00] [-3.58428920e-03 9.99991652e-01 -1.96193065e-03 2.96284164e-01] [ 6.77107263e-04 1.96436977e-03 9.99997841e-01 2.08921376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52313336499998 meters 0.2740384854809804 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:0.02 [[ 9.99988139e-01 -4.81403467e-03 7.39284194e-04 1.77016880e+00] [ 4.81427088e-03 9.99988361e-01 -3.18072816e-04 2.97326782e-01] [-7.37744376e-04 3.21628158e-04 9.99999676e-01 2.28923545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58313336499998 meters 0.2726135334721441 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:0.02 [[ 9.99987890e-01 -4.83588972e-03 9.12986300e-04 1.76973303e+00] [ 4.83623876e-03 9.99988233e-01 -3.80483734e-04 2.97520064e-01] [-9.11135579e-04 3.84894547e-04 9.99999511e-01 2.29800525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64313336499998 meters 0.2743218420494011 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:0.02 [[ 9.99988446e-01 -4.73451991e-03 8.31796179e-04 1.77020271e+00] [ 4.73463645e-03 9.99988782e-01 -1.38197591e-04 2.96486975e-01] [-8.31132549e-04 1.42134247e-04 9.99999645e-01 2.23889211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70313336499999 meters 0.2719187897205406 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:0.02 [[ 9.99988885e-01 -4.63890700e-03 8.43374879e-04 1.76996713e+00] [ 4.63882907e-03 9.99989236e-01 9.43362108e-05 2.95452879e-01] [-8.43803418e-04 -9.04228903e-05 9.99999640e-01 2.28207206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763133365 meters 0.27226823132357175 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:0.02 [[ 9.99992559e-01 3.84263602e-03 -3.41950125e-04 1.75065602e+00] [-3.84302410e-03 9.99991964e-01 -1.14156712e-03 2.93161498e-01] [ 3.37560750e-04 1.14287275e-03 9.99999290e-01 2.17984149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823133365 meters 0.2726917930649343 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 9.99995398e-01 -2.58188973e-03 1.59333690e-03 1.77188098e+00] [ 2.57889805e-03 9.99994913e-01 1.87682638e-03 2.93281860e-01] [-1.59817455e-03 -1.87270868e-03 9.99996969e-01 2.10431124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883133365 meters 0.27348137087251834 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 9.99995184e-01 -2.54985181e-03 1.76923009e-03 1.77124128e+00] [ 2.54634698e-03 9.99994797e-01 1.98042459e-03 2.92850537e-01] [-1.77427068e-03 -1.97590998e-03 9.99996474e-01 2.15604495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943133365 meters 0.2737547668593791 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 9.99995630e-01 -2.45964117e-03 1.64037103e-03 1.77163259e+00] [ 2.45596519e-03 9.99994477e-01 2.23920861e-03 2.91796335e-01] [-1.64586962e-03 -2.23517013e-03 9.99996148e-01 2.13163884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003133365 meters 0.2774471386174502 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 9.99996384e-01 -2.29191490e-03 1.40680723e-03 1.77257295e+00] [ 2.28800428e-03 9.99993532e-01 2.77513060e-03 2.89452952e-01] [-1.41315849e-03 -2.77190178e-03 9.99995160e-01 2.03565396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063133365 meters 0.2744409051518315 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:0.02 [[ 0.9999732 0.00710006 0.0017856 1.75007208] [-0.00710436 0.99997186 0.0024116 0.28801916] [-0.00176843 -0.00242422 0.9999955 0.02074996] [ 0. 0. 0. 1. ]] SLAMing on 225.123133365 meters 0.2744416201203935 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 0.99999128 -0.00229515 0.00348937 1.77008337] [ 0.00228642 0.99999425 0.0025031 0.28963277] [-0.00349509 -0.0024951 0.99999078 0.02108439] [ 0. 0. 0. 1. ]] SLAMing on 225.18313336499997 meters 0.27224623650716856 Centerline is valid? [False, False] Translation: X:1.73, Y:0.30, Z:0.02 [[ 9.99996381e-01 -1.76842759e-03 2.02729007e-03 1.72553539e+00] [ 1.76516788e-03 9.99997148e-01 1.60857790e-03 2.96761806e-01] [-2.03012894e-03 -1.60499357e-03 9.99996651e-01 2.25061787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24313336499998 meters 0.27453352053387686 Centerline is valid? [False, False] Translation: X:1.75, Y:0.30, Z:0.02 [[ 0.99999 0.00300962 0.00330681 1.7490391 ] [-0.00300256 0.9999932 -0.00213943 0.29664262] [-0.00331323 0.00212948 0.99999224 0.02136481] [ 0. 0. 0. 1. ]] SLAMing on 225.30313336499998 meters 0.2763383072007214 Centerline is valid? [False, False] Translation: X:1.77, Y:0.30, Z:0.02 [[ 9.99973153e-01 -6.20755847e-03 3.89348720e-03 1.77024359e+00] [ 6.21293699e-03 9.99979760e-01 -1.37084285e-03 2.95624132e-01] [-3.88489880e-03 1.39499604e-03 9.99991481e-01 2.18692609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36313336499998 meters 0.27424735950024415 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 9.99974048e-01 -6.10378139e-03 3.82718594e-03 1.77044582e+00] [ 6.10809665e-03 9.99980722e-01 -1.11685528e-03 2.94535348e-01] [-3.82029512e-03 1.14020311e-03 9.99992053e-01 2.17527349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42313336499998 meters 0.27368722829709907 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:0.02 [[ 9.99997132e-01 2.01220373e-03 1.29851037e-03 1.75251449e+00] [-2.00899199e-03 9.99994932e-01 -2.46998347e-03 2.92848245e-01] [-1.30347390e-03 2.46736769e-03 9.99996107e-01 2.01822504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.483133365 meters 0.2736122801892957 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:0.02 [[ 9.99996934e-01 2.03583830e-03 1.40943700e-03 1.75213201e+00] [-2.03244526e-03 9.99995043e-01 -2.40463164e-03 2.92535461e-01] [-1.41432546e-03 2.40175967e-03 9.99996116e-01 2.04589547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.543133365 meters 0.2741527350996431 Centerline is valid? [False, False] Translation: X:1.77, Y:0.29, Z:0.02 [[ 0.99996932 -0.00685126 0.00379672 1.77149948] [ 0.00685808 0.99997489 -0.00178545 0.29256855] [-0.00378439 0.00181143 0.9999912 0.02099837] [ 0. 0. 0. 1. ]] SLAMing on 225.603133365 meters 0.27286198138566226 Centerline is valid? [False, False] Translation: X:1.75, Y:0.29, Z:0.02 [[ 0.99998953 0.0019365 0.00414581 1.75123135] [-0.00192662 0.9999953 -0.00238559 0.2867202 ] [-0.00415041 0.00237758 0.99998856 0.01960824] [ 0. 0. 0. 1. ]] SLAMing on 225.663133365 meters 0.27395130340215773 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 0.99998936 0.00216968 0.00407042 1.7515482 ] [-0.00216239 0.99999606 -0.00179263 0.28419048] [-0.00407429 0.00178381 0.99999011 0.01926134] [ 0. 0. 0. 1. ]] SLAMing on 225.723133365 meters 0.27346291361850145 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99988707e-01 2.33605569e-03 4.13859597e-03 1.75096898e+00] [-2.33041762e-03 9.99996351e-01 -1.36661400e-03 2.82251126e-01] [-4.14177336e-03 1.35695391e-03 9.99990502e-01 2.00909492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.783133365 meters 0.27362778460495346 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99988487e-01 2.37041972e-03 4.17212398e-03 1.75086482e+00] [-2.36509280e-03 9.99996382e-01 -1.28125896e-03 2.81870081e-01] [-4.17514601e-03 1.27137675e-03 9.99990476e-01 2.01327596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843133365 meters 0.2742073453453363 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99988317e-01 2.41499190e-03 4.18737476e-03 1.75096992e+00] [-2.41008123e-03 9.99996403e-01 -1.17738188e-03 2.81426632e-01] [-4.19020306e-03 1.16727621e-03 9.99990540e-01 1.98338831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903133365 meters 0.273016976562671 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99988591e-01 2.41540167e-03 4.12122102e-03 1.75131144e+00] [-2.41058630e-03 9.99996407e-01 -1.17300027e-03 2.81460181e-01] [-4.12403948e-03 1.16305233e-03 9.99990820e-01 1.94195737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96313336499998 meters 0.27481023623883555 Centerline is valid? [False, False] Translation: X:1.77, Y:0.28, Z:0.02 [[ 0.99997573 -0.00364076 0.00594065 1.7741684 ] [ 0.00362828 0.99999119 0.00211015 0.27928779] [-0.00594828 -0.00208855 0.99998013 0.01779168] [ 0. 0. 0. 1. ]] SLAMing on 226.02313336499998 meters 0.2714390699297739 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99991117e-01 2.58380129e-03 3.33022633e-03 1.75320529e+00] [-2.58048238e-03 9.99996170e-01 -1.00051394e-03 2.81006305e-01] [-3.33279870e-03 9.91911463e-04 9.99993954e-01 1.88358591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08313336499998 meters 0.2740985777935281 Centerline is valid? [False, False] Translation: X:1.78, Y:0.28, Z:0.02 [[ 0.99998397 -0.004274 0.00371507 1.7776273 ] [ 0.00426725 0.99998924 0.00182163 0.27883851] [-0.00372282 -0.00180575 0.99999144 0.01683843] [ 0. 0. 0. 1. ]] SLAMing on 226.14313336499998 meters 0.2747285251953518 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99992110e-01 2.17705172e-03 3.32268110e-03 1.75490458e+00] [-2.17316105e-03 9.99996949e-01 -1.17410538e-03 2.77385712e-01] [-3.32522705e-03 1.16687539e-03 9.99993791e-01 1.79943068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20313336499999 meters 0.27557976468822154 Centerline is valid? [False, False] Translation: X:1.78, Y:0.28, Z:0.02 [[ 0.99997841 -0.00432559 0.0049466 1.77519466] [ 0.00431542 0.99998856 0.0020646 0.27652707] [-0.00495548 -0.00204321 0.99998563 0.01817334] [ 0. 0. 0. 1. ]] SLAMing on 226.263133365 meters 0.2729272043868617 Centerline is valid? [False, False] Translation: X:1.75, Y:0.28, Z:0.02 [[ 9.99994793e-01 1.63161624e-03 2.78423241e-03 1.75309597e+00] [-1.62879626e-03 9.99998159e-01 -1.01480874e-03 2.77723538e-01] [-2.78588306e-03 1.01026851e-03 9.99995609e-01 1.90437315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323133365 meters 0.27536232030302904 Centerline is valid? [False, False] Translation: X:1.77, Y:0.28, Z:0.02 [[ 9.99964018e-01 -7.66463951e-03 3.63532709e-03 1.77497356e+00] [ 7.66625143e-03 9.99970522e-01 -4.29677998e-04 2.75356250e-01] [-3.63192660e-03 4.57531868e-04 9.99993300e-01 1.87817156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383133365 meters 0.275716770618988 Centerline is valid? [False, False] Translation: X:1.76, Y:0.27, Z:0.02 [[ 9.99996487e-01 7.73310429e-04 2.53515066e-03 1.75624861e+00] [-7.70138317e-04 9.99998920e-01 -1.25198938e-03 2.70031853e-01] [-2.53611610e-03 1.25003257e-03 9.99996003e-01 1.69074105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.443133365 meters 0.2739132675357987 Centerline is valid? [False, False] Translation: X:1.76, Y:0.27, Z:0.02 [[ 9.99996006e-01 8.80247455e-04 2.68569757e-03 1.75564460e+00] [-8.77632996e-04 9.99999140e-01 -9.74498154e-04 2.68721867e-01] [-2.68655306e-03 9.72137205e-04 9.99995919e-01 1.74759415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.503133365 meters 0.2724663515509924 Centerline is valid? [False, False] Translation: X:1.76, Y:0.27, Z:0.02 [[ 9.99995840e-01 8.72280085e-04 2.74931275e-03 1.75530399e+00] [-8.69560909e-04 9.99999132e-01 -9.90078327e-04 2.68775121e-01] [-2.75017399e-03 9.87683513e-04 9.99995731e-01 1.79076880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563133365 meters 0.27208835462927966 Centerline is valid? [False, False] Translation: X:1.76, Y:0.27, Z:0.02 [[ 9.99995955e-01 8.76896429e-04 2.70592560e-03 1.75539453e+00] [-8.74263505e-04 9.99999143e-01 -9.74051016e-04 2.68714388e-01] [-2.70677743e-03 9.71681383e-04 9.99995865e-01 1.79299748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.623133365 meters 0.27397668119720764 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.02 [[ 9.99960803e-01 -8.36425012e-03 2.90385078e-03 1.77735083e+00] [ 8.36523937e-03 9.99964957e-01 -3.28688712e-04 2.68282615e-01] [-2.90099979e-03 3.52967235e-04 9.99995730e-01 1.76003319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68313336499997 meters 0.27435396219660546 Centerline is valid? [False, False] Translation: X:1.78, Y:0.27, Z:0.02 [[ 9.99962311e-01 -8.16121237e-03 2.96151546e-03 1.77732497e+00] [ 8.16050412e-03 9.99966671e-01 2.51155577e-04 2.65808953e-01] [-2.96346649e-03 -2.26978652e-04 9.99995583e-01 1.73381345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74313336499998 meters 0.2774003228962207 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.02 [[ 9.99999841e-01 3.15827802e-04 4.67750294e-04 1.79880235e+00] [-3.16093874e-04 9.99999788e-01 5.68868634e-04 2.56036250e-01] [-4.67570530e-04 -5.69016396e-04 9.99999729e-01 1.77226927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80313336499998 meters 0.27495678788144484 Centerline is valid? [False, False] Translation: X:1.76, Y:0.25, Z:0.01 [[ 9.99996494e-01 1.83374932e-04 2.64162520e-03 1.76013729e+00] [-1.84416958e-04 9.99999905e-01 3.94225853e-04 2.54723176e-01] [-2.64155265e-03 -3.94711631e-04 9.99996433e-01 1.35853708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86313336499998 meters 0.2756724855273193 Centerline is valid? [False, False] Translation: X:1.78, Y:0.25, Z:0.01 [[ 0.99997057 0.00586507 0.00494617 1.78130078] [-0.00585216 0.99997944 -0.00262042 0.25187887] [-0.00496143 0.00259139 0.99998433 0.01272829] [ 0. 0. 0. 1. ]] SLAMing on 226.92313336499998 meters 0.2724669349928154 Centerline is valid? [False, False] Translation: X:1.76, Y:0.26, Z:0.01 [[ 0.99996829 -0.00312448 0.00732513 1.76045149] [ 0.00314232 0.99999212 -0.00242463 0.25686116] [-0.0073175 0.00244757 0.99997023 0.01130054] [ 0. 0. 0. 1. ]] SLAMing on 226.983133365 meters 0.2723522068323207 Centerline is valid? [False, False] Translation: X:1.76, Y:0.26, Z:0.01 [[ 0.99996691 -0.00311785 0.00751401 1.75994707] [ 0.00313601 0.99999219 -0.00240703 0.25673994] [-0.00750644 0.00243052 0.99996887 0.01146651] [ 0. 0. 0. 1. ]] SLAMing on 227.043133365 meters 0.27352655647731644 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99958880e-01 -1.94527348e-03 8.85749421e-03 1.80346269e+00] [ 1.95405942e-03 9.99997607e-01 -9.83374832e-04 2.53299593e-01] [-8.85556008e-03 1.00064247e-03 9.99960288e-01 1.08001574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.103133365 meters 0.2715292054069888 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99956295e-01 -2.06810216e-03 9.11767069e-03 1.80281280e+00] [ 2.08062412e-03 9.99996905e-01 -1.36410098e-03 2.54862404e-01] [-9.11482137e-03 1.38301181e-03 9.99957503e-01 1.09911156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.163133365 meters 0.27133674821476816 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99953942e-01 -2.16894738e-03 9.34925913e-03 1.80211595e+00] [ 2.18467342e-03 9.99996216e-01 -1.67217820e-03 2.56248161e-01] [-9.34559688e-03 1.69252626e-03 9.99954897e-01 1.14147483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.223133365 meters 0.2713273376117811 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 0.99995385 -0.00225064 0.00934007 1.80230336] [ 0.00226839 0.99999564 -0.00189088 0.25720261] [-0.00933577 0.00191197 0.99995459 0.01105398] [ 0. 0. 0. 1. ]] SLAMing on 227.283133365 meters 0.2738059607468379 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 0.99995374 -0.00229466 0.00934042 1.80243421] [ 0.00231342 0.99999533 -0.001998 0.25767785] [-0.00933579 0.00201952 0.99995438 0.0107857 ] [ 0. 0. 0. 1. ]] SLAMing on 227.343133365 meters 0.2714583945720622 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 0.99995257 -0.00233941 0.0094541 1.80215279] [ 0.00235947 0.99999499 -0.00211207 0.25815306] [-0.00944911 0.00213428 0.99995308 0.01080953] [ 0. 0. 0. 1. ]] SLAMing on 227.403133365 meters 0.2690876262720931 Centerline is valid? [False, False] Translation: X:1.76, Y:0.26, Z:0.01 [[ 9.99978480e-01 -2.91936475e-04 6.55393995e-03 1.75845272e+00] [ 2.96154818e-04 9.99999750e-01 -6.42673365e-04 2.60247410e-01] [-6.55375069e-03 6.44600515e-04 9.99978316e-01 1.19054538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46313336499998 meters 0.27026755355084897 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99964450e-01 1.19875679e-03 8.34631739e-03 1.80065535e+00] [-1.20195705e-03 9.99999206e-01 3.78427639e-04 2.63465351e-01] [-8.34585712e-03 -3.88446101e-04 9.99965097e-01 1.15707740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52313336499998 meters 0.26891050098254127 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99964261e-01 1.09867438e-03 8.38275605e-03 1.80045689e+00] [-1.09911422e-03 9.99999395e-01 4.78630267e-05 2.64824083e-01] [-8.38269839e-03 -5.70749225e-05 9.99964863e-01 1.18138947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58313336499998 meters 0.2706505235274942 Centerline is valid? [False, False] Translation: X:1.80, Y:0.27, Z:0.01 [[ 9.99966343e-01 1.02310312e-03 8.14039176e-03 1.80138005e+00] [-1.02145193e-03 9.99999457e-01 -2.06994146e-04 2.65864332e-01] [-8.14059911e-03 1.98672161e-04 9.99966845e-01 1.08873812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64313336499998 meters 0.27038808697695543 Centerline is valid? [False, False] Translation: X:1.80, Y:0.27, Z:0.01 [[ 9.99965917e-01 1.05796200e-03 8.18815486e-03 1.80134560e+00] [-1.05706986e-03 9.99999435e-01 -1.13281528e-04 2.65467922e-01] [-8.18827008e-03 1.04622215e-04 9.99966470e-01 1.06976240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70313336499999 meters 0.2724407340876433 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99965287e-01 1.14272060e-03 8.25343506e-03 1.80114167e+00] [-1.14360169e-03 9.99999341e-01 1.02034939e-04 2.64526500e-01] [-8.25331302e-03 -1.11470039e-04 9.99965935e-01 1.07865484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.763133365 meters 0.27014778361992015 Centerline is valid? [False, False] Translation: X:1.78, Y:0.26, Z:0.01 [[ 0.9999824 -0.00380415 0.0045529 1.77975921] [ 0.0037879 0.99998645 0.00357206 0.25956699] [-0.00456643 -0.00355475 0.99998326 0.0121469 ] [ 0. 0. 0. 1. ]] SLAMing on 227.823133365 meters 0.27091687712314877 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 0.99997438 0.00445407 0.00560385 1.80023166] [-0.00446955 0.99998622 0.00275211 0.2566478 ] [-0.00559152 -0.00277708 0.99998051 0.01291011] [ 0. 0. 0. 1. ]] SLAMing on 227.883133365 meters 0.2719088005785432 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99981376e-01 4.82181013e-04 6.08395831e-03 1.79890866e+00] [-4.77473700e-04 9.99999586e-01 -7.75154121e-04 2.54478607e-01] [-6.08432955e-03 7.72234755e-04 9.99981192e-01 1.33687004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.943133365 meters 0.2716491720716702 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99980675e-01 4.81831434e-04 6.19818072e-03 1.79860915e+00] [-4.77042667e-04 9.99999587e-01 -7.74063777e-04 2.54462146e-01] [-6.19855112e-03 7.71092021e-04 9.99980492e-01 1.34499360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.003133365 meters 0.27067087157608394 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99981176e-01 4.34035118e-04 6.12035832e-03 1.79881690e+00] [-4.28461388e-04 9.99999492e-01 -9.11968683e-04 2.55114424e-01] [-6.12075104e-03 9.09329179e-04 9.99980855e-01 1.33380308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.063133365 meters 0.272996288997593 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99981571e-01 4.01564644e-04 6.05773913e-03 1.79903959e+00] [-3.95534854e-04 9.99999425e-01 -9.96551317e-04 2.55450749e-01] [-6.05813583e-03 9.94136905e-04 9.99981155e-01 1.31771657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.123133365 meters 0.27188074843547516 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99981852e-01 3.71737111e-04 6.01306825e-03 1.79915393e+00] [-3.65309737e-04 9.99999361e-01 -1.06996402e-03 2.55764781e-01] [-6.01346215e-03 1.06774798e-03 9.99981349e-01 1.31550195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18313336499997 meters 0.27166324870297043 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99982720e-01 2.86656044e-04 5.87178847e-03 1.79972609e+00] [-2.79162681e-04 9.99999146e-01 -1.27694353e-03 2.56684360e-01] [-5.87214949e-03 1.27528228e-03 9.99981946e-01 1.26570176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24313336499998 meters 0.2703130224079858 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99983045e-01 2.85328037e-04 5.81619166e-03 1.79988350e+00] [-2.77863820e-04 9.99999137e-01 -1.28411897e-03 2.56695219e-01] [-5.81655303e-03 1.28248109e-03 9.99982261e-01 1.26075969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30313336499998 meters 0.2703041619627904 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99984638e-01 3.32860481e-04 5.53286966e-03 1.80072358e+00] [-3.26449328e-04 9.99999274e-01 -1.15960183e-03 2.56117224e-01] [-5.53325163e-03 1.15777782e-03 9.99984021e-01 1.21946366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36313336499998 meters 0.2691882683191831 Centerline is valid? [False, False] Translation: X:1.80, Y:0.26, Z:0.01 [[ 9.99984393e-01 4.11828043e-04 5.57171559e-03 1.80049201e+00] [-4.06541676e-04 9.99999466e-01 -9.49885435e-04 2.55240815e-01] [-5.57210381e-03 9.47605476e-04 9.99984027e-01 1.25215505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42313336499998 meters 0.27010160193970056 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99984025e-01 6.32623835e-04 5.61693257e-03 1.79990977e+00] [-6.31580779e-04 9.99999783e-01 -1.87470315e-04 2.52220712e-01] [-5.61704995e-03 1.83919773e-04 9.99984207e-01 1.37195837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.483133365 meters 0.26974625422506593 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99984132e-01 7.68241857e-04 5.58075557e-03 1.79990254e+00] [-7.69826993e-04 9.99999664e-01 2.81893612e-04 2.50307586e-01] [-5.58053713e-03 -2.86185355e-04 9.99984388e-01 1.39179575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543133365 meters 0.2709913533104946 Centerline is valid? [False, False] Translation: X:1.80, Y:0.25, Z:0.01 [[ 9.99983326e-01 9.56009956e-04 5.69510044e-03 1.79952922e+00] [-9.61091604e-04 9.99999142e-01 8.89614269e-04 2.47823669e-01] [-5.69424508e-03 -8.95072948e-04 9.99983387e-01 1.42093027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.603133365 meters 0.2690529324148184 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:0.02 [[ 9.99981073e-01 1.15204535e-03 6.04369623e-03 1.79836593e+00] [-1.16191712e-03 9.99997996e-01 1.63014229e-03 2.44676671e-01] [-6.04180612e-03 -1.63713371e-03 9.99980408e-01 1.51611032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663133365 meters 0.2699968950096943 Centerline is valid? [False, False] Translation: X:1.80, Y:0.24, Z:0.02 [[ 9.99981112e-01 1.33122948e-03 6.00025187e-03 1.79842747e+00] [-1.34423446e-03 9.99996755e-01 2.16389496e-03 2.42479576e-01] [-5.99735176e-03 -2.17191983e-03 9.99979657e-01 1.52403556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723133365 meters 0.27057300652982497 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.01 [[ 9.99970025e-01 2.53138890e-04 7.73857947e-03 1.84231507e+00] [-2.64792019e-04 9.99998833e-01 1.50486113e-03 2.38794967e-01] [-7.73818949e-03 -1.50686513e-03 9.99968924e-01 1.41980431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783133365 meters 0.26999732144208227 Centerline is valid? [False, False] Translation: X:1.84, Y:0.24, Z:0.01 [[ 9.99969679e-01 4.88987280e-04 7.77192893e-03 1.84230109e+00] [-5.05695880e-04 9.99997565e-01 2.14804549e-03 2.36135707e-01] [-7.77085964e-03 -2.15191059e-03 9.99967491e-01 1.40603976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843133365 meters 0.2695636347908205 Centerline is valid? [False, False] Translation: X:1.82, Y:0.23, Z:0.01 [[ 9.99972596e-01 5.05473742e-03 5.40887364e-03 1.82097192e+00] [-5.04603675e-03 9.99985955e-01 -1.62103152e-03 2.33159774e-01] [-5.41699156e-03 1.59369372e-03 9.99984058e-01 1.44946377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903133365 meters 0.2697959227910765 Centerline is valid? [False, False] Translation: X:1.83, Y:0.23, Z:0.01 [[ 0.99998754 0.00275124 0.0041657 1.82636589] [-0.00273779 0.99999104 -0.00323007 0.22779187] [-0.00417455 0.00321863 0.99998611 0.01085663] [ 0. 0. 0. 1. ]] SLAMing on 228.96313336499998 meters 0.2710291727560161 Centerline is valid? [False, False] Translation: X:1.81, Y:0.22, Z:0.01 [[ 9.99996227e-01 -2.71961732e-03 3.87254403e-04 1.80837897e+00] [ 2.71927841e-03 9.99995922e-01 8.73019049e-04 2.22832772e-01] [-3.89627101e-04 -8.71962703e-04 9.99999544e-01 1.00496281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02313336499998 meters 0.27242388324775557 Centerline is valid? [False, False] Translation: X:1.83, Y:0.22, Z:0.01 [[ 9.99994808e-01 2.93678170e-03 1.32611909e-03 1.83153327e+00] [-2.93353036e-03 9.99992703e-01 -2.44709306e-03 2.20836400e-01] [-1.33329599e-03 2.44319015e-03 9.99996127e-01 8.91582262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08313336499998 meters 0.2703747624033988 Centerline is valid? [False, False] Translation: X:1.83, Y:0.22, Z:0.01 [[ 9.99994819e-01 2.95112393e-03 1.28554682e-03 1.83159685e+00] [-2.94801724e-03 9.99992746e-01 -2.41185803e-03 2.20688916e-01] [-1.29265519e-03 2.40805572e-03 9.99996265e-01 8.98557890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14313336499998 meters 0.2722782467135203 Centerline is valid? [False, False] Translation: X:1.83, Y:0.22, Z:0.01 [[ 9.99994967e-01 2.89998827e-03 1.28707021e-03 1.83162823e+00] [-2.89670307e-03 9.99992561e-01 -2.54703156e-03 2.21276143e-01] [-1.29444700e-03 2.54329048e-03 9.99995928e-01 8.90770366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20313336499999 meters 0.27106778536701126 Centerline is valid? [False, False] Translation: X:1.83, Y:0.22, Z:0.01 [[ 9.99995038e-01 2.84610815e-03 1.35072045e-03 1.83129603e+00] [-2.84245068e-03 9.99992310e-01 -2.70202966e-03 2.21910955e-01] [-1.35840034e-03 2.69817689e-03 9.99995437e-01 9.34476921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263133365 meters 0.27022741182728893 Centerline is valid? [False, False] Translation: X:1.81, Y:0.23, Z:0.01 [[ 9.99995149e-01 -3.02972438e-03 7.23178095e-04 1.80931264e+00] [ 3.02923230e-03 9.99995180e-01 6.80561032e-04 2.25109016e-01] [-7.25236522e-04 -6.78367056e-04 9.99999507e-01 9.96941113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323133365 meters 0.27225239369657367 Centerline is valid? [False, False] Translation: X:1.85, Y:0.23, Z:0.01 [[ 9.99991993e-01 -3.96968109e-03 -5.06417435e-04 1.84668266e+00] [ 3.96900579e-03 9.99991242e-01 -1.32757910e-03 2.30852540e-01] [ 5.11683066e-04 1.32555849e-03 9.99998991e-01 1.42136555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383133365 meters 0.27151064908263445 Centerline is valid? [False, False] Translation: X:1.85, Y:0.23, Z:0.02 [[ 9.99999890e-01 2.60777200e-05 -4.68731691e-04 1.84620998e+00] [-2.50616667e-05 9.99997651e-01 2.16754021e-03 2.34329992e-01] [ 4.68787114e-04 -2.16752822e-03 9.99997541e-01 1.50530129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443133365 meters 0.2744671020819602 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999769e-01 -3.59950000e-04 -5.76132431e-04 1.84659393e+00] [ 3.60655004e-04 9.99999186e-01 1.22404809e-03 2.38320859e-01] [ 5.75691366e-04 -1.22425559e-03 9.99999085e-01 1.48994970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.503133365 meters 0.2715317272694344 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999587e-01 -6.75566367e-04 -6.08677361e-04 1.84687466e+00] [ 6.75829701e-04 9.99999678e-01 4.32531159e-04 2.41681372e-01] [ 6.08384962e-04 -4.32942342e-04 9.99999721e-01 1.45010913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563133365 meters 0.27246538180588514 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.02 [[ 9.99999535e-01 -7.61908573e-04 -5.91065915e-04 1.84658355e+00] [ 7.62042519e-04 9.99999684e-01 2.26424913e-04 2.42563668e-01] [ 5.90893213e-04 -2.26875225e-04 9.99999800e-01 1.50247052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623133365 meters 0.27295128565165877 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999454e-01 -8.34822932e-04 -6.29179867e-04 1.84670756e+00] [ 8.34847174e-04 9.99999651e-01 3.82666661e-05 2.43357441e-01] [ 6.29147701e-04 -3.87919143e-05 9.99999801e-01 1.49703088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68313336499997 meters 0.27304580664611267 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999215e-01 -9.50189552e-04 -8.16627336e-04 1.84745778e+00] [ 9.49979694e-04 9.99999516e-01 -2.57329789e-04 2.44773412e-01] [ 8.16871452e-04 2.56553808e-04 9.99999633e-01 1.42681479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74313336499998 meters 0.2726316468000207 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999126e-01 -9.65626266e-04 -9.03396504e-04 1.84775093e+00] [ 9.65355634e-04 9.99999489e-01 -2.99960202e-04 2.44958345e-01] [ 9.03685692e-04 2.99087841e-04 9.99999547e-01 1.40905200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80313336499998 meters 0.27205722597894794 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99999088e-01 -9.31465497e-04 -9.77553982e-04 1.84790937e+00] [ 9.31249387e-04 9.99999542e-01 -2.21504703e-04 2.44614506e-01] [ 9.77759858e-04 2.20594154e-04 9.99999498e-01 1.41290663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86313336499998 meters 0.27390035010337205 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99998891e-01 -8.76998890e-04 -1.20376585e-03 1.84835249e+00] [ 8.76885102e-04 9.99999611e-01 -9.50505632e-05 2.44051913e-01] [ 1.20384874e-03 9.39948934e-05 9.99999271e-01 1.43356079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92313336499998 meters 0.2748424801672678 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.01 [[ 9.99998846e-01 -8.79547918e-04 -1.23840857e-03 1.84840136e+00] [ 8.79415321e-04 9.99999608e-01 -1.07610670e-04 2.44083465e-01] [ 1.23850273e-03 1.06521470e-04 9.99999227e-01 1.44142744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.983133365 meters 0.2709636755893344 Centerline is valid? [False, False] Translation: X:1.81, Y:0.25, Z:0.01 [[ 9.99999945e-01 1.11416558e-05 3.30432969e-04 1.80926845e+00] [-1.11488162e-05 1.00000000e+00 2.16679912e-05 2.48257945e-01] [-3.30432727e-04 -2.16716739e-05 9.99999945e-01 1.15671420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043133365 meters 0.27308984834648475 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998783e-01 5.60722654e-04 1.45595672e-03 1.85348715e+00] [-5.61433011e-04 9.99999724e-01 4.87534020e-04 2.51627265e-01] [-1.45568294e-03 -4.88350849e-04 9.99998821e-01 1.07158872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103133365 meters 0.27303379986989573 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998466e-01 4.75739755e-04 1.68574326e-03 1.85283111e+00] [-4.76191220e-04 9.99999851e-01 2.67422219e-04 2.52543765e-01] [-1.68561578e-03 -2.68224545e-04 9.99998543e-01 1.09896768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163133365 meters 0.27304317273372825 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998087e-01 4.42655382e-04 1.90527006e-03 1.85214699e+00] [-4.42994960e-04 9.99999886e-01 1.77812576e-04 2.52917608e-01] [-1.90519113e-03 -1.78656261e-04 9.99998169e-01 1.14022387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.223133365 meters 0.27410759894608805 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998496e-01 4.61138887e-04 1.67165364e-03 1.85280781e+00] [-4.61519473e-04 9.99999868e-01 2.27291258e-04 2.52750704e-01] [-1.67154861e-03 -2.28062417e-04 9.99998577e-01 1.10501924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.283133365 meters 0.27455093339532793 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998466e-01 4.38384567e-04 1.69605277e-03 1.85257863e+00] [-4.38681599e-04 9.99999889e-01 1.74763212e-04 2.52976135e-01] [-1.69597597e-03 -1.75506971e-04 9.99998546e-01 1.14248982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.343133365 meters 0.2724164774965285 Centerline is valid? [False, False] Translation: X:1.85, Y:0.25, Z:0.01 [[ 9.99998311e-01 3.71612494e-04 1.80009248e-03 1.85207078e+00] [-3.71602071e-04 9.99999931e-01 -6.12493498e-06 2.53733787e-01] [-1.80009463e-03 5.45600654e-06 9.99998380e-01 1.20530948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40313336499997 meters 0.2732098147497724 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99998257e-01 2.40042818e-04 1.85182358e-03 1.85196255e+00] [-2.39333982e-04 9.99999898e-01 -3.82989697e-04 2.55284102e-01] [-1.85191532e-03 3.82545825e-04 9.99998212e-01 1.20710111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46313336499998 meters 0.27394110739378746 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99998654e-01 1.77190986e-04 1.63127144e-03 1.85289079e+00] [-1.76261522e-04 9.99999822e-01 -5.69905255e-04 2.56205899e-01] [-1.63137213e-03 5.69616957e-04 9.99998507e-01 1.11135306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52313336499998 meters 0.2734677813008625 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99998932e-01 1.28077116e-04 1.45554485e-03 1.85333665e+00] [-1.27050660e-04 9.99999743e-01 -7.05274530e-04 2.56774671e-01] [-1.45563480e-03 7.05088849e-04 9.99998692e-01 1.10753787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58313336499998 meters 0.2744166833807477 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99999202e-01 -4.78972047e-05 1.26233690e-03 1.85360658e+00] [ 4.94212737e-05 9.99999270e-01 -1.20733587e-03 2.58862005e-01] [-1.26227815e-03 1.20739729e-03 9.99998474e-01 1.15088108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64313336499998 meters 0.27235962035638256 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99999096e-01 -1.45009725e-04 1.33665619e-03 1.85339453e+00] [ 1.46942929e-04 9.99998943e-01 -1.44631433e-03 2.59871418e-01] [-1.33644505e-03 1.44650943e-03 9.99998061e-01 1.15872320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70313336499999 meters 0.2723886509819102 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99999169e-01 -1.62778529e-04 1.27896312e-03 1.85351374e+00] [ 1.64690106e-04 9.99998869e-01 -1.49466737e-03 2.60063663e-01] [-1.27871837e-03 1.49487676e-03 9.99998065e-01 1.16333630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.763133365 meters 0.2729418983467166 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99999504e-01 -2.62933698e-04 9.60494520e-04 1.85407177e+00] [ 2.64600214e-04 9.99998459e-01 -1.73534583e-03 2.61104880e-01] [-9.60036759e-04 1.73559912e-03 9.99998033e-01 1.20807103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.823133365 meters 0.274443471236163 Centerline is valid? [False, False] Translation: X:1.85, Y:0.26, Z:0.01 [[ 9.99999448e-01 -4.57785120e-04 9.46204511e-04 1.85397969e+00] [ 4.59945823e-04 9.99997285e-01 -2.28459205e-03 2.63366571e-01] [-9.45156089e-04 2.28502599e-03 9.99996943e-01 1.24121869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.883133365 meters 0.2721480857442512 Centerline is valid? [False, False] Translation: X:1.85, Y:0.27, Z:0.02 [[ 9.99996315e-01 1.76935307e-03 2.05904303e-03 1.84837631e+00] [-1.76803223e-03 9.99998230e-01 -6.43124947e-04 2.67157293e-01] [-2.06017730e-03 6.39482123e-04 9.99997673e-01 1.64915478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943133365 meters 0.27060028545127307 Centerline is valid? [False, False] Translation: X:1.82, Y:0.27, Z:0.02 [[ 0.99999156 -0.00359838 0.0019815 1.82414805] [ 0.0035944 0.99999153 0.00200704 0.2739064 ] [-0.0019887 -0.0019999 0.99999602 0.0183017 ] [ 0. 0. 0. 1. ]] SLAMing on 231.003133365 meters 0.2720668633438682 Centerline is valid? [False, False] Translation: X:1.85, Y:0.28, Z:0.02 [[ 9.99991790e-01 1.90557764e-03 3.57599801e-03 1.84671510e+00] [-1.90037644e-03 9.99997132e-01 -1.45731083e-03 2.75519400e-01] [-3.57876477e-03 1.45050312e-03 9.99992544e-01 1.71776630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063133365 meters 0.27374514202448097 Centerline is valid? [False, False] Translation: X:1.85, Y:0.28, Z:0.02 [[ 9.99991458e-01 1.83001893e-03 3.70596928e-03 1.84617641e+00] [-1.82396519e-03 9.99996998e-01 -1.63623148e-03 2.76350588e-01] [-3.70895249e-03 1.62945795e-03 9.99991794e-01 1.76934237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123133365 meters 0.2726539444067356 Centerline is valid? [False, False] Translation: X:1.85, Y:0.28, Z:0.02 [[ 9.99992449e-01 1.72105115e-03 3.48431235e-03 1.84685730e+00] [-1.71414656e-03 9.99996563e-01 -1.98363761e-03 2.77742578e-01] [-3.48771431e-03 1.97765001e-03 9.99991962e-01 1.72583469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18313336499997 meters 0.274099082730167 Centerline is valid? [False, False] Translation: X:1.85, Y:0.28, Z:0.02 [[ 9.99993131e-01 1.60679335e-03 3.34016652e-03 1.84733848e+00] [-1.59927015e-03 9.99996181e-01 -2.25379417e-03 2.78948644e-01] [-3.34377514e-03 2.24843686e-03 9.99991882e-01 1.70232140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24313336499998 meters 0.2748274232538087 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:0.02 [[ 9.99981780e-01 -4.56114141e-03 3.95408841e-03 1.86970288e+00] [ 4.55746366e-03 9.99989174e-01 9.38625827e-04 2.81337629e-01] [-3.95832681e-03 -9.20588111e-04 9.99991742e-01 1.61790172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30313336499998 meters 0.27698678150871103 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:0.02 [[ 9.99980426e-01 -4.92594365e-03 3.85788647e-03 1.86984845e+00] [ 4.92559592e-03 9.99987864e-01 9.96317125e-05 2.84848585e-01] [-3.85833043e-03 -8.06273724e-05 9.99992553e-01 1.64259543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36313336499998 meters 0.2770425664479819 Centerline is valid? [False, False] Translation: X:1.87, Y:0.29, Z:0.02 [[ 9.99980038e-01 -5.10010585e-03 3.72983464e-03 1.87033732e+00] [ 5.10130365e-03 9.99986940e-01 -3.11698793e-04 2.86628715e-01] [-3.72819623e-03 3.30719590e-04 9.99992996e-01 1.60852243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42313336499998 meters 0.2742430512417302 Centerline is valid? [False, False] Translation: X:1.85, Y:0.29, Z:0.02 [[ 9.99991951e-01 3.61251251e-03 1.74597431e-03 1.85159532e+00] [-3.60993506e-03 9.99992393e-01 -1.47712990e-03 2.86851049e-01] [-1.75129718e-03 1.47081516e-03 9.99997385e-01 1.50672297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.483133365 meters 0.2775678261565127 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:0.01 [[ 9.99971324e-01 -6.90069743e-03 3.11967440e-03 1.87272749e+00] [ 6.90580863e-03 9.99974825e-01 -1.63058367e-03 2.82243296e-01] [-3.10834369e-03 1.65208079e-03 9.99993804e-01 1.46474420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.543133365 meters 0.27916886917593875 Centerline is valid? [False, False] Translation: X:1.87, Y:0.28, Z:0.01 [[ 9.99973003e-01 -6.69757794e-03 3.02258884e-03 1.87307090e+00] [ 6.70058193e-03 9.99977066e-01 -9.84817033e-04 2.79640867e-01] [-3.01592363e-03 1.00504355e-03 9.99994947e-01 1.42985757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.603133365 meters 0.2785036806624449 Centerline is valid? [False, False] Translation: X:1.89, Y:0.27, Z:0.02 [[ 9.99996868e-01 8.73863127e-04 2.34531011e-03 1.89103637e+00] [-8.70501150e-04 9.99998593e-01 -1.43412721e-03 2.67387914e-01] [-2.34656004e-03 1.43208112e-03 9.99996221e-01 1.62096976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.663133365 meters 0.27832019359582194 Centerline is valid? [False, False] Translation: X:1.89, Y:0.27, Z:0.02 [[ 9.99996499e-01 1.00233777e-03 2.44893804e-03 1.89063743e+00] [-9.99620721e-04 9.99998884e-01 -1.11045131e-03 2.65997140e-01] [-2.45004835e-03 1.10799941e-03 9.99996385e-01 1.64855108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.723133365 meters 0.27687419031403077 Centerline is valid? [False, False] Translation: X:1.89, Y:0.26, Z:0.02 [[ 9.99995206e-01 1.46041553e-03 2.73058797e-03 1.88991058e+00] [-1.46011367e-03 9.99998928e-01 -1.12535414e-04 2.61712333e-01] [-2.73074939e-03 1.08547906e-04 9.99996266e-01 1.63942940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.783133365 meters 0.2758483673088603 Centerline is valid? [False, False] Translation: X:1.89, Y:0.26, Z:0.02 [[ 9.99994931e-01 1.65743914e-03 2.71845450e-03 1.88986751e+00] [-1.65839815e-03 9.99998563e-01 3.50560659e-04 2.59797719e-01] [-2.71786956e-03 -3.55067162e-04 9.99996244e-01 1.64707762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.843133365 meters 0.2786328864951701 Centerline is valid? [False, False] Translation: X:1.93, Y:0.25, Z:0.02 [[ 9.99996914e-01 6.71614232e-04 2.39202073e-03 1.92693773e+00] [-6.72561577e-04 9.99999696e-01 3.95261207e-04 2.52942138e-01] [-2.39175454e-03 -3.96868769e-04 9.99997061e-01 2.00035998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90313336499997 meters 0.274669603311955 Centerline is valid? [False, False] Translation: X:1.93, Y:0.25, Z:0.02 [[ 9.99996213e-01 8.60535699e-04 2.61419272e-03 1.92610719e+00] [-8.62790525e-04 9.99999257e-01 8.61527105e-04 2.50900280e-01] [-2.61344940e-03 -8.63779343e-04 9.99996212e-01 2.05949324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96313336499998 meters 0.2760433745076823 Centerline is valid? [False, False] Translation: X:1.93, Y:0.25, Z:0.02 [[ 9.99995977e-01 9.92775184e-04 2.65701398e-03 1.92598048e+00] [-9.95923643e-04 9.99998803e-01 1.18390080e-03 2.49548228e-01] [-2.65583545e-03 -1.18654222e-03 9.99995769e-01 2.06072822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02313336499998 meters 0.2749147535203967 Centerline is valid? [False, False] Translation: X:1.93, Y:0.25, Z:0.02 [[ 9.99995390e-01 1.21183874e-03 2.78422418e-03 1.92561675e+00] [-1.21662384e-03 9.99997785e-01 1.71759683e-03 2.47309707e-01] [-2.78213656e-03 -1.72097626e-03 9.99994649e-01 2.06735253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08313336499998 meters 0.2753205178242539 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 9.99995055e-01 1.43448151e-03 2.79872632e-03 1.92552610e+00] [-1.44097135e-03 9.99996275e-01 2.31822053e-03 2.44845663e-01] [-2.79539045e-03 -2.32224195e-03 9.99993396e-01 2.07386527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14313336499998 meters 0.2750470657490434 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 9.99994684e-01 1.66898862e-03 2.80113731e-03 1.92562129e+00] [-1.67723844e-03 9.99994256e-01 2.94540924e-03 2.42263248e-01] [-2.79620536e-03 -2.95009176e-03 9.99991739e-01 2.04515996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20313336499999 meters 0.2764441369184021 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 9.99994483e-01 1.74833656e-03 2.82428476e-03 1.92562192e+00] [-1.75721450e-03 9.99993514e-01 3.14401409e-03 2.41438910e-01] [-2.81876964e-03 -3.14895962e-03 9.99991069e-01 2.03132243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.263133365 meters 0.27576907911629606 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 9.99994534e-01 1.79732466e-03 2.77508382e-03 1.92582533e+00] [-1.80637897e-03 9.99993043e-01 3.26366378e-03 2.40943979e-01] [-2.76919865e-03 -3.26865879e-03 9.99990824e-01 2.01202417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.323133365 meters 0.2735775032235351 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 9.99994582e-01 1.85761702e-03 2.71742514e-03 1.92590318e+00] [-1.86688403e-03 9.99992438e-01 3.41166606e-03 2.40320175e-01] [-2.71106702e-03 -3.41672069e-03 9.99990488e-01 2.02339046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383133365 meters 0.2732794984092923 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 0.99999385 0.0019976 0.00288416 1.92534813] [-0.00200855 0.99999077 0.00379906 0.23869593] [-0.00287654 -0.00380483 0.99998862 0.02056007] [ 0. 0. 0. 1. ]] SLAMing on 232.443133365 meters 0.2746076778535017 Centerline is valid? [False, False] Translation: X:1.93, Y:0.24, Z:0.02 [[ 0.99999329 0.00219803 0.00293079 1.92521849] [-0.00221079 0.99998805 0.00435976 0.23637413] [-0.00292117 -0.00436621 0.9999862 0.02057079] [ 0. 0. 0. 1. ]] SLAMing on 232.503133365 meters 0.2762109950704173 Centerline is valid? [False, False] Translation: X:1.93, Y:0.23, Z:0.02 [[ 9.99998266e-01 -6.08829077e-05 1.86140559e-03 1.93002146e+00] [ 5.49154196e-05 9.99994860e-01 3.20578729e-03 2.28971250e-01] [-1.86159120e-03 -3.20567951e-03 9.99993129e-01 1.69985410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.563133365 meters 0.2752463385799648 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:0.02 [[ 9.99985306e-01 4.78821237e-03 2.54165767e-03 1.95206595e+00] [-4.78737658e-03 9.99988484e-01 -3.34816864e-04 2.22220524e-01] [-2.54323157e-03 3.22644072e-04 9.99996714e-01 1.69822419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.623133365 meters 0.27453318280719086 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:0.02 [[ 0.99998973 0.00280124 0.00356372 1.9467156 ] [-0.00279424 0.99999416 -0.00196678 0.21979077] [-0.00356921 0.0019568 0.99999172 0.02122826] [ 0. 0. 0. 1. ]] SLAMing on 232.68313336499997 meters 0.27399868346552475 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:0.02 [[ 0.99999039 0.00276849 0.00339837 1.94703559] [-0.00276148 0.99999405 -0.00206595 0.22018683] [-0.00340407 0.00205655 0.99999209 0.02134577] [ 0. 0. 0. 1. ]] SLAMing on 232.74313336499998 meters 0.272141309343273 Centerline is valid? [False, False] Translation: X:1.95, Y:0.22, Z:0.02 [[ 0.99998908 0.00269685 0.00381656 1.94582669] [-0.00268798 0.99999368 -0.00232563 0.22128128] [-0.00382281 0.00231534 0.99999001 0.02213536] [ 0. 0. 0. 1. ]] SLAMing on 232.80313336499998 meters 0.2717286424836686 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:0.02 [[ 0.99998669 0.00256611 0.00447667 1.94390936] [-0.00255297 0.99999242 -0.00293824 0.22372378] [-0.00448418 0.00292677 0.99998566 0.02347689] [ 0. 0. 0. 1. ]] SLAMing on 232.86313336499998 meters 0.2705591354715653 Centerline is valid? [False, False] Translation: X:1.92, Y:0.23, Z:0.02 [[ 9.99992331e-01 -2.51134630e-03 3.00517052e-03 1.92272986e+00] [ 2.51015493e-03 9.99996769e-01 4.00146773e-04 2.29177577e-01] [-3.00616571e-03 -3.92600261e-04 9.99995404e-01 2.38982367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92313336499998 meters 0.27191467934502894 Centerline is valid? [False, False] Translation: X:1.94, Y:0.23, Z:0.02 [[ 9.99971131e-01 5.74709987e-03 4.97062658e-03 1.94204115e+00] [-5.74178735e-03 9.99982930e-01 -1.08239305e-03 2.31388713e-01] [-4.97676235e-03 1.05382153e-03 9.99987061e-01 2.47248623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.983133365 meters 0.2693995199154799 Centerline is valid? [False, False] Translation: X:1.92, Y:0.24, Z:0.02 [[ 9.99984277e-01 -9.76058294e-06 5.60772373e-03 1.91892250e+00] [ 1.80832781e-06 9.99998995e-01 1.41809300e-03 2.39509084e-01] [-5.60773193e-03 -1.41806056e-03 9.99983271e-01 2.49832108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043133365 meters 0.271978376163847 Centerline is valid? [False, False] Translation: X:1.96, Y:0.24, Z:0.02 [[ 9.99976115e-01 1.44559594e-03 6.75865964e-03 1.96319097e+00] [-1.46443427e-03 9.99995055e-01 2.78317062e-03 2.42188505e-01] [-6.75460287e-03 -2.79300176e-03 9.99973287e-01 2.38555000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103133365 meters 0.2707197152882409 Centerline is valid? [False, False] Translation: X:1.96, Y:0.24, Z:0.02 [[ 9.99977172e-01 1.30582042e-03 6.62952483e-03 1.96354095e+00] [-1.32196406e-03 9.99996171e-01 2.43131518e-03 2.43697358e-01] [-6.62632458e-03 -2.44002367e-03 9.99975069e-01 2.37727866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163133365 meters 0.2700094964810531 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:0.02 [[ 9.99978749e-01 1.07070053e-03 6.43078684e-03 1.96395405e+00] [-1.08196172e-03 9.99997887e-01 1.74791350e-03 2.46534663e-01] [-6.42890176e-03 -1.75483422e-03 9.99977795e-01 2.38967744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223133365 meters 0.2711106350094697 Centerline is valid? [False, False] Translation: X:2.00, Y:0.25, Z:0.03 [[ 9.99984552e-01 1.11880932e-03 5.44468113e-03 2.00167627e+00] [-1.12572119e-03 9.99998564e-01 1.26657214e-03 2.51450511e-01] [-5.44325626e-03 -1.27268177e-03 9.99984375e-01 2.75662693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283133365 meters 0.2703850533999641 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99987503e-01 8.71698866e-04 4.92282747e-03 2.00292856e+00] [-8.73278701e-04 9.99999568e-01 3.18779800e-04 2.55211125e-01] [-4.92254746e-03 -3.23074817e-04 9.99987832e-01 2.73473117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343133365 meters 0.2710746671341092 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99987573e-01 6.72502684e-04 4.93982433e-03 2.00294677e+00] [-6.71356734e-04 9.99999747e-01 -2.33636448e-04 2.57512926e-01] [-4.93998020e-03 2.30317160e-04 9.99987772e-01 2.72308757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40313336499997 meters 0.27036192162151446 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99987172e-01 5.29439241e-04 5.03737665e-03 2.00250723e+00] [-5.26473446e-04 9.99999687e-01 -5.90065773e-04 2.59030592e-01] [-5.03768748e-03 5.87406159e-04 9.99987138e-01 2.76739585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46313336499998 meters 0.2707836805018152 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99987663e-01 4.52926325e-04 4.94653585e-03 2.00284544e+00] [-4.49090609e-04 9.99999598e-01 -7.76518031e-04 2.59840566e-01] [-4.94688556e-03 7.74287009e-04 9.99987464e-01 2.74114087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52313336499998 meters 0.2694080166210288 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99987044e-01 5.25511442e-04 5.06319881e-03 2.00247084e+00] [-5.22504018e-04 9.99999686e-01 -5.95281596e-04 2.59054142e-01] [-5.06351005e-03 5.92628342e-04 9.99987005e-01 2.76142069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58313336499998 meters 0.26924303526709453 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99986698e-01 5.59727623e-04 5.12734225e-03 2.00220463e+00] [-5.57120057e-04 9.99999715e-01 -5.09974986e-04 2.58680526e-01] [-5.12762623e-03 5.07111658e-04 9.99986725e-01 2.78655416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64313336499998 meters 0.26881909282636596 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99985900e-01 6.12148323e-04 5.27500952e-03 2.00178556e+00] [-6.10208108e-04 9.99999746e-01 -3.69414247e-04 2.58092664e-01] [-5.27523431e-03 3.66190184e-04 9.99986019e-01 2.80436615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70313336499999 meters 0.2687488671103463 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99984273e-01 7.16710731e-04 5.56241806e-03 2.00123157e+00] [-7.16346506e-04 9.99999741e-01 -6.74717456e-05 2.56855747e-01] [-5.56246498e-03 6.34860657e-05 9.99984527e-01 2.78391662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763133365 meters 0.2712862390894433 Centerline is valid? [False, False] Translation: X:2.00, Y:0.26, Z:0.03 [[ 9.99983752e-01 8.55782993e-04 5.63593697e-03 2.00120212e+00] [-8.57352709e-04 9.99999594e-01 2.76108900e-04 2.55411895e-01] [-5.63569839e-03 -2.80936400e-04 9.99984080e-01 2.75320134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823133365 meters 0.26817704673454507 Centerline is valid? [False, False] Translation: X:1.96, Y:0.25, Z:0.02 [[ 9.99977090e-01 6.75178670e-04 6.73519348e-03 1.96337894e+00] [-6.78112581e-04 9.99999676e-01 4.33334845e-04 2.50315249e-01] [-6.73489872e-03 -4.37892137e-04 9.99977224e-01 2.41185831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883133365 meters 0.2700232674760887 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:0.03 [[ 9.99985932e-01 5.69063788e-04 5.27374069e-03 2.00309328e+00] [-5.76705169e-04 9.99998786e-01 1.44754156e-03 2.43440629e-01] [-5.27291055e-03 -1.45056259e-03 9.99985046e-01 2.65937973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943133365 meters 0.2699444764255296 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:0.03 [[ 9.99985924e-01 8.09225117e-04 5.24367842e-03 2.00330729e+00] [-8.19726806e-04 9.99997662e-01 2.00089369e-03 2.41079988e-01] [-5.24204699e-03 -2.00516391e-03 9.99984250e-01 2.63185376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003133365 meters 0.26743246367637297 Centerline is valid? [False, False] Translation: X:1.98, Y:0.24, Z:0.03 [[ 9.99972604e-01 6.79759614e-03 2.92986019e-03 1.98349042e+00] [-6.79513357e-03 9.99976552e-01 -8.49645503e-04 2.36811037e-01] [-2.93556704e-03 8.29713435e-04 9.99995347e-01 2.64871891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063133365 meters 0.26844968194400687 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:0.03 [[ 9.99991248e-01 -2.21891351e-03 3.54681396e-03 2.00427738e+00] [ 2.21898401e-03 9.99997538e-01 -1.59415666e-05 2.36415125e-01] [-3.54676986e-03 2.38117505e-05 9.99993710e-01 2.64833574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.123133365 meters 0.268409535912229 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.03 [[ 9.99992045e-01 -2.03589852e-03 3.43016309e-03 2.00470721e+00] [ 2.03443738e-03 9.99997838e-01 4.29401245e-04 2.34539842e-01] [-3.43102990e-03 -4.22419377e-04 9.99994025e-01 2.61928728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18313336499997 meters 0.27049187909399214 Centerline is valid? [False, False] Translation: X:2.01, Y:0.23, Z:0.03 [[ 9.99992973e-01 -1.82786246e-03 3.27316127e-03 2.00535322e+00] [ 1.82471566e-03 9.99997870e-01 9.64121910e-04 2.32249334e-01] [-3.27491658e-03 -9.58142546e-04 9.99994178e-01 2.56327377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24313336499998 meters 0.26971946291455023 Centerline is valid? [False, False] Translation: X:2.01, Y:0.23, Z:0.03 [[ 9.99993238e-01 -1.54398209e-03 3.33771633e-03 2.00509194e+00] [ 1.53835005e-03 9.99997390e-01 1.68930348e-03 2.29216175e-01] [-3.34031587e-03 -1.68415748e-03 9.99993003e-01 2.58657931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30313336499998 meters 0.2690786273194317 Centerline is valid? [False, False] Translation: X:2.01, Y:0.23, Z:0.03 [[ 9.99993556e-01 -1.45304800e-03 3.28278256e-03 2.00517426e+00] [ 1.44679373e-03 9.99997136e-01 1.90674619e-03 2.28276386e-01] [-3.28554375e-03 -1.90198439e-03 9.99992794e-01 2.59774890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36313336499998 meters 0.269960263749408 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.03 [[ 9.99993290e-01 -1.40044124e-03 3.38508845e-03 2.00484808e+00] [ 1.39351954e-03 9.99996935e-01 2.04625912e-03 2.27709632e-01] [-3.38794374e-03 -2.04152821e-03 9.99992177e-01 2.61541611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42313336499998 meters 0.2688579477153303 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.03 [[ 9.99993198e-01 -1.26754551e-03 3.46369422e-03 2.00444589e+00] [ 1.25931605e-03 9.99996382e-01 2.37706656e-03 2.26288992e-01] [-3.46669473e-03 -2.37268851e-03 9.99991176e-01 2.66164561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.483133365 meters 0.26960186118317897 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.03 [[ 9.99993806e-01 -1.15676380e-03 3.32420270e-03 2.00484367e+00] [ 1.14794654e-03 9.99995822e-01 2.65312923e-03 2.25112079e-01] [-3.32725786e-03 -2.64929679e-03 9.99990955e-01 2.65027743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.543133365 meters 0.269750729258055 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.03 [[ 9.99993318e-01 -1.16799618e-03 3.46399292e-03 2.00442794e+00] [ 1.15891209e-03 9.99995888e-01 2.62328418e-03 2.25262583e-01] [-3.46704267e-03 -2.61925219e-03 9.99990560e-01 2.67020576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603133365 meters 0.27147590072258543 Centerline is valid? [False, False] Translation: X:2.02, Y:0.23, Z:0.03 [[ 9.99964228e-01 5.99232983e-03 5.96945888e-03 2.02495627e+00] [-5.99411858e-03 9.99981995e-01 2.81804153e-04 2.27969832e-01] [-5.96766273e-03 -3.17575717e-04 9.99982143e-01 2.62517544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.663133365 meters 0.27191899398107067 Centerline is valid? [False, False] Translation: X:2.03, Y:0.23, Z:0.02 [[ 9.99969340e-01 6.00603110e-03 5.02462870e-03 2.02766342e+00] [-6.00542293e-03 9.99981958e-01 -1.36115930e-04 2.30396300e-01] [-5.02535557e-03 1.05936736e-04 9.99987367e-01 2.45067072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.723133365 meters 0.2711498886094433 Centerline is valid? [False, False] Translation: X:2.03, Y:0.23, Z:0.02 [[ 9.99970693e-01 5.83060268e-03 4.96159572e-03 2.02774743e+00] [-5.82785040e-03 9.99982856e-01 -5.68993525e-04 2.32232782e-01] [-4.96482823e-03 5.40061412e-04 9.99987529e-01 2.46231818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.783133365 meters 0.26893945191535623 Centerline is valid? [False, False] Translation: X:2.03, Y:0.23, Z:0.03 [[ 9.99970993e-01 5.65345576e-03 5.10398083e-03 2.02721226e+00] [-5.64843388e-03 9.99983550e-01 -9.97792722e-04 2.34129692e-01] [-5.10953785e-03 9.68934281e-04 9.99986477e-01 2.50032537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.843133365 meters 0.27019876530174225 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.02 [[ 9.99973174e-01 5.27453884e-03 5.08240734e-03 2.02730862e+00] [-5.26470776e-03 9.99984248e-01 -1.94577731e-03 2.38151920e-01] [-5.09259036e-03 1.91896772e-03 9.99985191e-01 2.48464912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90313336499997 meters 0.27005657551570234 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.03 [[ 0.99997439 0.00509035 0.00503049 2.02732765] [-0.00507816 0.99998415 -0.00243222 0.24024399] [-0.00504279 0.00240662 0.99998439 0.02506689] [ 0. 0. 0. 1. ]] SLAMing on 234.96313336499998 meters 0.26986472680808166 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.03 [[ 0.99997497 0.00507277 0.00493138 2.0274462 ] [-0.0050606 0.99998413 -0.0024772 0.24042633] [-0.00494387 0.00245219 0.99998477 0.02532529] [ 0. 0. 0. 1. ]] SLAMing on 235.02313336499998 meters 0.2697161062845402 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.03 [[ 9.99974633e-01 5.28678875e-03 4.77327511e-03 2.02754009e+00] [-5.27761672e-03 9.99984207e-01 -1.93209315e-03 2.38112077e-01] [-4.78341430e-03 1.90685262e-03 9.99986741e-01 2.59293978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08313336499998 meters 0.26950373051241944 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.03 [[ 9.99973076e-01 5.50214535e-03 4.85528007e-03 2.02707927e+00] [-5.49542414e-03 9.99983925e-01 -1.39656600e-03 2.35852587e-01] [-4.86288613e-03 1.36984657e-03 9.99987238e-01 2.65414061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14313336499998 meters 0.27017285004086944 Centerline is valid? [False, False] Translation: X:2.03, Y:0.23, Z:0.03 [[ 9.99970951e-01 5.88319936e-03 4.84618499e-03 2.02696475e+00] [-5.88095988e-03 9.99982594e-01 -4.76232220e-04 2.31941747e-01] [-4.84890241e-03 4.47718166e-04 9.99988144e-01 2.68139287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20313336499999 meters 0.2719472811557557 Centerline is valid? [False, False] Translation: X:2.05, Y:0.23, Z:0.03 [[ 9.99988818e-01 -2.80804673e-03 3.80506503e-03 2.05067749e+00] [ 2.80383595e-03 9.99995452e-01 1.11150752e-03 2.27267230e-01] [-3.80816888e-03 -1.10082631e-03 9.99992143e-01 2.57653470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.263133365 meters 0.27117726526161634 Centerline is valid? [False, False] Translation: X:2.05, Y:0.22, Z:0.03 [[ 9.99990976e-01 -2.42025344e-03 3.49139021e-03 2.05147854e+00] [ 2.41348009e-03 9.99995200e-01 1.94292566e-03 2.23663718e-01] [-3.49607583e-03 -1.93448173e-03 9.99992018e-01 2.58019252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.323133365 meters 0.27155571959597175 Centerline is valid? [False, False] Translation: X:2.05, Y:0.22, Z:0.03 [[ 0.99999213 -0.00215238 0.00333382 2.05197035] [ 0.00214376 0.99999436 0.00258723 0.22095074] [-0.00333937 -0.00258006 0.9999911 0.02563185] [ 0. 0. 0. 1. ]] SLAMing on 235.383133365 meters 0.2721900267917449 Centerline is valid? [False, False] Translation: X:2.05, Y:0.22, Z:0.03 [[ 9.99993484e-01 -1.98352275e-03 3.01630259e-03 2.05299555e+00] [ 1.97449667e-03 9.99993573e-01 2.99247020e-03 2.19174376e-01] [-3.02221883e-03 -2.98649502e-03 9.99990973e-01 2.50765236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.443133365 meters 0.27370934586207674 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99974325e-01 6.28026608e-03 3.45075103e-03 2.07312646e+00] [-6.28596613e-03 9.99978893e-01 1.64347296e-03 2.17251585e-01] [-3.44035674e-03 -1.66512207e-03 9.99992696e-01 2.62583734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.503133365 meters 0.27452754652111244 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99973962e-01 6.22380148e-03 3.65247788e-03 2.07265332e+00] [-6.22928709e-03 9.99979484e-01 1.49243703e-03 2.17936041e-01] [-3.64311431e-03 -1.51515050e-03 9.99992216e-01 2.62475554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.563133365 meters 0.2751913071227838 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99973962e-01 6.22646615e-03 3.64773656e-03 2.07255920e+00] [-6.23197379e-03 9.99979455e-01 1.50046138e-03 2.17922295e-01] [-3.63831904e-03 -1.52315491e-03 9.99992221e-01 2.64768006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.623133365 meters 0.2741533457858404 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99991647e-01 1.96255808e-03 3.58535035e-03 2.07236883e+00] [-1.95294194e-03 9.99994492e-01 -2.68359870e-03 2.17399543e-01] [-3.59059732e-03 2.67657430e-03 9.99989972e-01 2.70543319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68313336499997 meters 0.2727394670257874 Centerline is valid? [False, False] Translation: X:2.07, Y:0.21, Z:0.03 [[ 9.99989051e-01 2.21631519e-03 4.12138350e-03 2.07068846e+00] [-2.20896908e-03 9.99995965e-01 -1.78613673e-03 2.13996017e-01] [-4.12532551e-03 1.77701316e-03 9.99989912e-01 2.84138599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74313336499998 meters 0.27217656488564745 Centerline is valid? [False, False] Translation: X:2.07, Y:0.21, Z:0.03 [[ 9.99989300e-01 2.19611561e-03 4.07157000e-03 2.07085569e+00] [-2.18865700e-03 9.99995920e-01 -1.83542723e-03 2.14190838e-01] [-4.07558420e-03 1.82649632e-03 9.99990027e-01 2.83029635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80313336499998 meters 0.2744154314609374 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99990584e-01 2.04562893e-03 3.82714240e-03 2.07156683e+00] [-2.03668110e-03 9.99995187e-01 -2.34043030e-03 2.16249247e-01] [-3.83191163e-03 2.33261359e-03 9.99989938e-01 2.78480643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86313336499998 meters 0.27307819790290344 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99990280e-01 1.87082289e-03 3.99246623e-03 2.07095665e+00] [-1.85902784e-03 9.99993903e-01 -2.95599595e-03 2.18748767e-01] [-3.99797203e-03 2.94854511e-03 9.99987661e-01 2.84399877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92313336499998 meters 0.27403237247041623 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99990746e-01 1.84181957e-03 3.88799029e-03 2.07127991e+00] [-1.83004164e-03 9.99993733e-01 -3.03069792e-03 2.19033387e-01] [-3.89354792e-03 3.02355469e-03 9.99987849e-01 2.82731757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.983133365 meters 0.2743983126982249 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:0.03 [[ 9.99991658e-01 1.83084499e-03 3.65140278e-03 2.07180228e+00] [-1.81972010e-03 9.99993700e-01 -3.04774224e-03 2.19125627e-01] [-3.65695971e-03 3.04107229e-03 9.99988689e-01 2.83597850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.043133365 meters 0.27095848256493166 Centerline is valid? [False, False] Translation: X:2.05, Y:0.22, Z:0.03 [[ 9.99988528e-01 -4.72151505e-03 8.06337362e-04 2.05030048e+00] [ 4.72186718e-03 9.99988757e-01 -4.35363969e-04 2.16904393e-01] [-8.04272719e-04 4.39166393e-04 9.99999580e-01 3.02958705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.103133365 meters 0.2749329443276275 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99990164e-01 -3.64604162e-03 2.52545047e-03 2.09356943e+00] [ 3.64563911e-03 9.99993341e-01 1.63964823e-04 2.19599011e-01] [-2.52603148e-03 -1.54756329e-04 9.99996798e-01 2.97799708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.163133365 meters 0.27265967759847015 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99990635e-01 -3.58514105e-03 2.42398600e-03 2.09401813e+00] [ 3.58437876e-03 9.99993525e-01 3.18747565e-04 2.18882321e-01] [-2.42511306e-03 -3.10056096e-04 9.99997011e-01 2.93260021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223133365 meters 0.2732406386158816 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99991776e-01 -3.41365218e-03 2.18968227e-03 2.09443298e+00] [ 3.41193065e-03 9.99993868e-01 7.89458642e-04 2.16946726e-01] [-2.19236378e-03 -7.81981106e-04 9.99997291e-01 2.96849889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283133365 meters 0.27302389187562465 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99991898e-01 -3.31820137e-03 2.27876305e-03 2.09404320e+00] [ 3.31585915e-03 9.99993971e-01 1.03085924e-03 2.15928931e-01] [-2.28216991e-03 -1.02329483e-03 9.99996872e-01 3.01192505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343133365 meters 0.2739925152835153 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99991596e-01 -3.32423266e-03 2.39954940e-03 2.09365894e+00] [ 3.32180410e-03 9.99993967e-01 1.01536858e-03 2.16021685e-01] [-2.40291024e-03 -1.00738921e-03 9.99996606e-01 3.03460657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40313336499997 meters 0.27299890245913455 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99991517e-01 -3.44042627e-03 2.26492136e-03 2.09420305e+00] [ 3.43897956e-03 9.99993880e-01 6.42332383e-04 2.17506243e-01] [-2.26711739e-03 -6.34537916e-04 9.99997229e-01 2.97096456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46313336499998 meters 0.2749067580681404 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99991343e-01 -3.54010541e-03 2.18650320e-03 2.09431351e+00] [ 3.53926711e-03 9.99993662e-01 3.87146809e-04 2.18565582e-01] [-2.18785988e-03 -3.79404839e-04 9.99997535e-01 2.98654340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52313336499998 meters 0.27576519949081274 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99990964e-01 -3.63095281e-03 2.21072318e-03 2.09399816e+00] [ 3.63061861e-03 9.99993397e-01 1.55164628e-04 2.19571453e-01] [-2.21127198e-03 -1.47136933e-04 9.99997544e-01 3.03957410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58313336499998 meters 0.27385853785652586 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99989857e-01 -3.83344414e-03 2.36461334e-03 2.09353503e+00] [ 3.83438761e-03 9.99992571e-01 -3.94593183e-04 2.21878641e-01] [-2.36308312e-03 4.03656024e-04 9.99997126e-01 3.05450438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64313336499998 meters 0.27295018377143604 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99989420e-01 -3.93178349e-03 2.38754490e-03 2.09341499e+00] [ 3.93333571e-03 9.99992056e-01 -6.45781462e-04 2.22921098e-01] [-2.38498686e-03 6.55165646e-04 9.99996941e-01 3.06665114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70313336499999 meters 0.2744555998462634 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99988927e-01 -4.06222243e-03 2.37562023e-03 2.09328341e+00] [ 4.06455981e-03 9.99991260e-01 -9.79904225e-04 2.24311008e-01] [-2.37161888e-03 9.89549226e-04 9.99996698e-01 3.09835385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763133365 meters 0.2746420906233461 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:0.03 [[ 9.99987990e-01 -4.31461271e-03 2.32485587e-03 2.09337474e+00] [ 4.31860053e-03 9.99989208e-01 -1.71301246e-03 2.27264328e-01] [-2.31743980e-03 1.72303201e-03 9.99995830e-01 3.09855991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823133365 meters 0.27547934711120725 Centerline is valid? [False, False] Translation: X:2.11, Y:0.23, Z:0.03 [[ 0.99998275 0.00402435 0.00427827 2.11280339] [-0.00401135 0.99998733 -0.00304181 0.22791915] [-0.00429046 0.00302459 0.99998622 0.0316674 ] [ 0. 0. 0. 1. ]] SLAMing on 236.883133365 meters 0.2735640630516866 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99996367e-01 -2.40683407e-03 1.21364000e-03 2.09124029e+00] [ 2.40714064e-03 9.99997071e-01 -2.51203643e-04 2.23542803e-01] [-1.21303184e-03 2.54124133e-04 9.99999232e-01 3.37955801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943133365 meters 0.2728968221249878 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99996734e-01 -2.36880913e-03 9.59376290e-04 2.09197827e+00] [ 2.36894723e-03 9.99997184e-01 -1.42828250e-04 2.23041773e-01] [-9.59035256e-04 1.45100495e-04 9.99999530e-01 3.34313497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003133365 meters 0.27558678888250115 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.03 [[ 9.99978507e-01 6.23868067e-03 2.01621575e-03 2.11211700e+00] [-6.23664862e-03 9.99980039e-01 -1.01257565e-03 2.21304587e-01] [-2.02249264e-03 9.99979462e-04 9.99997455e-01 3.41683772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063133365 meters 0.27152330584981443 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99999826e-01 -3.82046287e-04 4.49444775e-04 2.08899405e+00] [ 3.81316733e-04 9.99998612e-01 1.62220091e-03 2.19370276e-01] [-4.50063907e-04 -1.62202925e-03 9.99998583e-01 3.60593687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123133365 meters 0.2731142653018636 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99999857e-01 -3.95012040e-04 3.59858316e-04 2.08925223e+00] [ 3.94438072e-04 9.99998652e-01 1.59366033e-03 2.19486098e-01] [-3.60487346e-04 -1.59351816e-03 9.99998665e-01 3.59433551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18313336499997 meters 0.2744076274093669 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.04 [[ 9.99974874e-01 6.14347274e-03 3.53692106e-03 2.10925650e+00] [-6.13982345e-03 9.99980609e-01 -1.04170534e-03 2.21344131e-01] [-3.54325216e-03 1.01996309e-03 9.99993202e-01 3.54335735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24313336499998 meters 0.2748352065727091 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.04 [[ 9.99974227e-01 6.17320371e-03 3.66553944e-03 2.10865985e+00] [-6.16970916e-03 9.99980503e-01 -9.63893601e-04 2.21080564e-01] [-3.67141828e-03 9.41253447e-04 9.99992817e-01 3.61170670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30313336499998 meters 0.2746462476378223 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.04 [[ 9.99974347e-01 6.25762915e-03 3.48525755e-03 2.10921278e+00] [-6.25509001e-03 9.99980164e-01 -7.38960471e-04 2.20126568e-01] [-3.48981255e-03 7.17140915e-04 9.99993653e-01 3.58189831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36313336499998 meters 0.27481388379282407 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99995503e-01 -2.02331417e-03 2.21371383e-03 2.08984671e+00] [ 2.02192617e-03 9.99997758e-01 6.29056837e-04 2.20605767e-01] [-2.21498165e-03 -6.24578042e-04 9.99997352e-01 3.46701187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42313336499998 meters 0.2759783510968767 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.03 [[ 9.99995953e-01 -1.86806564e-03 2.14596857e-03 2.08988192e+00] [ 1.86584907e-03 9.99997724e-01 1.03443842e-03 2.18930686e-01] [-2.14789609e-03 -1.03043018e-03 9.99997162e-01 3.49940631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.483133365 meters 0.2756733963271069 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99996389e-01 -1.64712034e-03 2.12326850e-03 2.08982152e+00] [ 1.64343875e-03 9.99997145e-01 1.73450473e-03 2.16167944e-01] [-2.12611938e-03 -1.73100901e-03 9.99996242e-01 3.53399928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543133365 meters 0.2750544307778106 Centerline is valid? [False, False] Translation: X:2.09, Y:0.21, Z:0.04 [[ 9.99997075e-01 -1.45891966e-03 1.92927902e-03 2.09035870e+00] [ 1.45453754e-03 9.99996364e-01 2.27083119e-03 2.13955758e-01] [-1.93258496e-03 -2.26801834e-03 9.99995561e-01 3.51971501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603133365 meters 0.27370449039815553 Centerline is valid? [False, False] Translation: X:2.07, Y:0.21, Z:0.04 [[ 9.99991027e-01 3.95939586e-03 1.50619648e-03 2.06775042e+00] [-3.95801741e-03 9.99991747e-01 -9.17067294e-04 2.09766767e-01] [-1.50981509e-03 9.11097514e-04 9.99998445e-01 3.61831542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663133365 meters 0.2756291002120369 Centerline is valid? [False, False] Translation: X:2.09, Y:0.21, Z:0.04 [[ 9.99986499e-01 -3.89714457e-03 3.43713149e-03 2.08648788e+00] [ 3.89590640e-03 9.99992344e-01 3.66853816e-04 2.11701339e-01] [-3.43853485e-03 -3.53458120e-04 9.99994026e-01 3.70699494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723133365 meters 0.2742753774632171 Centerline is valid? [False, False] Translation: X:2.07, Y:0.21, Z:0.04 [[ 9.99988278e-01 4.03036060e-03 2.68342427e-03 2.06657244e+00] [-4.02850251e-03 9.99991642e-01 -6.97476341e-04 2.08199662e-01] [-2.68621293e-03 6.86657983e-04 9.99996156e-01 3.56844946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783133365 meters 0.27585423393801206 Centerline is valid? [False, False] Translation: X:2.07, Y:0.21, Z:0.04 [[ 9.99988824e-01 3.92923115e-03 2.62941220e-03 2.06685312e+00] [-3.92670322e-03 9.99991824e-01 -9.65879577e-04 2.09305083e-01] [-2.63318586e-03 9.55543861e-04 9.99996077e-01 3.53131092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843133365 meters 0.2767561816729084 Centerline is valid? [False, False] Translation: X:2.08, Y:0.22, Z:0.04 [[ 9.99984244e-01 -3.54445989e-03 4.35291476e-03 2.08364394e+00] [ 3.54313784e-03 9.99993675e-01 3.11389741e-04 2.16650697e-01] [-4.35399093e-03 -2.95961858e-04 9.99990478e-01 3.73580766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90313336499997 meters 0.27503666272172295 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.04 [[ 9.99982901e-01 4.79545862e-03 3.34696316e-03 2.06294511e+00] [-4.79364052e-03 9.99988359e-01 -5.51018634e-04 2.15627136e-01] [-3.34956658e-03 5.34965074e-04 9.99994247e-01 3.69301287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96313336499998 meters 0.2758420827086267 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99997498e-01 -1.71857781e-03 1.43222945e-03 2.08717892e+00] [ 1.71670488e-03 9.99997671e-01 1.30790758e-03 2.21802068e-01] [-1.43447386e-03 -1.30544559e-03 9.99998119e-01 3.59640266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02313336499998 meters 0.27460827893148215 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99997269e-01 -1.87631509e-03 1.39316380e-03 2.08704211e+00] [ 1.87501535e-03 9.99997806e-01 9.33658030e-04 2.23372166e-01] [-1.39491258e-03 -9.31043277e-04 9.99998594e-01 3.64023018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08313336499998 meters 0.274298917181262 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:0.04 [[ 9.99997167e-01 -1.92088505e-03 1.40550869e-03 2.08675261e+00] [ 1.91973283e-03 9.99997821e-01 8.20681692e-04 2.23866438e-01] [-1.40708206e-03 -8.17981166e-04 9.99998676e-01 3.69601413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14313336499998 meters 0.2756233397935788 Centerline is valid? [False, False] Translation: X:2.11, Y:0.22, Z:0.04 [[ 9.99974551e-01 5.98727910e-03 3.87953294e-03 2.10547880e+00] [-5.98454092e-03 9.99981835e-01 -7.17027763e-04 2.23722731e-01] [-3.88375551e-03 6.93792291e-04 9.99992218e-01 3.76124259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20313336499999 meters 0.2747529227406141 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:0.04 [[ 9.99995810e-01 -2.30344252e-03 1.75309632e-03 2.08744881e+00] [ 2.30317506e-03 9.99997336e-01 1.54568522e-04 2.27941907e-01] [-1.75344769e-03 -1.50530187e-04 9.99998451e-01 3.63165697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263133365 meters 0.2774088312565943 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:0.04 [[ 9.99995499e-01 -2.44327974e-03 1.74117735e-03 2.08739870e+00] [ 2.44367050e-03 9.99996990e-01 -2.22328894e-04 2.29483954e-01] [-1.74062890e-03 2.26582757e-04 9.99998459e-01 3.64567940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323133365 meters 0.2769487279071829 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99976161e-01 6.29821727e-03 2.83002661e-03 2.06466317e+00] [-6.29592149e-03 9.99979845e-01 -8.19402912e-04 2.28189495e-01] [-2.83513034e-03 8.01565753e-04 9.99995660e-01 3.65557374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383133365 meters 0.2747587534582221 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 9.99993182e-01 -1.31355747e-03 3.45104607e-03 2.08262194e+00] [ 1.31221909e-03 9.99999063e-01 3.90054459e-04 2.35790341e-01] [-3.45155520e-03 -3.85523271e-04 9.99993969e-01 3.84025376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443133365 meters 0.27409860437428224 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 9.99993148e-01 -1.46254540e-03 3.40076276e-03 2.08283994e+00] [ 1.46247913e-03 9.99998930e-01 2.19727571e-05 2.37304387e-01] [-3.40079126e-03 -1.69990619e-05 9.99994217e-01 3.81451287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503133365 meters 0.2758249146255576 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 9.99992640e-01 -1.67473608e-03 3.45170222e-03 2.08245499e+00] [ 1.67644089e-03 9.99998474e-01 -4.91071615e-04 2.39471194e-01] [-3.45087454e-03 4.96854576e-04 9.99993922e-01 3.86300565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563133365 meters 0.2749898913745526 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 9.99992545e-01 -1.61522420e-03 3.50724377e-03 2.08209657e+00] [ 1.61636942e-03 9.99998641e-01 -3.23721764e-04 2.38834585e-01] [-3.50671612e-03 3.29388352e-04 9.99993797e-01 3.91928742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623133365 meters 0.27179976156264496 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 0.99998498 0.00393829 0.0038122 2.05982848] [-0.00392475 0.99998599 -0.00355175 0.23388774] [-0.00382614 0.00353674 0.99998643 0.0394217 ] [ 0. 0. 0. 1. ]] SLAMing on 238.68313336499997 meters 0.27191469024168313 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 0.99998477 0.00410779 0.0036869 2.06010082] [-0.00409665 0.99998703 -0.00302561 0.23178618] [-0.00369928 0.00301046 0.99998863 0.03947588] [ 0. 0. 0. 1. ]] SLAMing on 238.74313336499998 meters 0.2730816168792738 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.04 [[ 0.99998442 -0.00469369 0.00302049 2.08315723] [ 0.00470033 0.99998654 -0.00219538 0.23062978] [-0.00301015 0.00220955 0.99999303 0.03890154] [ 0. 0. 0. 1. ]] SLAMing on 238.80313336499998 meters 0.2753278168061354 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.04 [[ 9.99985398e-01 -4.61077662e-03 2.81847367e-03 2.08391360e+00] [ 4.61637059e-03 9.99987381e-01 -1.98147772e-03 2.29673566e-01] [-2.80930195e-03 1.99445991e-03 9.99994065e-01 3.82611261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86313336499998 meters 0.27382421569340176 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.04 [[ 9.99985630e-01 -4.64554919e-03 2.67569789e-03 2.08439633e+00] [ 4.65111663e-03 9.99987024e-01 -2.07829163e-03 2.30054799e-01] [-2.66600836e-03 2.09070675e-03 9.99994261e-01 3.78853783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92313336499998 meters 0.27462545498080554 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.04 [[ 0.99998506 -0.00473907 0.00272363 2.08431345] [ 0.00474546 0.99998599 -0.00234638 0.23114154] [-0.00271247 0.00235926 0.99999354 0.03779311] [ 0. 0. 0. 1. ]] SLAMing on 238.983133365 meters 0.27676636606956456 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.04 [[ 0.99998409 -0.00487456 0.00283853 2.08384293] [ 0.00488233 0.99998433 -0.00273799 0.23275048] [-0.00282514 0.00275181 0.99999222 0.03823782] [ 0. 0. 0. 1. ]] SLAMing on 239.043133365 meters 0.2780861235476252 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 0.99998254 -0.00509605 0.00299177 2.08336264] [ 0.00510614 0.99998127 -0.00337356 0.23534284] [-0.00297452 0.00338877 0.99998983 0.03847914] [ 0. 0. 0. 1. ]] SLAMing on 239.103133365 meters 0.27253779735206535 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99991714e-01 1.21750809e-03 3.88445074e-03 2.05792455e+00] [-1.19416366e-03 9.99981249e-01 -6.00638135e-03 2.33927720e-01] [-3.89169072e-03 6.00169291e-03 9.99974417e-01 4.06850432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.163133365 meters 0.273960598167429 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99991782e-01 1.24605860e-03 3.85780391e-03 2.05772393e+00] [-1.22313260e-03 9.99981613e-01 -5.93942707e-03 2.33644230e-01] [-3.86513385e-03 5.93465966e-03 9.99974920e-01 4.12664396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.223133365 meters 0.2729800006339671 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99992440e-01 1.17006518e-03 3.70817712e-03 2.05826391e+00] [-1.14731483e-03 9.99980545e-01 -6.13138418e-03 2.34411484e-01] [-3.71527910e-03 6.12708338e-03 9.99974327e-01 4.08307581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.283133365 meters 0.27368384762744563 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99992383e-01 1.18149168e-03 3.71986926e-03 2.05827341e+00] [-1.15875937e-03 9.99980679e-01 -6.10728584e-03 2.34293814e-01] [-3.72701309e-03 6.10292889e-03 9.99974431e-01 4.07490951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.343133365 meters 0.2743939304030784 Centerline is valid? [False, False] Translation: X:2.08, Y:0.24, Z:0.04 [[ 0.99997464 -0.00415206 0.0057862 2.078762 ] [ 0.00416672 0.99998813 -0.00252399 0.2364184 ] [-0.00577566 0.00254803 0.99998007 0.04081615] [ 0. 0. 0. 1. ]] SLAMing on 239.40313336499997 meters 0.27317526203034065 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 0.99997808 0.00434727 0.00499452 2.05896815] [-0.00433011 0.9999847 -0.003441 0.2335997 ] [-0.00500941 0.00341929 0.99998161 0.04042319] [ 0. 0. 0. 1. ]] SLAMing on 239.46313336499998 meters 0.2741878093677724 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 0.99997741 0.00449908 0.0049929 2.0589371 ] [-0.00448418 0.99998547 -0.00299093 0.2317606 ] [-0.00500629 0.00296848 0.99998306 0.04053239] [ 0. 0. 0. 1. ]] SLAMing on 239.52313336499998 meters 0.2746543100471093 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 0.99997655 0.00468071 0.00499819 2.05884931] [-0.00466844 0.99998607 -0.00246426 0.22962577] [-0.00500965 0.00244087 0.99998447 0.04071369] [ 0. 0. 0. 1. ]] SLAMing on 239.58313336499998 meters 0.27151173028917863 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99984652e-01 -4.01749976e-03 3.81520117e-03 2.03919501e+00] [ 4.02309745e-03 9.99990841e-01 -1.46066690e-03 2.29758590e-01] [-3.80929800e-03 1.47599340e-03 9.99991655e-01 3.97803736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64313336499998 meters 0.27315567768043053 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99985547e-01 -4.08882361e-03 3.49091674e-03 2.04020142e+00] [ 4.09474642e-03 9.99990186e-01 -1.69117617e-03 2.30663642e-01] [-3.48396756e-03 1.70544615e-03 9.99992477e-01 3.90217868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70313336499999 meters 0.2732814235373754 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 0.99998571 -0.00422284 0.00327982 2.0408959 ] [ 0.00422982 0.9999888 -0.00212317 0.23237702] [-0.00327082 0.00213701 0.99999237 0.03841573] [ 0. 0. 0. 1. ]] SLAMing on 239.763133365 meters 0.27353580055326016 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 0.99998489 -0.00439736 0.00329803 2.0407319 ] [ 0.00440607 0.99998681 -0.00264036 0.23449751] [-0.00328638 0.00265486 0.99999108 0.03866378] [ 0. 0. 0. 1. ]] SLAMing on 239.823133365 meters 0.2730428726899915 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99995484e-01 -2.24470089e-04 2.99690453e-03 2.04137745e+00] [ 2.20540550e-04 9.99999116e-01 1.31146527e-03 2.35282361e-01] [-2.99719627e-03 -1.31079841e-03 9.99994649e-01 3.86478866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.883133365 meters 0.27406274827730703 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99995430e-01 -2.92252883e-04 3.00915890e-03 2.04114218e+00] [ 2.88811435e-04 9.99999304e-01 1.14402866e-03 2.36010417e-01] [-3.00949115e-03 -1.14315435e-03 9.99994818e-01 3.90704321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.943133365 meters 0.27252298687355736 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99995747e-01 -2.50522665e-04 2.90565629e-03 2.04125717e+00] [ 2.46880315e-04 9.99999183e-01 1.25382892e-03 2.35570671e-01] [-2.90596803e-03 -1.25310624e-03 9.99994993e-01 3.93610276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.003133365 meters 0.27425111360748383 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99995270e-01 -2.77831679e-04 3.06314814e-03 2.04075677e+00] [ 2.74213186e-04 9.99999264e-01 1.18165552e-03 2.35903027e-01] [-3.06347419e-03 -1.18080997e-03 9.99994610e-01 3.96432339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.063133365 meters 0.2733917917038548 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993593e-01 -3.52098560e-04 3.56233310e-03 2.03949635e+00] [ 3.48950853e-04 9.99999548e-01 8.84191145e-04 2.37222818e-01] [-3.56264281e-03 -8.82942401e-04 9.99993264e-01 3.99248014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.123133365 meters 0.2732514310072408 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993569e-01 -4.37279137e-04 3.55972134e-03 2.03954406e+00] [ 4.34915664e-04 9.99999685e-01 6.64696074e-04 2.38138609e-01] [-3.56001088e-03 -6.63143620e-04 9.99993443e-01 3.98117138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18313336499997 meters 0.273497683403056 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993669e-01 -6.50834998e-04 3.49822101e-03 2.03989600e+00] [ 6.50678345e-04 9.99999787e-01 4.59186120e-05 2.40658857e-01] [-3.49825016e-03 -4.36421046e-05 9.99993880e-01 3.92643123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24313336499998 meters 0.2727338916257205 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993541e-01 -7.32853781e-04 3.51877117e-03 2.03986841e+00] [ 7.33402412e-04 9.99999719e-01 -1.54627700e-04 2.41506619e-01] [-3.51865686e-03 1.57207376e-04 9.99993797e-01 3.91987588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30313336499998 meters 0.2719614181617421 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993138e-01 -7.29266074e-04 3.63215079e-03 2.03940504e+00] [ 7.29827148e-04 9.99999722e-01 -1.53151224e-04 2.41491577e-01] [-3.63203809e-03 1.55801015e-04 9.99993392e-01 3.96609446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36313336499998 meters 0.2720028423873722 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99992720e-01 -7.83232136e-04 3.73456676e-03 2.03896460e+00] [ 7.84339951e-04 9.99999649e-01 -2.95182997e-04 2.42111891e-01] [-3.73433425e-03 2.98110018e-04 9.99992983e-01 4.01248673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42313336499998 meters 0.27203043578204117 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993264e-01 -8.73494431e-04 3.56500975e-03 2.03948656e+00] [ 8.75391199e-04 9.99999476e-01 -5.30525496e-04 2.43086767e-01] [-3.56454447e-03 5.33642700e-04 9.99993505e-01 3.98254963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.483133365 meters 0.27259104223822694 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99994076e-01 -9.42337621e-04 3.31057617e-03 2.04029789e+00] [ 9.44757374e-04 9.99999288e-01 -7.29427995e-04 2.43937032e-01] [-3.30988644e-03 7.32551365e-04 9.99994254e-01 3.91787541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.543133365 meters 0.27311670875556 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99994253e-01 -1.01512762e-03 3.23466090e-03 2.04064146e+00] [ 1.01809494e-03 9.99999062e-01 -9.15837988e-04 2.44715000e-01] [-3.23372817e-03 9.19125917e-04 9.99994349e-01 3.87997019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.603133365 meters 0.2733148024946703 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993851e-01 -9.94228269e-04 3.36292387e-03 2.04012742e+00] [ 9.97145865e-04 9.99999128e-01 -8.66012001e-04 2.44512602e-01] [-3.36205992e-03 8.69360002e-04 9.99993970e-01 3.92942849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.663133365 meters 0.27287609372373994 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99993833e-01 -1.04071957e-03 3.35415380e-03 2.04041560e+00] [ 1.04399263e-03 9.99998980e-01 -9.74217927e-04 2.44989492e-01] [-3.35313649e-03 9.77713631e-04 9.99993900e-01 3.87336133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.723133365 meters 0.2727988299387818 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99993926e-01 -1.07925944e-03 3.31393567e-03 2.04084794e+00] [ 1.08284183e-03 9.99998831e-01 -1.07940516e-03 2.45388899e-01] [-3.31276684e-03 1.08298707e-03 9.99993926e-01 3.79666517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.783133365 meters 0.27267731242261745 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99994009e-01 -1.09452518e-03 3.28380783e-03 2.04081872e+00] [ 1.09819858e-03 9.99998773e-01 -1.11704384e-03 2.45552142e-01] [-3.28258117e-03 1.12064342e-03 9.99993984e-01 3.81749837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.843133365 meters 0.2731996234288271 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99993657e-01 -1.14288800e-03 3.37326873e-03 2.04035420e+00] [ 1.14708944e-03 9.99998569e-01 -1.24383930e-03 2.46093956e-01] [-3.37184233e-03 1.24770085e-03 9.99993537e-01 3.87287724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90313336499997 meters 0.27290634243368866 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99993624e-01 -1.11596936e-03 3.39213469e-03 2.04035741e+00] [ 1.11997313e-03 9.99998678e-01 -1.17864112e-03 2.45812395e-01] [-3.39081488e-03 1.18243271e-03 9.99993552e-01 3.86349998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96313336499998 meters 0.2737961264198385 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99993299e-01 -1.11055764e-03 3.48843877e-03 2.04018152e+00] [ 1.11462425e-03 9.99998701e-01 -1.16401294e-03 2.45759898e-01] [-3.48714154e-03 1.16789344e-03 9.99993238e-01 3.85127349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02313336499998 meters 0.27536856457570685 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99993023e-01 -1.21997757e-03 3.53066159e-03 2.04004777e+00] [ 1.22506048e-03 9.99998216e-01 -1.43784429e-03 2.46909048e-01] [-3.52890115e-03 1.44215953e-03 9.99992733e-01 3.85522926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08313336499998 meters 0.27245170191403845 Centerline is valid? [False, False] Translation: X:2.02, Y:0.25, Z:0.04 [[ 9.99987909e-01 4.71833682e-03 1.38503702e-03 2.01872715e+00] [-4.71192311e-03 9.99978328e-01 -4.59802050e-03 2.47502735e-01] [-1.40670202e-03 4.59143871e-03 9.99988470e-01 3.98003139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14313336499998 meters 0.2743729243375067 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 0.99999232 -0.00322176 0.00223385 2.03791061] [ 0.00322932 0.99998904 -0.00338944 0.25189809] [-0.0022229 0.00339663 0.99999176 0.04141597] [ 0. 0. 0. 1. ]] SLAMing on 241.20313336499999 meters 0.2706508942564812 Centerline is valid? [False, False] Translation: X:2.01, Y:0.25, Z:0.04 [[ 0.9999912 0.00299027 0.00294334 2.01367734] [-0.00297224 0.9999769 -0.00611243 0.24886181] [-0.00296155 0.00610363 0.99997699 0.04296025] [ 0. 0. 0. 1. ]] SLAMing on 241.263133365 meters 0.27385693756528573 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 0.99998292 -0.00343184 0.0047303 2.03626868] [ 0.0034477 0.99998845 -0.00334974 0.24715365] [-0.00471875 0.00336599 0.9999832 0.04147171] [ 0. 0. 0. 1. ]] SLAMing on 241.323133365 meters 0.2712648022558609 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:0.04 [[ 0.99998039 -0.00337237 0.00527763 2.00016432] [ 0.00338698 0.99999045 -0.00276208 0.24195157] [-0.00526827 0.0027799 0.99998226 0.03714449] [ 0. 0. 0. 1. ]] SLAMing on 241.383133365 meters 0.27288655735832573 Centerline is valid? [False, False] Translation: X:2.02, Y:0.24, Z:0.04 [[ 0.99997459 0.0052543 0.00481696 2.02135043] [-0.0052382 0.99998067 -0.00334983 0.23719816] [-0.00483447 0.00332452 0.99998279 0.03783832] [ 0. 0. 0. 1. ]] SLAMing on 241.443133365 meters 0.2719803146810133 Centerline is valid? [False, False] Translation: X:2.00, Y:0.24, Z:0.04 [[ 9.99988563e-01 -2.80378243e-03 3.87449181e-03 2.00151919e+00] [ 2.80991509e-03 9.99994807e-01 -1.57829492e-03 2.35864059e-01] [-3.87004649e-03 1.58916387e-03 9.99991249e-01 3.69828203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503133365 meters 0.271711493051069 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.04 [[ 9.99988771e-01 -2.49308868e-03 4.03012676e-03 2.00136323e+00] [ 2.49648938e-03 9.99996532e-01 -8.39008285e-04 2.32755058e-01] [-4.02802106e-03 8.49060032e-04 9.99991527e-01 3.66023877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.563133365 meters 0.27321553179003266 Centerline is valid? [False, False] Translation: X:2.02, Y:0.23, Z:0.04 [[ 9.99972570e-01 5.91058413e-03 4.46376212e-03 2.02174130e+00] [-5.90446005e-03 9.99981611e-01 -1.38388969e-03 2.27202109e-01] [-4.47185963e-03 1.35749562e-03 9.99989080e-01 3.73629818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.623133365 meters 0.27001028596849225 Centerline is valid? [False, False] Translation: X:2.00, Y:0.23, Z:0.04 [[ 9.99990712e-01 -2.92627307e-03 3.16416554e-03 2.00103830e+00] [ 2.92834787e-03 9.99995500e-01 -6.51282378e-04 2.26490658e-01] [-3.16224547e-03 6.60542106e-04 9.99994782e-01 3.73204835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68313336499997 meters 0.2741966125077033 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99986816e-01 -2.01263396e-03 4.72409941e-03 2.04426194e+00] [ 2.01241186e-03 9.99997974e-01 5.17691954e-05 2.26320248e-01] [-4.72419403e-03 -4.22616793e-05 9.99988840e-01 3.66111356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74313336499998 meters 0.2736422424781914 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99986850e-01 -1.92998254e-03 4.75128276e-03 2.04432388e+00] [ 1.92880656e-03 9.99998108e-01 2.52079050e-04 2.25461468e-01] [-4.75176028e-03 -2.42911430e-04 9.99988681e-01 3.63534465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80313336499998 meters 0.27467985038710574 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.04 [[ 9.99961406e-01 6.12021940e-03 6.30320307e-03 2.06382749e+00] [-6.11345959e-03 9.99980717e-01 -1.09115013e-03 2.23865249e-01] [-6.30975961e-03 1.05257364e-03 9.99979539e-01 3.72903893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86313336499998 meters 0.2749730205985959 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.04 [[ 9.99961000e-01 6.11406912e-03 6.37309624e-03 2.06382154e+00] [-6.10715125e-03 9.99980741e-01 -1.10437668e-03 2.23930797e-01] [-6.37972574e-03 1.06541214e-03 9.99979082e-01 3.69401424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92313336499998 meters 0.273784907761668 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.04 [[ 9.99961833e-01 6.09946765e-03 6.25528735e-03 2.06418108e+00] [-6.09247661e-03 9.99980795e-01 -1.13606815e-03 2.24050606e-01] [-6.26209663e-03 1.09791460e-03 9.99979790e-01 3.67736014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.983133365 meters 0.2745240030838271 Centerline is valid? [False, False] Translation: X:2.06, Y:0.22, Z:0.04 [[ 9.99961934e-01 6.03396740e-03 6.30257598e-03 2.06385190e+00] [-6.02601525e-03 9.99981024e-01 -1.27995896e-03 2.24773048e-01] [-6.31017961e-03 1.24193082e-03 9.99979319e-01 3.71902423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043133365 meters 0.27334255494623316 Centerline is valid? [False, False] Translation: X:2.06, Y:0.23, Z:0.04 [[ 9.99961700e-01 5.98880087e-03 6.38214796e-03 2.06343767e+00] [-5.98000629e-03 9.99981145e-01 -1.39619004e-03 2.25295337e-01] [-6.39038913e-03 1.35797129e-03 9.99978659e-01 3.76975224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103133365 meters 0.27233333392359726 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99988532e-01 -1.97755856e-03 4.36168978e-03 2.04476093e+00] [ 1.97860812e-03 9.99998015e-01 -2.36329254e-04 2.28141196e-01] [-4.36121376e-03 2.44956618e-04 9.99990460e-01 3.63698635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163133365 meters 0.27524482714258297 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99988929e-01 -1.96893553e-03 4.27382132e-03 2.04499841e+00] [ 1.96986846e-03 9.99998037e-01 -2.14090716e-04 2.28033335e-01] [-4.27339140e-03 2.22507212e-04 9.99990844e-01 3.63155714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223133365 meters 0.27293426022398987 Centerline is valid? [False, False] Translation: X:2.05, Y:0.23, Z:0.04 [[ 9.99989552e-01 -1.85831413e-03 4.17643527e-03 2.04524054e+00] [ 1.85802806e-03 9.99998271e-01 7.23770978e-05 2.26818840e-01] [-4.17656255e-03 -6.46164077e-05 9.99991276e-01 3.63137760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283133365 meters 0.2750774266841491 Centerline is valid? [False, False] Translation: X:2.05, Y:0.23, Z:0.04 [[ 9.99989174e-01 -1.82262015e-03 4.28145595e-03 2.04514525e+00] [ 1.82196793e-03 9.99998328e-01 1.56230667e-04 2.26450753e-01] [-4.28173354e-03 -1.48428301e-04 9.99990822e-01 3.59886554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343133365 meters 0.2728585930739882 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99987386e-01 -1.91667553e-03 4.64266731e-03 2.04427536e+00] [ 1.91730371e-03 9.99998153e-01 -1.30859320e-04 2.27699539e-01] [-4.64240792e-03 1.39759072e-04 9.99989214e-01 3.60604482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40313336499997 meters 0.27467024344731517 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:0.04 [[ 9.99987091e-01 -2.07729512e-03 4.63720506e-03 2.04444240e+00] [ 2.07992407e-03 9.99997679e-01 -5.62177053e-04 2.29466502e-01] [-4.63602649e-03 5.71814830e-04 9.99989090e-01 3.56609643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46313336499998 meters 0.27508945457691597 Centerline is valid? [False, False] Translation: X:2.05, Y:0.23, Z:0.03 [[ 9.99986768e-01 -2.46846172e-03 4.51332472e-03 2.04524538e+00] [ 2.47615877e-03 9.99995488e-01 -1.70061460e-03 2.34422663e-01] [-4.50910646e-03 1.71176781e-03 9.99988369e-01 3.45880885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52313336499998 meters 0.27420614871431603 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 0.99998555 -0.00268435 0.00465791 2.04466992] [ 0.00269485 0.99999384 -0.00224944 0.23674996] [-0.00465185 0.00226196 0.99998662 0.03506918] [ 0. 0. 0. 1. ]] SLAMing on 242.58313336499998 meters 0.2742022037337092 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 0.99998419 -0.00290635 0.00481461 2.04409116] [ 0.00291982 0.99999183 -0.00279453 0.23908019] [-0.00480645 0.00280855 0.9999845 0.03545302] [ 0. 0. 0. 1. ]] SLAMing on 242.64313336499998 meters 0.2745893335296349 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.03 [[ 9.99989208e-01 9.45083969e-04 4.54862699e-03 2.04509110e+00] [-9.46555429e-04 9.99999500e-01 3.21353555e-04 2.42888871e-01] [-4.54832101e-03 -3.25655615e-04 9.99989603e-01 3.47069064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70313336499999 meters 0.2746069844740654 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.03 [[ 9.99990218e-01 7.34058350e-04 4.36179535e-03 2.04584785e+00] [-7.33045769e-04 9.99999704e-01 -2.33741834e-04 2.45262588e-01] [-4.36196564e-03 2.30542151e-04 9.99990460e-01 3.38594921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.763133365 meters 0.27347817811105607 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.03 [[ 9.99991043e-01 5.51073764e-04 4.19656922e-03 2.04636317e+00] [-5.48264413e-04 9.99999625e-01 -6.70560993e-04 2.47178696e-01] [-4.19693718e-03 6.68254157e-04 9.99990970e-01 3.35649216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823133365 meters 0.27433617655344156 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.03 [[ 9.99990984e-01 3.75622497e-04 4.22981127e-03 2.04597972e+00] [-3.70928657e-04 9.99999315e-01 -1.11043402e-03 2.49081265e-01] [-4.23022547e-03 1.10885505e-03 9.99990438e-01 3.41988479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.883133365 meters 0.27395498263810525 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.03 [[ 9.99989877e-01 2.65606857e-04 4.49170243e-03 2.04520229e+00] [-2.59311948e-04 9.99998984e-01 -1.40197704e-03 2.50367225e-01] [-4.49207024e-03 1.40079809e-03 9.99988929e-01 3.45160408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943133365 meters 0.2728918002490167 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.03 [[ 9.99989208e-01 1.98364469e-04 4.64155260e-03 2.04473142e+00] [-1.91048705e-04 9.99998739e-01 -1.57653630e-03 2.51116924e-01] [-4.64185947e-03 1.57563253e-03 9.99987985e-01 3.47618023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003133365 meters 0.27401879447946803 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.03 [[ 9.99989746e-01 1.20006484e-04 4.52703002e-03 2.04495509e+00] [-1.11991508e-04 9.99998426e-01 -1.77068304e-03 2.51929992e-01] [-4.52723538e-03 1.77015790e-03 9.99988185e-01 3.48548641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.063133365 meters 0.27375936106906673 Centerline is valid? [False, False] Translation: X:2.05, Y:0.25, Z:0.03 [[ 9.99990070e-01 1.52709093e-04 4.45386472e-03 2.04512569e+00] [-1.45182158e-04 9.99998561e-01 -1.69025272e-03 2.51585347e-01] [-4.45411643e-03 1.68958932e-03 9.99988653e-01 3.48731943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.123133365 meters 0.2718828859637511 Centerline is valid? [False, False] Translation: X:2.02, Y:0.25, Z:0.04 [[ 9.99980797e-01 -6.02946464e-03 1.43197621e-03 2.02350756e+00] [ 6.02768891e-03 9.99981063e-01 1.24115263e-03 2.45664470e-01] [-1.43943258e-03 -1.23249729e-03 9.99998204e-01 3.66037219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18313336499997 meters 0.27241958791270077 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99991960e-01 1.97399087e-03 3.49043421e-03 2.04135040e+00] [-1.97514794e-03 9.99997996e-01 3.28084035e-04 2.40584262e-01] [-3.48977958e-03 -3.34975521e-04 9.99993855e-01 3.79286551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24313336499998 meters 0.27240546724992976 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99991545e-01 2.09925253e-03 3.53608967e-03 2.04115320e+00] [-2.10156922e-03 9.99997579e-01 6.51566338e-04 2.39248391e-01] [-3.53471331e-03 -6.58992166e-04 9.99993536e-01 3.81451421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30313336499998 meters 0.27235849330425693 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99992003e-01 2.11964398e-03 3.39123393e-03 2.04201981e+00] [-2.12206838e-03 9.99997495e-01 7.11466054e-04 2.38818463e-01] [-3.38971738e-03 -7.18656794e-04 9.99993997e-01 3.68201379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36313336499998 meters 0.27430679877408337 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99992351e-01 2.01898080e-03 3.35002066e-03 2.04229673e+00] [-2.02041576e-03 9.99997869e-01 4.25015783e-04 2.40029305e-01] [-3.34915542e-03 -4.31780967e-04 9.99994298e-01 3.63641996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42313336499998 meters 0.27210663062881973 Centerline is valid? [False, False] Translation: X:2.02, Y:0.24, Z:0.04 [[ 0.99998852 -0.00400586 0.00262945 2.01805396] [ 0.00399787 0.9999874 0.00303722 0.24152436] [-0.00264159 -0.00302667 0.99999193 0.0382691 ] [ 0. 0. 0. 1. ]] SLAMing on 243.483133365 meters 0.27372228836311935 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99976543e-01 3.88352105e-03 5.64194319e-03 2.03636088e+00] [-3.89254942e-03 9.99991160e-01 1.59012454e-03 2.44566157e-01] [-5.63571803e-03 -1.61204879e-03 9.99982820e-01 3.94859114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.543133365 meters 0.2730519538154444 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.04 [[ 9.99976787e-01 3.85186010e-03 5.62042582e-03 2.03657133e+00] [-3.86040431e-03 9.99991408e-01 1.51015195e-03 2.44879207e-01] [-5.61456064e-03 -1.53181401e-03 9.99983065e-01 3.91247095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.603133365 meters 0.27348489548587124 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99977627e-01 3.80622538e-03 5.50078875e-03 2.03690393e+00] [-3.81397183e-03 9.99991749e-01 1.39844042e-03 2.45344113e-01] [-5.49542058e-03 -1.41938898e-03 9.99983893e-01 3.90038066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.663133365 meters 0.2746977253432461 Centerline is valid? [False, False] Translation: X:2.06, Y:0.25, Z:0.04 [[ 0.99998166 -0.00380162 0.00471442 2.05587506] [ 0.00378924 0.99998936 0.00263267 0.25437388] [-0.00472437 -0.00261476 0.99998542 0.04034703] [ 0. 0. 0. 1. ]] SLAMing on 243.723133365 meters 0.2747240942443068 Centerline is valid? [False, False] Translation: X:2.06, Y:0.26, Z:0.04 [[ 9.99980038e-01 -3.98762803e-03 4.90133119e-03 2.05556324e+00] [ 3.97791290e-03 9.99990107e-01 1.99029212e-03 2.56904187e-01] [-4.90921925e-03 -1.97075532e-03 9.99986008e-01 3.99896911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783133365 meters 0.27603707940345595 Centerline is valid? [False, False] Translation: X:2.08, Y:0.27, Z:0.04 [[ 9.99956892e-01 6.29659288e-03 6.82393322e-03 2.07736056e+00] [-6.31076010e-03 9.99977972e-01 2.05656698e-03 2.66542365e-01] [-6.81083354e-03 -2.09954254e-03 9.99974602e-01 3.86097367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.843133365 meters 0.27576239337644964 Centerline is valid? [False, False] Translation: X:2.06, Y:0.27, Z:0.04 [[ 0.99997426 -0.00226782 0.00680706 2.05660611] [ 0.00225214 0.99999479 0.002311 0.27273208] [-0.00681226 -0.00229561 0.99997416 0.03759739] [ 0. 0. 0. 1. ]] SLAMing on 243.90313336499997 meters 0.27629284607541876 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:0.04 [[ 9.99973138e-01 -2.50873491e-03 6.88691071e-03 2.05650938e+00] [ 2.49661239e-03 9.99995320e-01 1.76825859e-03 2.75048445e-01] [-6.89131457e-03 -1.75101715e-03 9.99974722e-01 3.73320981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96313336499998 meters 0.2726678501314545 Centerline is valid? [False, False] Translation: X:2.01, Y:0.27, Z:0.04 [[ 9.99987063e-01 -2.93223170e-03 4.15652616e-03 2.01471678e+00] [ 2.92895396e-03 9.99995395e-01 7.94445163e-04 2.74064305e-01] [-4.15883651e-03 -7.82260611e-04 9.99991046e-01 3.70393023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02313336499998 meters 0.2762697355422536 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:0.04 [[ 9.99979500e-01 -3.47384158e-03 5.37881652e-03 2.05887090e+00] [ 3.47250554e-03 9.99993938e-01 2.57709177e-04 2.79683566e-01] [-5.37967916e-03 -2.39025924e-04 9.99985501e-01 3.60430932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08313336499998 meters 0.27657530915430006 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:0.04 [[ 9.99978986e-01 -3.46202475e-03 5.48104962e-03 2.05860960e+00] [ 3.46052490e-03 9.99993972e-01 2.83103589e-04 2.79572316e-01] [-5.48199669e-03 -2.64130331e-04 9.99984939e-01 3.60875404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14313336499998 meters 0.27605886352358233 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:0.04 [[ 9.99979469e-01 -3.36975173e-03 5.45037267e-03 2.05862181e+00] [ 3.36700416e-03 9.99994200e-01 5.13204150e-04 2.78600666e-01] [-5.45207043e-03 -4.94842186e-04 9.99985015e-01 3.62470654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20313336499999 meters 0.2757519741415209 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:0.04 [[ 9.99980799e-01 -3.25558639e-03 5.27281143e-03 2.05910813e+00] [ 3.25138438e-03 9.99994390e-01 8.05295835e-04 2.77357852e-01] [-5.27540356e-03 -7.88136436e-04 9.99985774e-01 3.61397987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.263133365 meters 0.2738930302095931 Centerline is valid? [False, False] Translation: X:2.04, Y:0.27, Z:0.04 [[ 9.99975387e-01 4.96009214e-03 4.96220523e-03 2.03953935e+00] [-4.95947951e-03 9.99987692e-01 -1.35755721e-04 2.71563499e-01] [-4.96281752e-03 1.11142424e-04 9.99987679e-01 3.50482765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.323133365 meters 0.27576716559917636 Centerline is valid? [False, False] Translation: X:2.06, Y:0.27, Z:0.03 [[ 9.99987522e-01 -1.68007558e-03 4.70464987e-03 2.06342853e+00] [ 1.66856044e-03 9.99995606e-01 2.45046445e-03 2.74281406e-01] [-4.70874616e-03 -2.44258388e-03 9.99985931e-01 3.33201749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.383133365 meters 0.2784515195826716 Centerline is valid? [False, False] Translation: X:2.06, Y:0.27, Z:0.03 [[ 9.99987801e-01 -1.63798313e-03 4.65999693e-03 2.06359784e+00] [ 1.62607326e-03 9.99995405e-01 2.55841059e-03 2.73822995e-01] [-4.66416615e-03 -2.55080188e-03 9.99985869e-01 3.31946114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.443133365 meters 0.2739756869890486 Centerline is valid? [False, False] Translation: X:2.04, Y:0.27, Z:0.03 [[ 9.99973491e-01 4.14811507e-03 5.98414173e-03 2.04018721e+00] [-4.14512471e-03 9.99991278e-01 -5.12030790e-04 2.67628632e-01] [-5.98621350e-03 4.87212203e-04 9.99981964e-01 3.48184804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.503133365 meters 0.2754447527331521 Centerline is valid? [False, False] Translation: X:2.04, Y:0.27, Z:0.04 [[ 9.99971095e-01 4.33555858e-03 6.24593057e-03 2.03953446e+00] [-4.33616045e-03 9.99990595e-01 8.28233964e-05 2.65229136e-01] [-6.24551274e-03 -1.09904360e-04 9.99980491e-01 3.50740220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.563133365 meters 0.2747131164054322 Centerline is valid? [False, False] Translation: X:2.06, Y:0.26, Z:0.03 [[ 9.99965118e-01 -4.78976134e-03 6.84258380e-03 2.06106290e+00] [ 4.78478337e-03 9.99988276e-01 7.43683407e-04 2.64240019e-01] [-6.84606564e-03 -7.10917185e-04 9.99976313e-01 3.49107086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623133365 meters 0.27430739793890846 Centerline is valid? [False, False] Translation: X:2.04, Y:0.26, Z:0.03 [[ 9.99985328e-01 2.88400433e-03 4.58533598e-03 2.04407846e+00] [-2.88257950e-03 9.99995795e-01 -3.17314149e-04 2.56093902e-01] [-4.58623183e-03 3.04091898e-04 9.99989437e-01 3.31749270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68313336499997 meters 0.2738598309641782 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.03 [[ 9.99985473e-01 3.00763443e-03 4.47303905e-03 2.04444717e+00] [-3.00766419e-03 9.99995477e-01 -7.31035139e-08 2.54757547e-01] [-4.47301904e-03 -1.33802969e-05 9.99989996e-01 3.29781050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74313336499998 meters 0.27485271326492183 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.03 [[ 9.99985389e-01 3.00547987e-03 4.49319973e-03 2.04446691e+00] [-3.00549323e-03 9.99995483e-01 -3.77927265e-06 2.54774083e-01] [-4.49319079e-03 -9.72506392e-06 9.99989906e-01 3.28260177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80313336499998 meters 0.2761255815456699 Centerline is valid? [False, False] Translation: X:2.05, Y:0.26, Z:0.03 [[ 9.99986553e-01 2.90947747e-03 4.29297627e-03 2.04541658e+00] [-2.90803518e-03 9.99995713e-01 -3.42169026e-04 2.56314964e-01] [-4.29395340e-03 3.29680298e-04 9.99990727e-01 3.16996531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86313336499998 meters 0.2755641733546312 Centerline is valid? [False, False] Translation: X:2.03, Y:0.26, Z:0.03 [[ 9.99980865e-01 -5.63079253e-03 2.56209711e-03 2.02601973e+00] [ 5.63118728e-03 9.99984134e-01 -1.46885843e-04 2.61528062e-01] [-2.56122938e-03 1.61310681e-04 9.99996707e-01 3.09717664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92313336499998 meters 0.27459390577359016 Centerline is valid? [False, False] Translation: X:2.03, Y:0.26, Z:0.03 [[ 9.99978652e-01 -5.89389936e-03 2.82089994e-03 2.02540165e+00] [ 5.89662311e-03 9.99982156e-01 -9.58220602e-04 2.64790426e-01] [-2.81520195e-03 9.74833930e-04 9.99995562e-01 3.09038716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.983133365 meters 0.2740924183415588 Centerline is valid? [False, False] Translation: X:2.02, Y:0.27, Z:0.03 [[ 9.99977141e-01 -6.05354046e-03 3.01214825e-03 2.02494142e+00] [ 6.05775506e-03 9.99980683e-01 -1.39205011e-03 2.66592179e-01] [-3.00366323e-03 1.41026514e-03 9.99994495e-01 3.08470054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.043133365 meters 0.2783833018991934 Centerline is valid? [False, False] Translation: X:2.05, Y:0.28, Z:0.03 [[ 0.999985 0.00289441 0.00465047 2.04639549] [-0.00288215 0.99999236 -0.00264091 0.27508717] [-0.00465808 0.00262747 0.9999857 0.03034597] [ 0. 0. 0. 1. ]] SLAMing on 245.103133365 meters 0.2745863975592681 Centerline is valid? [False, False] Translation: X:2.03, Y:0.28, Z:0.03 [[ 9.99982157e-01 -4.89550646e-03 3.42349714e-03 2.02759969e+00] [ 4.90165699e-03 9.99986384e-01 -1.79048595e-03 2.81950452e-01] [-3.41468519e-03 1.80723481e-03 9.99992537e-01 2.85920423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.163133365 meters 0.27658614929271713 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:0.03 [[ 9.99993266e-01 -1.06304793e-03 3.51251934e-03 2.02715155e+00] [ 1.05846960e-03 9.99998588e-01 1.30503387e-03 2.87050600e-01] [-3.51390170e-03 -1.30130719e-03 9.99992980e-01 2.89443286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.223133365 meters 0.2769803092031877 Centerline is valid? [False, False] Translation: X:2.03, Y:0.29, Z:0.03 [[ 9.99993321e-01 -1.47040576e-03 3.34611866e-03 2.02762708e+00] [ 1.46967273e-03 9.99998895e-01 2.21517386e-04 2.91552673e-01] [-3.34644068e-03 -2.16598207e-04 9.99994377e-01 2.86323079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.283133365 meters 0.2766225440458855 Centerline is valid? [False, False] Translation: X:2.03, Y:0.30, Z:0.03 [[ 9.99992108e-01 -1.85245005e-03 3.51453342e-03 2.02705872e+00] [ 1.85532686e-03 9.99997946e-01 -8.15464235e-04 2.95906155e-01] [-3.51301560e-03 8.21978408e-04 9.99993492e-01 2.88078864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.343133365 meters 0.2770471408694672 Centerline is valid? [False, False] Translation: X:2.06, Y:0.31, Z:0.03 [[ 9.99992853e-01 -1.32957198e-03 3.53914600e-03 2.06115051e+00] [ 1.33456551e-03 9.99998117e-01 -1.40895599e-03 3.09864973e-01] [-3.53726602e-03 1.41366914e-03 9.99992745e-01 3.40383617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40313336499997 meters 0.2758547556525531 Centerline is valid? [False, False] Translation: X:2.02, Y:0.31, Z:0.03 [[ 9.99986101e-01 1.52064081e-04 5.27023133e-03 2.02179428e+00] [-1.48821986e-04 9.99999799e-01 -6.15557959e-04 3.10996679e-01] [-5.27032388e-03 6.14765076e-04 9.99985923e-01 3.14722472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46313336499998 meters 0.2764544852259556 Centerline is valid? [False, False] Translation: X:2.07, Y:0.32, Z:0.03 [[ 9.99972811e-01 -7.76854494e-04 7.33308018e-03 2.06561195e+00] [ 7.84443996e-04 9.99999160e-01 -1.03214839e-03 3.17015685e-01] [-7.33227219e-03 1.03787271e-03 9.99972580e-01 3.01744642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52313336499998 meters 0.2750039147667207 Centerline is valid? [False, False] Translation: X:2.05, Y:0.32, Z:0.03 [[ 9.99948960e-01 -9.02253443e-03 4.54660112e-03 2.04719507e+00] [ 9.02298784e-03 9.99959289e-01 -7.92219189e-05 3.15276796e-01] [-4.54570124e-03 1.20241802e-04 9.99989661e-01 2.87779930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58313336499998 meters 0.2742978071146592 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:0.03 [[ 9.99996172e-01 -2.59810158e-04 2.75457872e-03 2.06948388e+00] [ 2.60501819e-04 9.99999935e-01 -2.50739211e-04 3.10234755e-01] [-2.75451339e-03 2.51455824e-04 9.99996175e-01 2.92822812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64313336499998 meters 0.2757059722828728 Centerline is valid? [False, False] Translation: X:2.07, Y:0.31, Z:0.03 [[ 9.99996804e-01 3.72030369e-05 2.52794522e-03 2.07023551e+00] [-3.85631402e-05 9.99999855e-01 5.37980593e-04 3.06969553e-01] [-2.52792484e-03 -5.38076359e-04 9.99996660e-01 2.89171529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70313336499999 meters 0.2749877226777019 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:0.03 [[ 0.99997998 0.00544407 0.00322593 2.04737354] [-0.0054356 0.99998177 -0.00262895 0.2981056 ] [-0.00324018 0.00261136 0.99999134 0.02903724] [ 0. 0. 0. 1. ]] SLAMing on 245.763133365 meters 0.27461513225472134 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99984319e-01 -2.95316451e-03 4.75826578e-03 2.06617875e+00] [ 2.95797405e-03 9.99995121e-01 -1.00405554e-03 2.98366363e-01] [-4.75527743e-03 1.01811462e-03 9.99988175e-01 2.99265874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.823133365 meters 0.2759007081512404 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99986383e-01 -2.77248303e-03 4.42126291e-03 2.06754958e+00] [ 2.77522758e-03 9.99995960e-01 -6.14748805e-04 2.96596040e-01] [-4.41954067e-03 6.27010445e-04 9.99990037e-01 2.88634619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.883133365 meters 0.27458635851769775 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99978112e-01 5.41106467e-03 3.80734136e-03 2.04854025e+00] [-5.40504091e-03 9.99984128e-01 -1.59065820e-03 2.89840836e-01] [-3.81588808e-03 1.57004454e-03 9.99991487e-01 2.69535541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.943133365 meters 0.27668502892232383 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99976933e-01 5.53280385e-03 3.93982602e-03 2.04812685e+00] [-5.52775566e-03 9.99983888e-01 -1.29106242e-03 2.88589556e-01] [-3.94690574e-03 1.26925424e-03 9.99991405e-01 2.72040584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.003133365 meters 0.27566220334469677 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99976100e-01 5.60563957e-03 4.04678403e-03 2.04770631e+00] [-5.60119972e-03 9.99983700e-01 -1.10763144e-03 2.87836550e-01] [-4.05292705e-03 1.08493812e-03 9.99991198e-01 2.75890358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.063133365 meters 0.2753228260110175 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99975740e-01 5.56148031e-03 4.19386141e-03 2.04752201e+00] [-5.55640351e-03 9.99983817e-01 -1.22121286e-03 2.88317436e-01] [-4.20058530e-03 1.19788044e-03 9.99990460e-01 2.72092443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123133365 meters 0.275176940341241 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99976132e-01 5.43014094e-03 4.27199081e-03 2.04741814e+00] [-5.42352341e-03 9.99984077e-01 -1.55911420e-03 2.89740683e-01] [-4.28038899e-03 1.53590775e-03 9.99989660e-01 2.69728976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18313336499997 meters 0.2780138711938644 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99994123e-01 -5.43878638e-04 3.38495212e-03 2.07084540e+00] [ 5.39238975e-04 9.99998914e-01 1.37143483e-03 2.95748981e-01] [-3.38569434e-03 -1.36960147e-03 9.99993331e-01 2.61617107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24313336499998 meters 0.27751860913769993 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:0.03 [[ 9.99982123e-01 5.87479382e-03 1.11378993e-03 2.04973788e+00] [-5.87293402e-03 9.99981367e-01 -1.66577696e-03 2.97026691e-01] [-1.12355528e-03 1.65920597e-03 9.99997992e-01 2.75887709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30313336499998 meters 0.27501575771705317 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:0.03 [[ 9.99982338e-01 5.83866687e-03 1.11072852e-03 2.04960870e+00] [-5.83670210e-03 9.99981410e-01 -1.76399053e-03 2.97435427e-01] [-1.12100723e-03 1.75747639e-03 9.99997827e-01 2.78746067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36313336499998 meters 0.2730681417736025 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:0.03 [[ 9.99982130e-01 5.86925308e-03 1.13667778e-03 2.04961565e+00] [-5.86732904e-03 9.99981361e-01 -1.68868633e-03 2.97130575e-01] [-1.14656792e-03 1.68198689e-03 9.99997928e-01 2.77346724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42313336499998 meters 0.27716151338811945 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99993046e-01 -3.36603971e-03 1.60558226e-03 2.07099501e+00] [ 3.36833249e-03 9.99993308e-01 -1.42744497e-03 2.99338208e-01] [-1.60076668e-03 1.43284317e-03 9.99997692e-01 2.81718754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.483133365 meters 0.2749917994154037 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99993555e-01 -3.30963584e-03 1.39133952e-03 2.07151628e+00] [ 3.31143442e-03 9.99993682e-01 -1.29238597e-03 2.98740071e-01] [-1.38705340e-03 1.29698497e-03 9.99998197e-01 2.81784875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.543133365 meters 0.27435611566343543 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99993754e-01 -3.25797572e-03 1.37041500e-03 2.07151232e+00] [ 3.25958597e-03 9.99993998e-01 -1.17441713e-03 2.98208715e-01] [-1.36658055e-03 1.17887678e-03 9.99998371e-01 2.83098408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.603133365 meters 0.2742882361388852 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99994117e-01 -3.19009985e-03 1.26103570e-03 2.07187389e+00] [ 3.19138608e-03 9.99994388e-01 -1.01928201e-03 2.97499459e-01] [-1.25777701e-03 1.02330046e-03 9.99998685e-01 2.81365908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.663133365 meters 0.2728682471798584 Centerline is valid? [False, False] Translation: X:2.05, Y:0.29, Z:0.03 [[ 9.99986789e-01 5.14019594e-03 2.32730332e-05 2.05272261e+00] [-5.14014046e-03 9.99984869e-01 -1.95973349e-03 2.92892241e-01] [-3.33460952e-05 1.95958797e-03 9.99998079e-01 2.69163320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.723133365 meters 0.2744203780640264 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99992462e-01 -3.66196913e-03 1.29106170e-03 2.07225459e+00] [ 3.66378431e-03 9.99992299e-01 -1.40641271e-03 2.97432496e-01] [-1.28590151e-03 1.41113228e-03 9.99998178e-01 2.71699894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.783133365 meters 0.27500895069917025 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99992185e-01 -3.70576951e-03 1.37750725e-03 2.07208142e+00] [ 3.70786342e-03 9.99991970e-01 -1.52064176e-03 2.97913288e-01] [-1.37186104e-03 1.52573748e-03 9.99997895e-01 2.70817258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.843133365 meters 0.27592065303605073 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99992055e-01 -3.79972168e-03 1.20470556e-03 2.07275752e+00] [ 3.80187888e-03 9.99991165e-01 -1.79343464e-03 2.98970212e-01] [-1.19788037e-03 1.79800054e-03 9.99997666e-01 2.63930264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90313336499997 meters 0.2765514403935959 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99991972e-01 -3.80201883e-03 1.26530709e-03 2.07266927e+00] [ 3.80429717e-03 9.99991138e-01 -1.80310992e-03 2.98996391e-01] [-1.25844042e-03 1.80790905e-03 9.99997574e-01 2.62589818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96313336499998 meters 0.273675599305029 Centerline is valid? [False, False] Translation: X:2.05, Y:0.30, Z:0.03 [[ 9.99985731e-01 5.22111347e-03 1.13067581e-03 2.05148601e+00] [-5.21871370e-03 9.99984146e-01 -2.11507017e-03 2.95060866e-01] [-1.14170091e-03 2.10913932e-03 9.99997124e-01 2.60300645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02313336499998 meters 0.2783139254987962 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99993008e-01 -3.64928604e-03 8.16723519e-04 2.07275373e+00] [ 3.65052141e-03 9.99992187e-01 -1.51625075e-03 2.98422871e-01] [-8.11183906e-04 1.51922161e-03 9.99998517e-01 2.67470978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08313336499998 meters 0.27815775677270427 Centerline is valid? [False, False] Translation: X:2.07, Y:0.30, Z:0.03 [[ 9.99992953e-01 -3.66975104e-03 7.91322842e-04 2.07268513e+00] [ 3.67098635e-03 9.99992037e-01 -1.56530662e-03 2.98635406e-01] [-7.85572255e-04 1.56820053e-03 9.99998462e-01 2.70061758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14313336499998 meters 0.27885846921548185 Centerline is valid? [False, False] Translation: X:2.09, Y:0.30, Z:0.03 [[ 0.99998772 0.0044172 0.00224765 2.09217832] [-0.00441104 0.99998653 -0.0027362 0.29798145] [-0.00225971 0.00272625 0.99999373 0.02816565] [ 0. 0. 0. 1. ]] SLAMing on 247.20313336499999 meters 0.2784303305793713 Centerline is valid? [False, False] Translation: X:2.09, Y:0.30, Z:0.03 [[ 9.99988149e-01 4.40913312e-03 2.06416932e-03 2.09281922e+00] [-4.40344130e-03 9.99986513e-01 -2.75390987e-03 2.98008508e-01] [-2.07628384e-03 2.74478779e-03 9.99994078e-01 2.77311141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.263133365 meters 0.2770354072732801 Centerline is valid? [False, False] Translation: X:2.09, Y:0.30, Z:0.03 [[ 9.99988504e-01 4.40331016e-03 1.89801664e-03 2.09320724e+00] [-4.39804668e-03 9.99986496e-01 -2.76845485e-03 2.98041947e-01] [-1.91018137e-03 2.76007546e-03 9.99994367e-01 2.77608670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.323133365 meters 0.27842573692159356 Centerline is valid? [False, False] Translation: X:2.11, Y:0.31, Z:0.03 [[ 9.99992678e-01 -3.59679691e-03 1.30638560e-03 2.11158503e+00] [ 3.59892975e-03 9.99992189e-01 -1.63396214e-03 3.06283445e-01] [-1.30049837e-03 1.63865177e-03 9.99997812e-01 2.93265444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.383133365 meters 0.27723283089786266 Centerline is valid? [False, False] Translation: X:2.11, Y:0.31, Z:0.03 [[ 9.99991080e-01 -3.78607720e-03 1.87207935e-03 2.10999697e+00] [ 3.79039028e-03 9.99990158e-01 -2.30574369e-03 3.09112627e-01] [-1.86333120e-03 2.31281903e-03 9.99995589e-01 2.99645385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.443133365 meters 0.27569289646037565 Centerline is valid? [False, False] Translation: X:2.11, Y:0.31, Z:0.03 [[ 9.99992594e-01 -2.50392749e-03 2.92255004e-03 2.10539297e+00] [ 2.50803452e-03 9.99995871e-01 -1.40247036e-03 3.11372435e-01] [-2.91902629e-03 1.40978983e-03 9.99994746e-01 3.29726531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.503133365 meters 0.27715506282853986 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:0.03 [[ 0.99999187 -0.00299167 0.00270449 2.1060631 ] [ 0.0030005 0.99999017 -0.00326491 0.31883026] [-0.0026947 0.003273 0.99999101 0.03241806] [ 0. 0. 0. 1. ]] SLAMing on 247.563133365 meters 0.27587548284470836 Centerline is valid? [False, False] Translation: X:2.11, Y:0.32, Z:0.03 [[ 0.99999051 -0.00335848 0.00277485 2.10581936] [ 0.00337031 0.9999852 -0.00427023 0.32293054] [-0.00276046 0.00427954 0.99998703 0.03245755] [ 0. 0. 0. 1. ]] SLAMing on 247.623133365 meters 0.2773528732638255 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:0.03 [[ 9.99996294e-01 6.43686458e-04 2.64540388e-03 2.10575710e+00] [-6.41650287e-04 9.99999497e-01 -7.70478072e-04 3.26312323e-01] [-2.64589850e-03 7.68777792e-04 9.99996204e-01 3.30005850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68313336499997 meters 0.2775400470363115 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:0.03 [[ 9.99996871e-01 1.65110932e-04 2.49594280e-03 2.10572105e+00] [-1.60466605e-04 9.99998256e-01 -1.86083639e-03 3.30894988e-01] [-2.49624569e-03 1.86043006e-03 9.99995154e-01 3.35893184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74313336499998 meters 0.27685050348573514 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:0.03 [[ 9.99996580e-01 -3.51493798e-05 2.61495722e-03 2.10517512e+00] [ 4.12194600e-05 9.99997305e-01 -2.32127468e-03 3.32859308e-01] [-2.61486858e-03 2.32137453e-03 9.99993887e-01 3.39970057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80313336499998 meters 0.278037312219715 Centerline is valid? [False, False] Translation: X:2.11, Y:0.33, Z:0.03 [[ 9.99996617e-01 -2.16608962e-04 2.59194087e-03 2.10507097e+00] [ 2.23780505e-04 9.99996147e-01 -2.76689182e-03 3.34713425e-01] [-2.59133155e-03 2.76746249e-03 9.99992813e-01 3.42790440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86313336499998 meters 0.27613683553469154 Centerline is valid? [False, False] Translation: X:2.11, Y:0.34, Z:0.03 [[ 9.99997125e-01 -4.78142340e-04 2.34967147e-03 2.10553715e+00] [ 4.86099320e-04 9.99994146e-01 -3.38701885e-03 3.37311189e-01] [-2.34803824e-03 3.38815129e-03 9.99991504e-01 3.43687049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92313336499998 meters 0.2762814816186527 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:0.03 [[ 9.99971105e-01 -6.74139547e-03 3.51309865e-03 2.12649692e+00] [ 6.74194862e-03 9.99977262e-01 -1.45633864e-04 3.40714657e-01] [-3.51203699e-03 1.69314787e-04 9.99993818e-01 3.42486736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.983133365 meters 0.27568977937763406 Centerline is valid? [False, False] Translation: X:2.13, Y:0.34, Z:0.04 [[ 9.99969152e-01 -6.85123405e-03 3.84138250e-03 2.12531449e+00] [ 6.85297755e-03 9.99976421e-01 -4.40893335e-04 3.41826710e-01] [-3.83827126e-03 4.67204642e-04 9.99992525e-01 3.52594299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.043133365 meters 0.2750362816862642 Centerline is valid? [False, False] Translation: X:2.15, Y:0.34, Z:0.04 [[ 9.99988948e-01 1.59247188e-03 4.42346486e-03 2.14557339e+00] [-1.58698504e-03 9.99997967e-01 -1.24362674e-03 3.40967103e-01] [-4.42543631e-03 1.23659302e-03 9.99989443e-01 3.61598456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.103133365 meters 0.2761005816652746 Centerline is valid? [False, False] Translation: X:2.15, Y:0.34, Z:0.04 [[ 9.99990227e-01 1.61516826e-03 4.11539050e-03 2.14632478e+00] [-1.61034434e-03 9.99998013e-01 -1.17520992e-03 3.40669761e-01] [-4.11728048e-03 1.16857124e-03 9.99990841e-01 3.60875522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.163133365 meters 0.2730424336305121 Centerline is valid? [False, False] Translation: X:2.15, Y:0.34, Z:0.04 [[ 0.99998893 -0.00249202 0.00399035 2.14668374] [ 0.00251185 0.99998449 -0.00497035 0.3383692 ] [-0.0039779 0.00498032 0.99997969 0.03600055] [ 0. 0. 0. 1. ]] SLAMing on 248.223133365 meters 0.2732318685789896 Centerline is valid? [False, False] Translation: X:2.15, Y:0.34, Z:0.04 [[ 0.99998941 -0.00234926 0.00395751 2.14670152] [ 0.00236738 0.99998671 -0.00457995 0.33672474] [-0.0039467 0.00458927 0.99998168 0.03616361] [ 0. 0. 0. 1. ]] SLAMing on 248.283133365 meters 0.27491934979645366 Centerline is valid? [False, False] Translation: X:2.15, Y:0.33, Z:0.04 [[ 9.99990628e-01 -2.11053307e-03 3.78013866e-03 2.14731695e+00] [ 2.12548159e-03 9.99989921e-01 -3.95484966e-03 3.34032705e-01] [-3.77175372e-03 3.96284721e-03 9.99985035e-01 3.58085221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.343133365 meters 0.27387149523483145 Centerline is valid? [False, False] Translation: X:2.15, Y:0.33, Z:0.04 [[ 9.99991651e-01 -1.79150739e-03 3.67277898e-03 2.14768656e+00] [ 1.80272027e-03 9.99993718e-01 -3.05193506e-03 3.30128651e-01] [-3.66728834e-03 3.05853057e-03 9.99988598e-01 3.56381003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40313336499997 meters 0.27084456993543776 Centerline is valid? [False, False] Translation: X:2.13, Y:0.32, Z:0.04 [[ 9.99934678e-01 -1.13183673e-02 1.59184151e-03 2.12576321e+00] [ 1.13225039e-02 9.99932481e-01 -2.61410669e-03 3.18965975e-01] [-1.56214661e-03 2.63195957e-03 9.99995316e-01 3.69783949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46313336499998 meters 0.2730175179838946 Centerline is valid? [False, False] Translation: X:2.17, Y:0.31, Z:0.04 [[ 0.99999214 0.00226097 0.00325606 2.16981317] [-0.00224638 0.99998745 -0.00447847 0.31247527] [-0.00326615 0.00447112 0.99998467 0.03582799] [ 0. 0. 0. 1. ]] SLAMing on 248.52313336499998 meters 0.27259798407959884 Centerline is valid? [False, False] Translation: X:2.17, Y:0.31, Z:0.04 [[ 0.99999104 0.0026885 0.0032706 2.16998443] [-0.00267825 0.9999915 -0.00313552 0.30691894] [-0.00327901 0.00312673 0.99998974 0.03539185] [ 0. 0. 0. 1. ]] SLAMing on 248.58313336499998 meters 0.2708948616414682 Centerline is valid? [False, False] Translation: X:2.15, Y:0.30, Z:0.04 [[ 9.99979400e-01 -6.11204214e-03 1.96028020e-03 2.14779301e+00] [ 6.11675160e-03 9.99978399e-01 -2.40551276e-03 3.01592809e-01] [-1.94553526e-03 2.41745375e-03 9.99995185e-01 3.61700546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64313336499998 meters 0.27364919487933675 Centerline is valid? [False, False] Translation: X:2.19, Y:0.29, Z:0.04 [[ 0.99995681 -0.00778949 0.00506968 2.18825626] [ 0.00780265 0.99996623 -0.00258123 0.2943083 ] [-0.0050494 0.00262068 0.99998382 0.03710995] [ 0. 0. 0. 1. ]] SLAMing on 248.70313336499999 meters 0.2728649046464765 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.04 [[ 9.99976024e-01 2.55135451e-04 6.92005756e-03 2.16779875e+00] [-2.35659272e-04 9.99996010e-01 -2.81512271e-03 2.81534606e-01] [-6.92074819e-03 2.81342444e-03 9.99972094e-01 3.55331167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763133365 meters 0.2716395187800622 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.04 [[ 9.99977192e-01 5.78224967e-04 6.72916255e-03 2.16840256e+00] [-5.64646952e-04 9.99997801e-01 -2.01951175e-03 2.78117438e-01] [-6.73031549e-03 2.01566609e-03 9.99975320e-01 3.52916675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823133365 meters 0.27124558154497685 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.04 [[ 9.99977849e-01 6.61734384e-04 6.62289442e-03 2.16875511e+00] [-6.49799010e-04 9.99998161e-01 -1.80412832e-03 2.77210455e-01] [-6.62407609e-03 1.79978481e-03 9.99976441e-01 3.50837940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883133365 meters 0.2723702320317132 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.03 [[ 9.99978240e-01 7.39945495e-04 6.55536404e-03 2.16898427e+00] [-7.29520285e-04 9.99998466e-01 -1.59258128e-03 2.76306893e-01] [-6.55653240e-03 1.58776435e-03 9.99977245e-01 3.49140717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943133365 meters 0.2726673876731165 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.03 [[ 9.99978721e-01 7.35794826e-04 6.48205456e-03 2.16931856e+00] [-7.25377241e-04 9.99998442e-01 -1.60934678e-03 2.76297154e-01] [-6.48322861e-03 1.60461060e-03 9.99977696e-01 3.45475990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003133365 meters 0.2720541970411525 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:0.04 [[ 9.99985772e-01 -3.86530087e-03 3.67633955e-03 2.14699657e+00] [ 3.85768081e-03 9.99990401e-01 2.07756654e-03 2.73659321e-01] [-3.68433468e-03 -2.06335483e-03 9.99991084e-01 3.59035176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.063133365 meters 0.27338236089779655 Centerline is valid? [False, False] Translation: X:2.17, Y:0.27, Z:0.04 [[ 9.99975577e-01 4.15532930e-03 5.61954861e-03 2.16711355e+00] [-4.16038510e-03 9.99990951e-01 8.88290836e-04 2.74915236e-01] [-5.61580662e-03 -9.11648628e-04 9.99983816e-01 3.65084029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.123133365 meters 0.27356333214698847 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.04 [[ 9.99976117e-01 3.97682947e-03 5.65244969e-03 2.16705600e+00] [-3.97910362e-03 9.99992007e-01 3.91140409e-04 2.77000895e-01] [-5.65084901e-03 -4.13622751e-04 9.99983948e-01 3.64390731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18313336499997 meters 0.2719743984182683 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:0.04 [[ 9.99990438e-01 -1.87570791e-03 3.95027217e-03 2.14489526e+00] [ 1.86283791e-03 9.99992954e-01 3.25916551e-03 2.77567775e-01] [-3.95635758e-03 -3.25177563e-03 9.99986887e-01 3.72483424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24313336499998 meters 0.2735600809533705 Centerline is valid? [False, False] Translation: X:2.17, Y:0.28, Z:0.04 [[ 9.99979431e-01 3.49494380e-03 5.37803480e-03 2.16705124e+00] [-3.49380199e-03 9.99993872e-01 -2.21688470e-04 2.77947967e-01] [-5.37877663e-03 2.02894122e-04 9.99985514e-01 3.68609096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30313336499998 meters 0.27339409806722875 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:0.04 [[ 9.99963799e-01 -5.11239035e-03 6.80176190e-03 2.18636875e+00] [ 5.10546897e-03 9.99986432e-01 1.03456058e-03 2.78667737e-01] [-6.80695870e-03 -9.99796943e-04 9.99976333e-01 3.83746373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36313336499998 meters 0.2732573145385071 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:0.04 [[ 9.99961543e-01 -4.94150638e-03 7.24524020e-03 2.18515074e+00] [ 4.92891313e-03 9.99986313e-01 1.75496820e-03 2.75776422e-01] [-7.25381322e-03 -1.71918955e-03 9.99972213e-01 3.90737706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42313336499998 meters 0.2725046936220242 Centerline is valid? [False, False] Translation: X:2.16, Y:0.27, Z:0.04 [[ 9.99982045e-01 1.13909029e-03 5.88312805e-03 2.16410660e+00] [-1.13109106e-03 9.99998432e-01 -1.36283792e-03 2.72024472e-01] [-5.88467122e-03 1.35615909e-03 9.99981766e-01 3.98192375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.483133365 meters 0.27133726678824366 Centerline is valid? [False, False] Translation: X:2.16, Y:0.27, Z:0.04 [[ 9.99982492e-01 1.12258971e-03 5.80995903e-03 2.16439294e+00] [-1.11443673e-03 9.99998390e-01 -1.40632357e-03 2.72184267e-01] [-5.81152840e-03 1.39982412e-03 9.99982133e-01 3.95294089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543133365 meters 0.27411248209905664 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99978154e-01 1.88832613e-03 6.33441940e-03 2.20757976e+00] [-1.88119552e-03 9.99997590e-01 -1.13146210e-03 2.78840668e-01] [-6.33654071e-03 1.11952110e-03 9.99979297e-01 3.87206485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.603133365 meters 0.27462369126741004 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99978262e-01 1.74249239e-03 6.35922989e-03 2.20758399e+00] [-1.73211058e-03 9.99997159e-01 -1.63770049e-03 2.80839508e-01] [-6.36206550e-03 1.62665000e-03 9.99978439e-01 3.85213930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.663133365 meters 0.272180226890954 Centerline is valid? [False, False] Translation: X:2.18, Y:0.28, Z:0.04 [[ 9.99978513e-01 -3.63475228e-03 5.45545577e-03 2.18317151e+00] [ 3.62800954e-03 9.99992643e-01 1.24535161e-03 2.82762988e-01] [-5.45994218e-03 -1.22553241e-03 9.99984343e-01 4.03108455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.723133365 meters 0.274861747413532 Centerline is valid? [False, False] Translation: X:2.23, Y:0.29, Z:0.04 [[ 9.99964554e-01 -3.82024837e-03 7.50314377e-03 2.22606908e+00] [ 3.80865705e-03 9.99991533e-01 1.55854350e-03 2.85817491e-01] [-7.50903426e-03 -1.52991136e-03 9.99970636e-01 3.97068758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.783133365 meters 0.27286791124412596 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99973380e-01 4.62157415e-03 5.64634144e-03 2.20801621e+00] [-4.62559020e-03 9.99989058e-01 6.98414222e-04 2.80682547e-01] [-5.64305188e-03 -7.24513291e-04 9.99983815e-01 3.88100788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.843133365 meters 0.27421904536266145 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99984860e-01 3.13334855e-03 4.52342925e-03 2.21289154e+00] [-3.13004664e-03 9.99994830e-01 -7.36852128e-04 2.80959516e-01] [-4.52571468e-03 7.22682427e-04 9.99989498e-01 3.55504403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90313336499997 meters 0.27355033721268485 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99984399e-01 3.16441724e-03 4.60317151e-03 2.21269858e+00] [-3.16142471e-03 9.99994787e-01 -6.57232434e-04 2.80634765e-01] [-4.60522727e-03 6.42669600e-04 9.99989189e-01 3.55680630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96313336499998 meters 0.2714754102464123 Centerline is valid? [False, False] Translation: X:2.19, Y:0.28, Z:0.04 [[ 9.99996463e-01 -2.07097833e-03 1.66871422e-03 2.19034027e+00] [ 2.06695135e-03 9.99994957e-01 2.41134637e-03 2.77381633e-01] [-1.67369965e-03 -2.40788869e-03 9.99995700e-01 3.67168377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02313336499998 meters 0.2735090488220353 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99973911e-01 6.92976843e-03 2.03874232e-03 2.21316780e+00] [-6.93402677e-03 9.99973777e-01 2.08910827e-03 2.78405573e-01] [-2.02421182e-03 -2.10319046e-03 9.99995740e-01 3.63464140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08313336499998 meters 0.2737408456992217 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:0.04 [[ 9.99973966e-01 6.90525015e-03 2.09382221e-03 2.21293250e+00] [-6.90950520e-03 9.99974065e-01 2.03181480e-03 2.78667767e-01] [-2.07973772e-03 -2.04622918e-03 9.99995744e-01 3.65546913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14313336499998 meters 0.27335380074019644 Centerline is valid? [False, False] Translation: X:2.23, Y:0.28, Z:0.04 [[ 9.99994546e-01 -1.92408459e-03 2.68423445e-03 2.23371942e+00] [ 1.91718044e-03 9.99994854e-01 2.57231794e-03 2.81941786e-01] [-2.68917000e-03 -2.56715775e-03 9.99993089e-01 3.70192956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20313336499999 meters 0.272984115928734 Centerline is valid? [False, False] Translation: X:2.23, Y:0.28, Z:0.04 [[ 9.99994409e-01 -2.02420302e-03 2.66179056e-03 2.23387371e+00] [ 2.01803332e-03 9.99995276e-01 2.31852218e-03 2.83027006e-01] [-2.66647115e-03 -2.31313764e-03 9.99993770e-01 3.67664207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.263133365 meters 0.2746563095811024 Centerline is valid? [False, False] Translation: X:2.23, Y:0.28, Z:0.04 [[ 9.99994477e-01 -2.13814357e-03 2.54428025e-03 2.23407965e+00] [ 2.13302529e-03 9.99995700e-01 2.01269816e-03 2.84291574e-01] [-2.54857274e-03 -2.00726003e-03 9.99994738e-01 3.68662656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.323133365 meters 0.27450051274854687 Centerline is valid? [False, False] Translation: X:2.23, Y:0.29, Z:0.04 [[ 9.99994274e-01 -2.33096104e-03 2.45344729e-03 2.23440904e+00] [ 2.32781470e-03 9.99996466e-01 1.28448957e-03 2.87158983e-01] [-2.45643272e-03 -1.27877104e-03 9.99996165e-01 3.64476920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383133365 meters 0.2746428374676898 Centerline is valid? [False, False] Translation: X:2.23, Y:0.29, Z:0.04 [[ 9.99992635e-01 -2.56290271e-03 2.85682739e-03 2.23339263e+00] [ 2.56136154e-03 9.99996572e-01 5.42998457e-04 2.90242726e-01] [-2.85820925e-03 -5.35677090e-04 9.99995772e-01 3.65709366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443133365 meters 0.27285208869608507 Centerline is valid? [False, False] Translation: X:2.23, Y:0.29, Z:0.04 [[ 9.99991628e-01 -2.81552694e-03 2.96934807e-03 2.23282543e+00] [ 2.81591458e-03 9.99996027e-01 -1.26372158e-04 2.93098060e-01] [-2.96898047e-03 1.34732530e-04 9.99995583e-01 3.70982095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.503133365 meters 0.2741091820985391 Centerline is valid? [False, False] Translation: X:2.24, Y:0.30, Z:0.03 [[ 9.99997822e-01 -6.13869896e-04 1.99490605e-03 2.23737165e+00] [ 6.11275421e-04 9.99998967e-01 1.30089920e-03 2.98983780e-01] [-1.99570258e-03 -1.29967692e-03 9.99997164e-01 3.40368287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.563133365 meters 0.2723875615115334 Centerline is valid? [False, False] Translation: X:2.24, Y:0.30, Z:0.03 [[ 9.99997643e-01 -7.17292950e-04 2.04942508e-03 2.23721094e+00] [ 7.15157850e-04 9.99999201e-01 1.04234705e-03 3.00092473e-01] [-2.05017111e-03 -1.04087893e-03 9.99997357e-01 3.40538572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.623133365 meters 0.2739650258623444 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99999503e-01 -8.63994364e-04 4.96850248e-04 2.27660130e+00] [ 8.63175054e-04 9.99998271e-01 1.64686418e-03 3.01307743e-01] [-4.98272270e-04 -1.64643449e-03 9.99998520e-01 3.77983802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68313336499997 meters 0.27210644589392297 Centerline is valid? [False, False] Translation: X:2.25, Y:0.30, Z:0.04 [[ 9.99988771e-01 4.59561477e-03 -1.15692126e-03 2.25484023e+00] [-4.59802005e-03 9.99987255e-01 -2.08503335e-03 3.00089938e-01] [ 1.14732451e-03 2.09032949e-03 9.99997157e-01 3.86203703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74313336499998 meters 0.2744445480319717 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989399e-01 -4.51455934e-03 -9.05662159e-04 2.27582001e+00] [ 4.51308943e-03 9.99988506e-01 -1.61855402e-03 3.03438990e-01] [ 9.12958808e-04 1.61444952e-03 9.99998280e-01 3.83946803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80313336499998 meters 0.27294707168813276 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989658e-01 -4.47320247e-03 -8.21257012e-04 2.27544864e+00] [ 4.47195540e-03 9.99988855e-01 -1.51409336e-03 3.03008181e-01] [ 8.28020705e-04 1.51040507e-03 9.99998517e-01 3.87814554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86313336499998 meters 0.27484696236253475 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989646e-01 -4.43992860e-03 -9.97728740e-04 2.27596385e+00] [ 4.43850082e-03 9.99989129e-01 -1.42871901e-03 3.02627531e-01] [ 1.00406130e-03 1.42427579e-03 9.99998482e-01 3.85497156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92313336499998 meters 0.2730145423968379 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989699e-01 -4.43634529e-03 -9.59921799e-04 2.27581287e+00] [ 4.43498010e-03 9.99989158e-01 -1.41967709e-03 3.02597242e-01] [ 9.66209569e-04 1.41540523e-03 9.99998532e-01 3.86664930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.983133365 meters 0.27311512818920863 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989648e-01 -4.43716277e-03 -1.00801611e-03 2.27585977e+00] [ 4.43572068e-03 9.99989142e-01 -1.42837981e-03 3.02601234e-01] [ 1.01434312e-03 1.42389375e-03 9.99998472e-01 3.88010509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.043133365 meters 0.2754792523844265 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99989486e-01 -4.44030992e-03 -1.14486173e-03 2.27642900e+00] [ 4.43866033e-03 9.99989113e-01 -1.43939388e-03 3.02586619e-01] [ 1.15124063e-03 1.43429710e-03 9.99998309e-01 3.82535324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.103133365 meters 0.2711748597036547 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.04 [[ 9.99988666e-01 4.70969410e-03 -6.97211847e-04 2.25502454e+00] [-4.71100959e-03 9.99987103e-01 -1.89732952e-03 2.98802137e-01] [ 6.88267013e-04 1.90059258e-03 9.99997957e-01 3.82656979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163133365 meters 0.2743125110055803 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99998457e-01 -1.25786396e-03 1.22638712e-03 2.27680683e+00] [ 1.25648995e-03 9.99998583e-01 1.12050041e-03 3.01171470e-01] [-1.22779482e-03 -1.11895774e-03 9.99998620e-01 3.72917801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.223133365 meters 0.2733571241014735 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99998223e-01 -1.45599885e-03 1.19735902e-03 2.27670891e+00] [ 1.45524990e-03 9.99998745e-01 6.26135655e-04 3.03307200e-01] [-1.19826917e-03 -6.24392085e-04 9.99999087e-01 3.75606589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.283133365 meters 0.2750401766448529 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.04 [[ 9.99998116e-01 -1.55500987e-03 1.16211912e-03 2.27671620e+00] [ 1.55458057e-03 9.99998723e-01 3.70225308e-04 3.04375750e-01] [-1.16269334e-03 -3.68418003e-04 9.99999256e-01 3.76715989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.343133365 meters 0.2745014668360415 Centerline is valid? [False, False] Translation: X:2.28, Y:0.31, Z:0.04 [[ 9.99998023e-01 -1.62229527e-03 1.14987413e-03 2.27671469e+00] [ 1.62207322e-03 9.99998666e-01 1.94014625e-04 3.05100590e-01] [-1.15018734e-03 -1.92149062e-04 9.99999320e-01 3.77024340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40313336499997 meters 0.2756299358996837 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.04 [[ 9.99969066e-01 6.00984822e-03 5.07441380e-03 2.29361035e+00] [-6.00346732e-03 9.99981170e-01 -1.27176197e-03 3.08002543e-01] [-5.08196134e-03 1.24125855e-03 9.99986316e-01 3.96943196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46313336499998 meters 0.27632798818190585 Centerline is valid? [False, False] Translation: X:2.27, Y:0.31, Z:0.04 [[ 9.99991409e-01 -2.42752212e-03 3.35979760e-03 2.27421726e+00] [ 2.43114258e-03 9.99996468e-01 -1.07391992e-03 3.12404993e-01] [-3.35717877e-03 1.08207884e-03 9.99993779e-01 3.86384874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52313336499998 meters 0.2752896250074496 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 9.99991205e-01 -2.64078027e-03 3.25837571e-03 2.27459223e+00] [ 2.64649456e-03 9.99994966e-01 -1.75066066e-03 3.15149966e-01] [-3.25373619e-03 1.75926854e-03 9.99993159e-01 3.81787657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58313336499998 meters 0.27417011906698435 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.9999896 -0.00290092 0.00351923 2.273645 ] [ 0.0029095 0.9999928 -0.00243627 0.31810443] [-0.00351213 0.00244649 0.99999084 0.03872078] [ 0. 0. 0. 1. ]] SLAMing on 251.64313336499998 meters 0.27632755560781336 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.99998954 -0.0030481 0.00341093 2.27402466] [ 0.00305762 0.99999143 -0.00279007 0.31960042] [-0.00340239 0.00280047 0.99999029 0.03840641] [ 0. 0. 0. 1. ]] SLAMing on 251.70313336499999 meters 0.2763545623550675 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.04 [[ 0.9999792 0.00523925 0.00376135 2.29438107] [-0.00522403 0.99997818 -0.00404451 0.31937034] [-0.00378246 0.00402478 0.99998475 0.03940997] [ 0. 0. 0. 1. ]] SLAMing on 251.763133365 meters 0.27346204690029485 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.99998824 -0.00327726 0.00357401 2.27188889] [ 0.00328874 0.99998944 -0.0032098 0.31840849] [-0.00356345 0.00322151 0.99998846 0.03937725] [ 0. 0. 0. 1. ]] SLAMing on 251.823133365 meters 0.27417926462284636 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.99999052 -0.0032553 0.00289331 2.27363361] [ 0.00326429 0.99998985 -0.00310665 0.31780994] [-0.00288317 0.00311606 0.99999099 0.03877923] [ 0. 0. 0. 1. ]] SLAMing on 251.883133365 meters 0.27394351659623284 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.99999063 -0.00320192 0.00291446 2.27308362] [ 0.00321053 0.99999048 -0.00295371 0.317222 ] [-0.00290498 0.00296303 0.99999139 0.03995278] [ 0. 0. 0. 1. ]] SLAMing on 251.943133365 meters 0.27350894345323973 Centerline is valid? [False, False] Translation: X:2.27, Y:0.32, Z:0.04 [[ 0.99999054 -0.00310025 0.00304945 2.27257136] [ 0.00310842 0.99999158 -0.00267728 0.31603574] [-0.00304112 0.00268673 0.99999177 0.04044454] [ 0. 0. 0. 1. ]] SLAMing on 252.003133365 meters 0.27288468748684686 Centerline is valid? [False, False] Translation: X:2.27, Y:0.31, Z:0.04 [[ 0.99999237 -0.00298729 0.00251595 2.27414839] [ 0.00299303 0.99999292 -0.00228265 0.31414024] [-0.00250911 0.00229017 0.99999423 0.03966265] [ 0. 0. 0. 1. ]] SLAMing on 252.063133365 meters 0.27196332540502394 Centerline is valid? [False, False] Translation: X:2.27, Y:0.31, Z:0.04 [[ 9.99993632e-01 -2.64614413e-03 2.39464876e-03 2.27406511e+00] [ 2.64884298e-03 9.99995859e-01 -1.12456346e-03 3.09591351e-01] [-2.39166309e-03 1.13089935e-03 9.99996501e-01 4.05519416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.123133365 meters 0.269735781562233 Centerline is valid? [False, False] Translation: X:2.27, Y:0.30, Z:0.04 [[ 9.99994124e-01 -2.33220461e-03 2.51268559e-03 2.27355415e+00] [ 2.33229598e-03 9.99997280e-01 -3.34329226e-05 3.04846785e-01] [-2.51260078e-03 3.92930526e-05 9.99996843e-01 4.10621639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18313336499997 meters 0.2715113662710738 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99983730e-01 5.66897006e-03 6.34715521e-04 2.29561982e+00] [-5.66895691e-03 9.99983931e-01 -2.25146728e-05 2.93737630e-01] [-6.34832957e-04 1.89161316e-05 9.99999798e-01 4.12375129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24313336499998 meters 0.2728513667365778 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99982786e-01 5.82819629e-03 6.78814386e-04 2.29573794e+00] [-5.82844574e-03 9.99982947e-01 3.66082402e-04 2.92099108e-01] [-6.76669211e-04 -3.70032532e-04 9.99999703e-01 4.08048871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30313336499998 meters 0.27176091253136453 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99998375e-01 1.72438441e-03 5.26616253e-04 2.29633843e+00] [-1.72264496e-03 9.99993118e-01 -3.28584706e-03 2.89741315e-01] [-5.32278693e-04 3.28493455e-03 9.99994463e-01 4.02380775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36313336499998 meters 0.27311610062211783 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99998277e-01 1.82865923e-03 3.18143958e-04 2.29693244e+00] [-1.82768835e-03 9.99993752e-01 -3.02571377e-03 2.88590337e-01] [-3.23674970e-04 3.02512709e-03 9.99995372e-01 4.00245443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42313336499998 meters 0.2732467598184855 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99998006e-01 1.94875280e-03 4.37345820e-04 2.29655633e+00] [-1.94755157e-03 9.99994376e-01 -2.73044863e-03 2.87332538e-01] [-4.42664330e-04 2.72959143e-03 9.99996177e-01 4.02525595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.483133365 meters 0.2736644218695524 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99997904e-01 1.95464114e-03 6.09341378e-04 2.29614618e+00] [-1.95297781e-03 9.99994398e-01 -2.71847230e-03 2.87269992e-01] [-6.14651603e-04 2.71727658e-03 9.99996119e-01 4.02780786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.543133365 meters 0.2750358692869749 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99998186e-01 1.85281034e-03 4.42330558e-04 2.29663705e+00] [-1.85147895e-03 9.99993811e-01 -2.99160967e-03 2.88429534e-01] [-4.47870705e-04 2.99078528e-03 9.99995427e-01 3.99950888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.603133365 meters 0.27443790266080087 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.04 [[ 9.99998319e-01 1.79911163e-03 3.52833642e-04 2.29675871e+00] [-1.79800298e-03 9.99993524e-01 -3.11766271e-03 2.88970727e-01] [-3.58440381e-04 3.11702308e-03 9.99995078e-01 4.01849974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.663133365 meters 0.2728968326267065 Centerline is valid? [False, False] Translation: X:2.27, Y:0.29, Z:0.04 [[ 9.99991874e-01 -3.27828420e-03 2.34622658e-03 2.27140649e+00] [ 3.27680319e-03 9.99994430e-01 6.34795397e-04 2.91853041e-01] [-2.34829455e-03 -6.27102116e-04 9.99997046e-01 4.13689735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.723133365 meters 0.2736030456850261 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.04 [[ 9.99979613e-01 4.73169087e-03 4.28762777e-03 2.29018032e+00] [-4.72863322e-03 9.99988559e-01 -7.22989969e-04 2.92324993e-01] [-4.29099968e-03 7.02700611e-04 9.99990547e-01 4.24133753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.783133365 meters 0.2722473533275533 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.04 [[ 9.99978908e-01 4.73298440e-03 4.44783212e-03 2.28934646e+00] [-4.72982194e-03 9.99988554e-01 -7.21261671e-04 2.92475283e-01] [-4.45119493e-03 7.00209004e-04 9.99989848e-01 4.34485161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.843133365 meters 0.2721101730900506 Centerline is valid? [False, False] Translation: X:2.29, Y:0.29, Z:0.04 [[ 9.99978435e-01 4.85117977e-03 4.42679415e-03 2.28909414e+00] [-4.84946460e-03 9.99988162e-01 -3.98103084e-04 2.91106917e-01] [-4.42867302e-03 3.76626917e-04 9.99990122e-01 4.41645849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90313336499997 meters 0.2713510439509896 Centerline is valid? [False, False] Translation: X:2.28, Y:0.29, Z:0.05 [[ 9.99978272e-01 3.24131771e-03 5.74017795e-03 2.28400050e+00] [-3.23175530e-03 9.99993376e-01 -1.67436588e-03 2.89758830e-01] [-5.74556708e-03 1.65577865e-03 9.99982123e-01 4.71180580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96313336499998 meters 0.2729589542241268 Centerline is valid? [False, False] Translation: X:2.31, Y:0.29, Z:0.05 [[ 9.99963485e-01 -6.11874563e-03 5.96564053e-03 2.30689099e+00] [ 6.12359156e-03 9.99980935e-01 -7.94380596e-04 2.85658748e-01] [-5.96066619e-03 8.30882735e-04 9.99981890e-01 4.56068640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02313336499998 meters 0.2729396636752556 Centerline is valid? [False, False] Translation: X:2.31, Y:0.28, Z:0.05 [[ 9.99967086e-01 -5.77974650e-03 5.69397604e-03 2.30775929e+00] [ 5.77921563e-03 9.99983294e-01 1.09683270e-04 2.81694602e-01] [-5.69451486e-03 -7.67729449e-05 9.99983783e-01 4.52458768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08313336499998 meters 0.27245544128425725 Centerline is valid? [False, False] Translation: X:2.31, Y:0.28, Z:0.04 [[ 9.99969274e-01 -5.47842123e-03 5.60689499e-03 2.30835133e+00] [ 5.47378425e-03 9.99984664e-01 8.42026681e-04 2.78462498e-01] [-5.61142198e-03 -8.11309876e-04 9.99983927e-01 4.45614418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14313336499998 meters 0.27394808827570577 Centerline is valid? [False, False] Translation: X:2.31, Y:0.28, Z:0.04 [[ 9.99970704e-01 -5.14192170e-03 5.67019253e-03 2.30826831e+00] [ 5.13286405e-03 9.99985529e-01 1.61081082e-03 2.75168386e-01] [-5.67839314e-03 -1.58165930e-03 9.99982627e-01 4.45857913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20313336499999 meters 0.27338610021187076 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.04 [[ 9.99970940e-01 -4.97266867e-03 5.77855561e-03 2.30831655e+00] [ 4.96105531e-03 9.99985649e-01 2.02233439e-03 2.73400734e-01] [-5.78852908e-03 -1.99360788e-03 9.99981259e-01 4.40035044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.263133365 meters 0.27374125093904994 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.04 [[ 0.99997223 -0.00478473 0.00571278 2.30868401] [ 0.00477081 0.99998562 0.00244845 0.27149129] [-0.00572442 -0.00242113 0.99998068 0.04367784] [ 0. 0. 0. 1. ]] SLAMing on 253.323133365 meters 0.27496641705634456 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.05 [[ 9.99982914e-01 3.36721824e-03 4.77835084e-03 2.32963289e+00] [-3.37676991e-03 9.99992314e-01 1.99228878e-03 2.63797789e-01] [-4.77160564e-03 -2.00839013e-03 9.99986599e-01 4.51561676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383133365 meters 0.2745904261733942 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99980152e-01 1.23464645e-03 6.17827005e-03 2.32395616e+00] [-1.23805402e-03 9.99999084e-01 5.47747574e-04 2.58343235e-01] [-6.17758811e-03 -5.55385734e-04 9.99980764e-01 4.85093580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.443133365 meters 0.2739171208388229 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99980254e-01 1.38004307e-03 6.13082378e-03 2.32414632e+00] [-1.38563264e-03 9.99998628e-01 9.07561705e-04 2.56788854e-01] [-6.12956290e-03 -9.16038854e-04 9.99980794e-01 4.84011865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.503133365 meters 0.275290175461448 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99980750e-01 1.34497683e-03 6.05732679e-03 2.32451565e+00] [-1.35004030e-03 9.99998743e-01 8.31912792e-04 2.57139718e-01] [-6.05620027e-03 -8.40074412e-04 9.99981308e-01 4.79785439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.563133365 meters 0.2752894882427406 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99980666e-01 1.20157857e-03 6.10108220e-03 2.32446047e+00] [-1.20418689e-03 9.99999185e-01 4.23862907e-04 2.58847313e-01] [-6.10056792e-03 -4.31201555e-04 9.99981298e-01 4.77979898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.623133365 meters 0.27481908034467584 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99979080e-01 9.25760457e-04 6.40169125e-03 2.32360508e+00] [-9.23050584e-04 9.99999483e-01 -4.26247528e-04 2.62480030e-01] [-6.40208254e-03 4.20329526e-04 9.99979418e-01 4.80655759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68313336499997 meters 0.2743074272112643 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99977713e-01 9.23408567e-04 6.61216574e-03 2.32285525e+00] [-9.20553592e-04 9.99999482e-01 -4.34806577e-04 2.62573926e-01] [-6.61256382e-03 4.28710033e-04 9.99978045e-01 4.87019483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74313336499998 meters 0.2745773955699923 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99979733e-01 1.00423355e-03 6.28696321e-03 2.32365400e+00] [-1.00317714e-03 9.99999482e-01 -1.71183381e-04 2.61363950e-01] [-6.28713186e-03 1.64872974e-04 9.99980222e-01 4.85756799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80313336499998 meters 0.2739143717863032 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99979673e-01 1.17721403e-03 6.26646177e-03 2.32360231e+00] [-1.17923591e-03 9.99999254e-01 3.18966989e-04 2.59303308e-01] [-6.26608160e-03 -3.26350142e-04 9.99980315e-01 4.88692515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86313336499998 meters 0.27408316064772087 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99978993e-01 1.31019055e-03 6.34794552e-03 2.32334786e+00] [-1.31433270e-03 9.99998926e-01 6.48390272e-04 2.57865175e-01] [-6.34708919e-03 -6.56719964e-04 9.99979641e-01 4.90370333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92313336499998 meters 0.2741595651383582 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99980723e-01 1.27896350e-03 6.07604815e-03 2.32453818e+00] [-1.28227992e-03 9.99999031e-01 5.41953976e-04 2.58287644e-01] [-6.07534913e-03 -5.49734723e-04 9.99981394e-01 4.74397491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.983133365 meters 0.2766328202205386 Centerline is valid? [False, False] Translation: X:2.33, Y:0.26, Z:0.05 [[ 9.99982650e-01 1.25459094e-03 5.75546184e-03 2.32568792e+00] [-1.25722581e-03 9.99999107e-01 4.54207368e-04 2.58724373e-01] [-5.75488685e-03 -4.61435403e-04 9.99983334e-01 4.63275295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043133365 meters 0.27541436664101376 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99976001e-01 -7.30892471e-04 6.88941474e-03 2.31980055e+00] [ 7.40283351e-04 9.99998800e-01 -1.36063676e-03 2.58308715e-01] [-6.88841200e-03 1.36570422e-03 9.99975342e-01 5.07839906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103133365 meters 0.2745254829074153 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.05 [[ 9.99977035e-01 -5.66080382e-04 6.75339548e-03 2.32005658e+00] [ 5.72164357e-04 9.99999432e-01 -8.98978524e-04 2.56326036e-01] [-6.75288275e-03 9.02821931e-04 9.99976791e-01 5.09742105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.163133365 meters 0.27419014407739156 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99976323e-01 -4.36656325e-04 6.86756739e-03 2.31942668e+00] [ 4.40195688e-04 9.99999771e-01 -5.13870488e-04 2.54710343e-01] [-6.86734143e-03 5.16881395e-04 9.99976286e-01 5.19603463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.223133365 meters 0.2736590835185704 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99976043e-01 -3.50568321e-04 6.91310250e-03 2.31918276e+00] [ 3.52639324e-04 9.99999893e-01 -2.98359934e-04 2.53792041e-01] [-6.91299717e-03 3.00790617e-04 9.99976060e-01 5.22891287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.283133365 meters 0.2746325217411083 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99977789e-01 -2.90274803e-04 6.65856902e-03 2.31981448e+00] [ 2.91196963e-04 9.99999948e-01 -1.37523050e-04 2.53074414e-01] [-6.65852876e-03 1.39458951e-04 9.99977822e-01 5.22372259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.343133365 meters 0.27512473288640676 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99977468e-01 -1.95455271e-04 6.71005823e-03 2.31944576e+00] [ 1.94715116e-04 9.99999975e-01 1.10958498e-04 2.52000623e-01] [-6.71007975e-03 -1.09649448e-04 9.99977481e-01 5.28528477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40313336499997 meters 0.2731797548289035 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.05 [[ 0.99997619 -0.00571633 0.00386488 2.29725065] [ 0.00570271 0.99997752 0.0035265 0.24688722] [-0.00388495 -0.00350438 0.99998631 0.0548343 ] [ 0. 0. 0. 1. ]] SLAMing on 254.46313336499998 meters 0.2759858194392718 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.06 [[ 0.99999111 0.00288016 0.00307841 2.31997 ] [-0.0028885 0.99999215 0.00271059 0.24514834] [-0.00307058 -0.00271945 0.99999159 0.05504638] [ 0. 0. 0. 1. ]] SLAMing on 254.52313336499998 meters 0.27659939239233555 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 0.99999139 0.00279157 0.0030704 2.32009185] [-0.00279921 0.99999299 0.00248605 0.24611749] [-0.00306344 -0.00249462 0.9999922 0.05478111] [ 0. 0. 0. 1. ]] SLAMing on 254.58313336499998 meters 0.2759599685549087 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.06 [[ 9.99991064e-01 2.72019287e-03 3.23621787e-03 2.31954652e+00] [-2.72760679e-03 9.99993661e-01 2.28871591e-03 2.46995948e-01] [-3.22997161e-03 -2.29752259e-03 9.99992144e-01 5.50919508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64313336499998 meters 0.27729355181303167 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99991564e-01 2.65508385e-03 3.13416811e-03 2.31998242e+00] [-2.66167227e-03 9.99994253e-01 2.09983327e-03 2.47808452e-01] [-3.12857486e-03 -2.10815769e-03 9.99992884e-01 5.45940339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70313336499999 meters 0.2779271921426102 Centerline is valid? [False, False] Translation: X:2.32, Y:0.25, Z:0.05 [[ 9.99991903e-01 2.53853235e-03 3.12240320e-03 2.32035760e+00] [-2.54411599e-03 9.99995170e-01 1.78558288e-03 2.49127021e-01] [-3.11785535e-03 -1.79351218e-03 9.99993531e-01 5.37570879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.763133365 meters 0.27706896767629147 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99993156e-01 -3.37098457e-03 1.52476197e-03 2.29696497e+00] [ 3.36393129e-03 9.99983739e-01 4.60497207e-03 2.49225434e-01] [-1.54026047e-03 -4.59981136e-03 9.99988235e-01 5.55320226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.823133365 meters 0.27696292717728427 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.05 [[ 9.99999419e-01 -1.00403302e-03 3.91797781e-04 2.30147037e+00] [ 1.00171639e-03 9.99982276e-01 5.86888552e-03 2.56996539e-01] [-3.97683392e-04 -5.86848964e-03 9.99982701e-01 5.23406252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.883133365 meters 0.27607255354588534 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.05 [[ 9.99998980e-01 -1.36339085e-03 4.26019669e-04 2.30149138e+00] [ 1.36124718e-03 9.99986612e-01 4.99227326e-03 2.60812795e-01] [-4.32820385e-04 -4.99168825e-03 9.99987448e-01 5.20205824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.943133365 meters 0.2753096819705684 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.05 [[ 0.99996273 0.00788614 0.00351292 2.27628124] [-0.00790318 0.99995694 0.00486444 0.25756185] [-0.0034744 -0.00489202 0.999982 0.05359496] [ 0. 0. 0. 1. ]] SLAMing on 255.003133365 meters 0.2758875050159966 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.05 [[ 9.99990313e-01 -1.46116873e-03 4.15185906e-03 2.29761609e+00] [ 1.44045786e-03 9.99986528e-01 4.98695484e-03 2.60217787e-01] [-4.15908991e-03 -4.98092596e-03 9.99978946e-01 5.36050092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.063133365 meters 0.2769015909946422 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.05 [[ 9.99990924e-01 -1.38144433e-03 4.03039053e-03 2.29802323e+00] [ 1.36027728e-03 9.99985294e-01 5.24988330e-03 2.59109896e-01] [-4.03758368e-03 -5.24435320e-03 9.99978097e-01 5.33690125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.123133365 meters 0.2761018907459164 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.05 [[ 9.99990019e-01 -1.27922586e-03 4.28084108e-03 2.29721754e+00] [ 1.25545829e-03 9.99983810e-01 5.55016816e-03 2.57768193e-01] [-4.28787169e-03 -5.54473835e-03 9.99975435e-01 5.39462278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18313336499997 meters 0.2764458857856532 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.05 [[ 9.99988029e-01 4.77783635e-03 1.05596559e-03 2.27755860e+00] [-4.78030266e-03 9.99985823e-01 2.34554965e-03 2.60408335e-01] [-1.04474396e-03 -2.35056940e-03 9.99996692e-01 5.40539036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24313336499998 meters 0.27524217316790295 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.05 [[ 9.99988450e-01 4.68765345e-03 1.06056264e-03 2.27750173e+00] [-4.68988982e-03 9.99986763e-01 2.11608852e-03 2.61402157e-01] [-1.05062911e-03 -2.12103800e-03 9.99997199e-01 5.41182656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30313336499998 meters 0.2774774922141397 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.05 [[ 9.99992128e-01 -3.82650452e-03 1.04969810e-03 2.29782734e+00] [ 3.82337887e-03 9.99988299e-01 2.96368328e-03 2.65713584e-01] [-1.06102637e-03 -2.95964656e-03 9.99995057e-01 5.49878325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36313336499998 meters 0.27551914991709076 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99992399e-01 -3.69102847e-03 1.25621544e-03 2.29717566e+00] [ 3.68671719e-03 9.99987366e-01 3.41714485e-03 2.63845890e-01] [-1.26881235e-03 -3.41248757e-03 9.99993372e-01 5.55338841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42313336499998 meters 0.2744150593137877 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99992821e-01 -3.54427797e-03 1.34012926e-03 2.29685968e+00] [ 3.53908584e-03 9.99986299e-01 3.85706910e-03 2.62035751e-01] [-1.35378142e-03 -3.85229857e-03 9.99991664e-01 5.58832696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.483133365 meters 0.2734589097632545 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99993405e-01 -3.46324203e-03 1.09361552e-03 2.29759294e+00] [ 3.45874498e-03 9.99985664e-01 4.08755310e-03 2.61042437e-01] [-1.10775603e-03 -4.08374360e-03 9.99991048e-01 5.55385654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.543133365 meters 0.272191527040537 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 9.99996405e-01 2.04071897e-03 -1.73958506e-03 2.27821553e+00] [-2.03991097e-03 9.99997811e-01 4.66126924e-04 2.60322114e-01] [ 1.74053248e-03 -4.62576649e-04 9.99998378e-01 5.58382606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.603133365 meters 0.27363354744273083 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 9.99996402e-01 2.02735488e-03 -1.75660545e-03 2.27821770e+00] [-2.02658641e-03 9.99997850e-01 4.39139179e-04 2.60464521e-01] [ 1.75749197e-03 -4.35577687e-04 9.99998361e-01 5.59206526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.663133365 meters 0.2742357553423075 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99993719e-01 -3.17918512e-03 1.56685012e-03 2.29747097e+00] [ 3.17263457e-03 9.99986291e-01 4.16561791e-03 2.61562831e-01] [-1.58007191e-03 -4.16062070e-03 9.99990096e-01 5.57580948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.723133365 meters 0.2739227563145352 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 9.99997052e-01 2.29039096e-03 8.06792921e-04 2.27513486e+00] [-2.29065931e-03 9.99997321e-01 3.31838345e-04 2.61056703e-01] [-8.06030721e-04 -3.33685454e-04 9.99999619e-01 5.66477688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.783133365 meters 0.2739372109838015 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99985377e-01 -5.34231643e-03 8.40467245e-04 2.29361122e+00] [ 5.34055763e-03 9.99983573e-01 2.08115000e-03 2.65835596e-01] [-8.51571601e-04 -2.07663101e-03 9.99997481e-01 5.87002712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.843133365 meters 0.27645754013250934 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.06 [[ 9.99993236e-01 2.65435950e-03 2.54607817e-03 2.31312030e+00] [-2.65602930e-03 9.99996260e-01 6.52674729e-04 2.67086477e-01] [-2.54433622e-03 -6.59432772e-04 9.99996546e-01 6.01506868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90313336499997 meters 0.27491241042740866 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.06 [[ 9.99993357e-01 2.54231609e-03 2.61196215e-03 2.31288285e+00] [-2.54333674e-03 9.99996691e-01 3.87514150e-04 2.68284550e-01] [-2.61096833e-03 -3.94154675e-04 9.99996514e-01 6.02753664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96313336499998 meters 0.2750596891796912 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.06 [[ 9.99993171e-01 2.56188578e-03 2.66372558e-03 2.31264358e+00] [-2.56306177e-03 9.99996619e-01 4.38165348e-04 2.68088145e-01] [-2.66259405e-03 -4.44989649e-04 9.99996356e-01 6.05618425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.023133365 meters 0.27255219720427065 Centerline is valid? [False, False] Translation: X:2.31, Y:0.27, Z:0.06 [[ 9.99994101e-01 2.66207315e-03 2.17036274e-03 2.31371905e+00] [-2.66388757e-03 9.99996104e-01 8.33537209e-04 2.66426829e-01] [-2.16813535e-03 -8.39313894e-04 9.99997297e-01 6.06249520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.083133365 meters 0.2736397313577587 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.06 [[ 9.99994210e-01 2.82054353e-03 1.90376718e-03 2.31448051e+00] [-2.82293848e-03 9.99995226e-01 1.25649589e-03 2.64565317e-01] [-1.90021409e-03 -1.26186283e-03 9.99997398e-01 6.03557349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.143133365 meters 0.27322224706410153 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.06 [[ 9.99994122e-01 2.86667565e-03 1.88085608e-03 2.31460452e+00] [-2.86924747e-03 9.99994951e-01 1.36609510e-03 2.64079226e-01] [-1.87693043e-03 -1.37148371e-03 9.99997298e-01 6.02185973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.203133365 meters 0.2724207972958302 Centerline is valid? [False, False] Translation: X:2.31, Y:0.26, Z:0.06 [[ 9.99994156e-01 2.89539625e-03 1.81775588e-03 2.31499590e+00] [-2.89801973e-03 9.99994761e-01 1.44228093e-03 2.63750286e-01] [-1.81357038e-03 -1.44754040e-03 9.99997308e-01 5.96994661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.263133365 meters 0.2717829446612138 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99984206e-01 -5.61469482e-03 -2.50728003e-04 2.29413895e+00] [ 5.61520734e-03 9.99982045e-01 2.09251037e-03 2.62434584e-01] [ 2.38974694e-04 -2.09388521e-03 9.99997779e-01 6.01587114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.323133365 meters 0.2738631077352804 Centerline is valid? [False, False] Translation: X:2.32, Y:0.26, Z:0.06 [[ 9.99998299e-01 7.52328656e-04 1.68407857e-03 2.31714249e+00] [-7.52342206e-04 9.99999717e-01 7.41264376e-06 2.62265560e-01] [-1.68407252e-03 -8.67963454e-06 9.99998582e-01 5.88343440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.383133365 meters 0.27608172779411877 Centerline is valid? [False, False] Translation: X:2.36, Y:0.26, Z:0.06 [[ 9.99989661e-01 -1.27936949e-03 4.36356870e-03 2.35968998e+00] [ 1.28461543e-03 9.99998455e-01 -1.19962189e-03 2.59614812e-01] [-4.36202720e-03 1.20521500e-03 9.99989760e-01 5.85164562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.443133365 meters 0.2712954767530299 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.06 [[ 9.99993513e-01 -1.65898803e-03 3.19721863e-03 2.31445934e+00] [ 1.66265276e-03 9.99997964e-01 -1.14390782e-03 2.50517626e-01] [-3.19531439e-03 1.14921627e-03 9.99994235e-01 6.07918839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.503133365 meters 0.27190091254912013 Centerline is valid? [False, False] Translation: X:2.31, Y:0.25, Z:0.06 [[ 9.99994432e-01 -1.35663602e-03 3.04872619e-03 2.31475786e+00] [ 1.35747001e-03 9.99999042e-01 -2.71503078e-04 2.46924262e-01] [-3.04835494e-03 2.75640121e-04 9.99995316e-01 6.09414510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.563133365 meters 0.27176916104773374 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:0.06 [[ 9.99994927e-01 -8.20328247e-04 3.07775070e-03 2.31473393e+00] [ 8.17242337e-04 9.99999162e-01 1.00377460e-03 2.41323187e-01] [-3.07857155e-03 -1.00125424e-03 9.99994760e-01 6.08994080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.623133365 meters 0.2734372239084256 Centerline is valid? [False, False] Translation: X:2.31, Y:0.24, Z:0.06 [[ 9.99995354e-01 -5.47362097e-04 2.99882292e-03 2.31494591e+00] [ 5.42444570e-04 9.99998507e-01 1.64038706e-03 2.38586342e-01] [-2.99971633e-03 -1.63875274e-03 9.99994158e-01 6.09064226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.683133365 meters 0.27478967386610836 Centerline is valid? [False, False] Translation: X:2.32, Y:0.23, Z:0.06 [[ 9.99995821e-01 -1.81915221e-04 2.88540954e-03 2.31511798e+00] [ 1.74664574e-04 9.99996827e-01 2.51291876e-03 2.34867264e-01] [-2.88585753e-03 -2.51240428e-03 9.99992680e-01 6.11657912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.743133365 meters 0.2734033412061012 Centerline is valid? [False, False] Translation: X:2.31, Y:0.23, Z:0.06 [[ 9.99995035e-01 3.80668397e-04 3.12800589e-03 2.31464994e+00] [-3.94070178e-04 9.99990742e-01 4.28495002e-03 2.27474493e-01] [-3.12634578e-03 -4.28616140e-03 9.99985927e-01 6.10930550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.803133365 meters 0.27271730193516075 Centerline is valid? [False, False] Translation: X:2.31, Y:0.22, Z:0.06 [[ 9.99994457e-01 8.23761013e-04 3.22591917e-03 2.31442086e+00] [-8.41726585e-04 9.99984123e-01 5.57174066e-03 2.22132303e-01] [-3.22127817e-03 -5.57442512e-03 9.99979274e-01 6.11020192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.863133365 meters 0.2741531801264569 Centerline is valid? [False, False] Translation: X:2.31, Y:0.21, Z:0.06 [[ 0.99999173 -0.00263556 0.00309591 2.31485537] [ 0.00262583 0.99999162 0.00314105 0.21325954] [-0.00310416 -0.00313289 0.99999027 0.06105653] [ 0. 0. 0. 1. ]] SLAMing on 256.923133365 meters 0.27350628610803174 Centerline is valid? [False, False] Translation: X:2.32, Y:0.21, Z:0.06 [[ 9.99993504e-01 -2.19293201e-03 2.86051325e-03 2.31557483e+00] [ 2.18088317e-03 9.99988766e-01 4.20846443e-03 2.08633999e-01] [-2.86971000e-03 -4.20219865e-03 9.99987053e-01 6.08769838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.983133365 meters 0.27425023355570566 Centerline is valid? [False, False] Translation: X:2.32, Y:0.21, Z:0.06 [[ 9.99994754e-01 -1.87514029e-03 2.64105988e-03 2.31628550e+00] [ 1.86208382e-03 9.99986077e-01 4.93746296e-03 2.05397919e-01] [-2.65028154e-03 -4.93251918e-03 9.99984323e-01 6.06055721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04313336499996 meters 0.2742047064640158 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994706e-01 -1.69721070e-03 2.77633233e-03 2.31598911e+00] [ 1.68217660e-03 9.99983959e-01 5.40849642e-03 2.03441652e-01] [-2.78546716e-03 -5.40379751e-03 9.99981520e-01 6.06305921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10313336499996 meters 0.27260874854386596 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994570e-01 -1.68448599e-03 2.83248634e-03 2.31577893e+00] [ 1.66906245e-03 9.99983817e-01 5.43880608e-03 2.03303993e-01] [-2.84160210e-03 -5.43404895e-03 9.99981198e-01 6.08043145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16313336499996 meters 0.27262449466482025 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994861e-01 -1.63935269e-03 2.75524375e-03 2.31616397e+00] [ 1.62402383e-03 9.99983243e-01 5.55657838e-03 2.02788185e-01] [-2.76430678e-03 -5.55207524e-03 9.99980766e-01 6.03637817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22313336499997 meters 0.27333155298693673 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99995282e-01 -1.55642668e-03 2.64847562e-03 2.31670166e+00] [ 1.54113343e-03 9.99982185e-01 5.76663435e-03 2.01798245e-01] [-2.65740379e-03 -5.76252549e-03 9.99979866e-01 5.97414646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28313336499997 meters 0.2729632097124712 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99995626e-01 -1.50634922e-03 2.54535296e-03 2.31690945e+00] [ 1.49132139e-03 9.99981508e-01 5.89564851e-03 2.01251560e-01] [-2.55418680e-03 -5.89182678e-03 9.99979381e-01 5.98273684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34313336499997 meters 0.2727170305420808 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99995700e-01 -1.49641819e-03 2.52188149e-03 2.31682797e+00] [ 1.48146090e-03 9.99981365e-01 5.92247460e-03 2.01159246e-01] [-2.53069699e-03 -5.91871307e-03 9.99979282e-01 6.01105643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.403133365 meters 0.27507284438575924 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994641e-01 -1.58289127e-03 2.86584124e-03 2.31583297e+00] [ 1.56661925e-03 9.99982691e-01 5.67129061e-03 2.02435003e-01] [-2.87476867e-03 -5.66677053e-03 9.99979812e-01 6.05340066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.463133365 meters 0.27440407481567747 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994271e-01 -1.63181139e-03 2.96582057e-03 2.31555942e+00] [ 1.61530873e-03 9.99983249e-01 5.55818575e-03 2.02974180e-01] [-2.97484080e-03 -5.55336319e-03 9.99980155e-01 6.05918686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.523133365 meters 0.2732904781374228 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994277e-01 -1.57300773e-03 2.99512310e-03 2.31550813e+00] [ 1.55588324e-03 9.99982480e-01 5.71122723e-03 2.02346168e-01] [-3.00405443e-03 -5.70653448e-03 9.99979205e-01 6.05700401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.583133365 meters 0.2731007431322689 Centerline is valid? [False, False] Translation: X:2.32, Y:0.20, Z:0.06 [[ 9.99994960e-01 -1.23160428e-03 2.92642992e-03 2.31547542e+00] [ 1.21147684e-03 9.99975670e-01 6.86966009e-03 1.97644382e-01] [-2.93481943e-03 -6.86608016e-03 9.99972122e-01 6.10562973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.643133365 meters 0.27223553401898726 Centerline is valid? [False, False] Translation: X:2.32, Y:0.19, Z:0.06 [[ 9.99996041e-01 -9.28064467e-04 2.65661846e-03 2.31626577e+00] [ 9.07234260e-04 9.99968923e-01 7.83136848e-03 1.93631702e-01] [-2.66380392e-03 -7.82892730e-03 9.99965805e-01 6.07660155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.703133365 meters 0.2725287102423505 Centerline is valid? [False, False] Translation: X:2.32, Y:0.19, Z:0.06 [[ 9.99995531e-01 -2.44454004e-03 1.72120284e-03 2.32094807e+00] [ 2.43312002e-03 9.99975220e-01 6.60603087e-03 1.90830614e-01] [-1.73730889e-03 -6.60181346e-03 9.99976699e-01 5.73737712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.763133365 meters 0.27509580598248873 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99977910e-01 6.54668160e-03 1.14875417e-03 2.34319106e+00] [-6.55341807e-03 9.99960754e-01 5.96179493e-03 1.88340823e-01] [-1.10967912e-03 -5.96919150e-03 9.99981569e-01 5.79628524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.823133365 meters 0.2754612429862283 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99996550e-01 2.36795045e-03 1.13659760e-03 2.34336643e+00] [-2.37018989e-03 9.99995245e-01 1.97301333e-03 1.87736564e-01] [-1.13192020e-03 -1.97570047e-03 9.99997408e-01 5.74589704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.883133365 meters 0.27495663408360144 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99996752e-01 2.28617347e-03 1.12646765e-03 2.34347450e+00] [-2.28816290e-03 9.99995819e-01 1.76796449e-03 1.88607282e-01] [-1.12242107e-03 -1.77053629e-03 9.99997803e-01 5.72568207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.943133365 meters 0.2744504150743566 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99996833e-01 2.28362566e-03 1.05742168e-03 2.34364424e+00] [-2.28549112e-03 9.99995828e-01 1.76632210e-03 1.88620278e-01] [-1.05338365e-03 -1.76873323e-03 9.99997881e-01 5.72407339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.003133365 meters 0.27429565672876943 Centerline is valid? [False, False] Translation: X:2.36, Y:0.19, Z:0.06 [[ 9.99984153e-01 -5.48026235e-03 1.28838966e-03 2.36368275e+00] [ 5.47648125e-03 9.99980740e-01 2.92018175e-03 1.92532918e-01] [-1.30436821e-03 -2.91307964e-03 9.99994906e-01 5.86813460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.063133365 meters 0.273790714207994 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99996511e-01 2.57408419e-03 5.92976375e-04 2.34383328e+00] [-2.57534726e-03 9.99994396e-01 2.13922689e-03 1.88370875e-01] [-5.87466502e-04 -2.14074655e-03 9.99997536e-01 5.78793665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.123133365 meters 0.27502013100099765 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99996756e-01 2.46396214e-03 6.45038812e-04 2.34373915e+00] [-2.46516375e-03 9.99995215e-01 1.86873652e-03 1.89543322e-01] [-6.40431229e-04 -1.87032058e-03 9.99998046e-01 5.77826801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.183133365 meters 0.2740041771371529 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99997249e-01 2.18986725e-03 8.40554203e-04 2.34323965e+00] [-2.19087462e-03 9.99996881e-01 1.19942230e-03 1.92539421e-01] [-8.37925006e-04 -1.20126055e-03 9.99998927e-01 5.77791446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.243133365 meters 0.2731388557345348 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99997480e-01 2.08669146e-03 8.27873660e-04 2.34333351e+00] [-2.08747194e-03 9.99997377e-01 9.43013018e-04 1.93620093e-01] [-8.25903711e-04 -9.44738805e-04 9.99999213e-01 5.76161269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.303133365 meters 0.2749560971372167 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99997560e-01 2.06090175e-03 7.94860501e-04 2.34344421e+00] [-2.06160624e-03 9.99997482e-01 8.86503633e-04 1.93882453e-01] [-7.93031502e-04 -8.88140160e-04 9.99999291e-01 5.75439906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.363133365 meters 0.27241224908063566 Centerline is valid? [False, False] Translation: X:2.34, Y:0.20, Z:0.06 [[ 9.99997874e-01 1.22713797e-04 2.05835543e-03 2.33797078e+00] [-1.20630771e-04 9.99999481e-01 -1.01207944e-03 1.95416189e-01] [-2.05847856e-03 1.01182898e-03 9.99997369e-01 6.10739671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.423133365 meters 0.27288422317873656 Centerline is valid? [False, False] Translation: X:2.34, Y:0.19, Z:0.06 [[ 9.99998407e-01 2.83622863e-04 1.76239613e-03 2.33856161e+00] [-2.82807277e-04 9.99999853e-01 -4.63003057e-04 1.93206444e-01] [-1.76252719e-03 4.62503901e-04 9.99998340e-01 6.12637481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.483133365 meters 0.2733689668589256 Centerline is valid? [False, False] Translation: X:2.36, Y:0.19, Z:0.06 [[ 9.99975613e-01 -6.35439461e-03 2.89739089e-03 2.36124020e+00] [ 6.34864055e-03 9.99977865e-01 1.99083652e-03 1.92539533e-01] [-2.90997732e-03 -1.97239348e-03 9.99993821e-01 5.94535665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54313336499996 meters 0.2728114143996124 Centerline is valid? [False, False] Translation: X:2.36, Y:0.19, Z:0.06 [[ 0.99997711 -0.00612032 0.00288305 2.36077754] [ 0.006113 0.99997809 0.00254136 0.19001428] [-0.00289854 -0.00252368 0.99999261 0.06045721] [ 0. 0. 0. 1. ]] SLAMing on 258.60313336499996 meters 0.2728976137542027 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:0.06 [[ 9.99994142e-01 1.70533130e-03 2.96765748e-03 2.34139889e+00] [-1.71054905e-03 9.99996994e-01 1.75655744e-03 1.83262681e-01] [-2.96465304e-03 -1.76162347e-03 9.99994054e-01 5.92337952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66313336499996 meters 0.2716486533405392 Centerline is valid? [False, False] Translation: X:2.34, Y:0.18, Z:0.06 [[ 9.99995578e-01 1.92188915e-03 2.26939447e-03 2.34354446e+00] [-1.92811379e-03 9.99994377e-01 2.74386781e-03 1.78289819e-01] [-2.26410830e-03 -2.74823133e-03 9.99993660e-01 5.81299769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72313336499997 meters 0.2711686009332294 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.06 [[ 9.99995200e-01 2.26197577e-03 2.11723388e-03 2.34358345e+00] [-2.26997861e-03 9.99990260e-01 3.78511468e-03 1.74062871e-01] [-2.10865142e-03 -3.78990259e-03 9.99990595e-01 5.88604847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78313336499997 meters 0.2716184348608299 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.06 [[ 9.99996186e-01 -1.79028109e-03 2.10326998e-03 2.34319701e+00] [ 1.78999345e-03 9.99998388e-01 1.38629607e-04 1.71384995e-01] [-2.10351478e-03 -1.34864239e-04 9.99997779e-01 5.96591150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84313336499997 meters 0.2713405058828043 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.06 [[ 9.99996196e-01 -1.56025145e-03 2.27454964e-03 2.34266995e+00] [ 1.55866553e-03 9.99998541e-01 6.98855116e-04 1.69008766e-01] [-2.27563672e-03 -6.95307196e-04 9.99997169e-01 5.99900989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.903133365 meters 0.26937190339272954 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.06 [[ 9.99996221e-01 -1.46700941e-03 2.32507287e-03 2.34245167e+00] [ 1.46484085e-03 9.99998491e-01 9.34113673e-04 1.68013139e-01] [-2.32643972e-03 -9.30704281e-04 9.99996861e-01 6.02287188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.963133365 meters 0.2698756641242782 Centerline is valid? [False, False] Translation: X:2.34, Y:0.17, Z:0.06 [[ 9.99996527e-01 -1.33306269e-03 2.27347587e-03 2.34259809e+00] [ 1.33017223e-03 9.99998306e-01 1.27242432e-03 1.66560201e-01] [-2.27516824e-03 -1.26939578e-03 9.99996606e-01 6.02099784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.023133365 meters 0.2712199076618686 Centerline is valid? [False, False] Translation: X:2.34, Y:0.16, Z:0.06 [[ 9.99996995e-01 -1.09524768e-03 2.19307814e-03 2.34283343e+00] [ 1.09072791e-03 9.99997281e-01 2.06105982e-03 1.63437909e-01] [-2.19532955e-03 -2.05866158e-03 9.99995471e-01 6.01210910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.083133365 meters 0.2676773118400046 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 0.99999253 -0.00261975 0.0028422 2.30526369] [ 0.00261258 0.9999934 0.00252429 0.15547646] [-0.0028488 -0.00251685 0.99999277 0.05733748] [ 0. 0. 0. 1. ]] SLAMing on 259.143133365 meters 0.27073276487531045 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.06 [[ 0.99998729 -0.00240104 0.00443396 2.34991108] [ 0.00239031 0.99999421 0.00242396 0.15162792] [-0.00443975 -0.00241333 0.99998723 0.05621494] [ 0. 0. 0. 1. ]] SLAMing on 259.203133365 meters 0.26988434401482214 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.06 [[ 9.99988199e-01 -2.10957112e-03 4.37635218e-03 2.35015027e+00] [ 2.09530838e-03 9.99992487e-01 3.26107855e-03 1.48056391e-01] [-4.38319878e-03 -3.25187026e-03 9.99985106e-01 5.59978291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.263133365 meters 0.27017994551478136 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.06 [[ 9.99988597e-01 -1.99871897e-03 4.33708931e-03 2.35026550e+00] [ 1.98337513e-03 9.99991770e-01 3.53924088e-03 1.46871366e-01] [-4.34412756e-03 -3.53059845e-03 9.99984332e-01 5.59663742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.323133365 meters 0.2698834172639622 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.06 [[ 9.99989719e-01 -1.86737861e-03 4.13219003e-03 2.35092247e+00] [ 1.85132353e-03 9.99990737e-01 3.88578901e-03 1.45305358e-01] [-4.13940799e-03 -3.87809904e-03 9.99983913e-01 5.55916601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.383133365 meters 0.27037074822413004 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99990640e-01 -1.74323939e-03 3.95990985e-03 2.35137976e+00] [ 1.72646016e-03 9.99989535e-01 4.23674962e-03 1.43812775e-01] [-3.96725408e-03 -4.22987334e-03 9.99983184e-01 5.54819321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.443133365 meters 0.26961449421325157 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99990954e-01 -1.62018205e-03 3.93275273e-03 2.35130483e+00] [ 1.60209015e-03 9.99988141e-01 4.59911528e-03 1.42340628e-01] [-3.94015749e-03 -4.59277306e-03 9.99981691e-01 5.58222065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.503133365 meters 0.27003792004309846 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99991214e-01 -1.50535780e-03 3.91216297e-03 2.35110868e+00] [ 1.48594752e-03 9.99986597e-01 4.95970144e-03 1.40864745e-01] [-3.91957666e-03 -4.95384460e-03 9.99980048e-01 5.64062443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.563133365 meters 0.26944377156900573 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99990279e-01 -1.32273006e-03 4.20627728e-03 2.34990678e+00] [ 1.29937989e-03 9.99983759e-01 5.54916358e-03 1.38487786e-01] [-4.21354901e-03 -5.54364408e-03 9.99975757e-01 5.76963427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.623133365 meters 0.26998272729156775 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99990492e-01 -1.17123278e-03 4.20037513e-03 2.34948605e+00] [ 1.14630209e-03 9.99981743e-01 5.93285110e-03 1.36813140e-01] [-4.20724720e-03 -5.92797980e-03 9.99973579e-01 5.86090450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.683133365 meters 0.2702385933800171 Centerline is valid? [False, False] Translation: X:2.35, Y:0.14, Z:0.06 [[ 9.99990792e-01 -1.04955227e-03 4.16113537e-03 2.34926531e+00] [ 1.02353239e-03 9.99979943e-01 6.25027884e-03 1.35490039e-01] [-4.16761190e-03 -6.24596223e-03 9.99971809e-01 5.92972565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.743133365 meters 0.2716421493732491 Centerline is valid? [False, False] Translation: X:2.35, Y:0.13, Z:0.06 [[ 9.99990841e-01 -9.98392857e-04 4.16193270e-03 2.34916919e+00] [ 9.71829722e-04 9.99979178e-01 6.37954753e-03 1.34973694e-01] [-4.16821533e-03 -6.37544441e-03 9.99970989e-01 5.94902069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.803133365 meters 0.2699736798612422 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:0.06 [[ 9.99990059e-01 4.03029914e-03 1.90751354e-03 2.32744046e+00] [-4.03531583e-03 9.99988390e-01 2.63346315e-03 1.38095890e-01] [-1.89687775e-03 -2.64113439e-03 9.99994713e-01 6.06585636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.863133365 meters 0.2705300526702846 Centerline is valid? [False, False] Translation: X:2.33, Y:0.14, Z:0.06 [[ 9.99991063e-01 3.75098770e-03 1.95059231e-03 2.32713028e+00] [-3.75481668e-03 9.99991024e-01 1.96304432e-03 1.41111288e-01] [-1.94321144e-03 -1.97035089e-03 9.99996171e-01 6.10429820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.923133365 meters 0.2689040223065773 Centerline is valid? [False, False] Translation: X:2.33, Y:0.15, Z:0.06 [[ 9.99992930e-01 3.28514134e-03 1.82947588e-03 2.32779013e+00] [-3.28659038e-03 9.99994287e-01 7.89606140e-04 1.46235410e-01] [-1.82687146e-03 -7.95613296e-04 9.99998015e-01 6.02567151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.983133365 meters 0.2694085866038114 Centerline is valid? [False, False] Translation: X:2.33, Y:0.15, Z:0.06 [[ 9.99994072e-01 3.01148413e-03 1.66920757e-03 2.32847953e+00] [-3.01172365e-03 9.99995455e-01 1.40995298e-04 1.49032612e-01] [-1.66877538e-03 -1.46021654e-04 9.99998597e-01 5.96067932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04313336499996 meters 0.26938418732107244 Centerline is valid? [False, False] Translation: X:2.33, Y:0.15, Z:0.06 [[ 9.99994647e-01 2.81490340e-03 1.66794747e-03 2.32856008e+00] [-2.81434122e-03 9.99995982e-01 -3.39304303e-04 1.51060546e-01] [-1.66889587e-03 3.34608313e-04 9.99998551e-01 5.94295747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10313336499996 meters 0.2703366319168975 Centerline is valid? [False, False] Translation: X:2.33, Y:0.15, Z:0.06 [[ 9.99995486e-01 2.64853652e-03 1.41901363e-03 2.32919869e+00] [-2.64742057e-03 9.99996185e-01 -7.87722542e-04 1.52895958e-01] [-1.42109453e-03 7.83962260e-04 9.99998683e-01 5.92606604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16313336499996 meters 0.2687024486357711 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 9.99985659e-01 -5.34538267e-03 -3.30612812e-04 2.31137871e+00] [ 5.34556484e-03 9.99985560e-01 5.52604167e-04 1.58351209e-01] [ 3.27654157e-04 -5.54363554e-04 9.99999793e-01 5.71426161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22313336499997 meters 0.27060883142229986 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 9.99985265e-01 -5.41756944e-03 -3.45394875e-04 2.31141503e+00] [ 5.41769783e-03 9.99985255e-01 3.71879972e-04 1.59111563e-01] [ 3.43375097e-04 -3.73745737e-04 9.99999871e-01 5.71409965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28313336499997 meters 0.26956823963682786 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 9.99984323e-01 -5.59159426e-03 -2.97917605e-04 2.31102199e+00] [ 5.59157173e-03 9.99984364e-01 -7.63776465e-05 1.61040172e-01] [ 2.98340019e-04 7.47106214e-05 9.99999953e-01 5.77599645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34313336499997 meters 0.2678364968549999 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 9.99983580e-01 -5.71913557e-03 -3.61096173e-04 2.31111530e+00] [ 5.71899435e-03 9.99983570e-01 -3.90911532e-04 1.62353380e-01] [ 3.63325916e-04 3.88840006e-04 9.99999858e-01 5.78848078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.403133365 meters 0.2691272367874292 Centerline is valid? [False, False] Translation: X:2.31, Y:0.16, Z:0.06 [[ 9.99983455e-01 -5.72445775e-03 -5.65391441e-04 2.31142212e+00] [ 5.72422726e-03 9.99983533e-01 -4.08439051e-04 1.62469463e-01] [ 5.67720223e-04 4.05195865e-04 9.99999757e-01 5.82262025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.463133365 meters 0.2688043158049312 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.06 [[ 9.99994961e-01 3.17331613e-03 8.62023891e-05 2.32960667e+00] [-3.17322070e-03 9.99994376e-01 -1.08559017e-03 1.56827614e-01] [-8.96468251e-05 1.08531117e-03 9.99999407e-01 5.98484773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.523133365 meters 0.2699532259148113 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.06 [[ 9.99994518e-01 3.30496764e-03 2.05007423e-04 2.32922401e+00] [-3.30482849e-03 9.99994311e-01 -6.75417274e-04 1.55167790e-01] [-2.07238489e-04 6.74736057e-04 9.99999751e-01 6.00752463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.583133365 meters 0.270939839352129 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.06 [[ 9.99994571e-01 3.28219125e-03 2.93362284e-04 2.32858850e+00] [-3.28197280e-03 9.99994339e-01 -7.42042127e-04 1.55478617e-01] [-2.95796147e-04 7.41075291e-04 9.99999682e-01 6.11519713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.643133365 meters 0.26858067593381646 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.06 [[ 9.99994958e-01 3.10414452e-03 6.69880186e-04 2.32740800e+00] [-3.10319469e-03 9.99994185e-01 -1.41432470e-03 1.58278479e-01] [-6.74266559e-04 1.41223880e-03 9.99998775e-01 6.20551613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.703133365 meters 0.27089933847097275 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.06 [[ 9.99995896e-01 2.84361884e-03 -3.49126934e-04 2.33011247e+00] [-2.84459188e-03 9.99991981e-01 -2.81894361e-03 1.64277075e-01] [ 3.41108134e-04 2.81992516e-03 9.99995966e-01 6.08857639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.763133365 meters 0.2694037532674193 Centerline is valid? [False, False] Translation: X:2.31, Y:0.17, Z:0.06 [[ 9.99995937e-01 -2.41199004e-03 -1.51915002e-03 2.30797548e+00] [ 2.41274209e-03 9.99996968e-01 4.93405766e-04 1.70015169e-01] [ 1.51795532e-03 -4.97069078e-04 9.99998724e-01 6.13156368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.823133365 meters 0.2702348778219566 Centerline is valid? [False, False] Translation: X:2.31, Y:0.17, Z:0.06 [[ 9.99995095e-01 -2.71072949e-03 -1.56882336e-03 2.30821816e+00] [ 2.71035383e-03 9.99996298e-01 -2.41528681e-04 1.73095074e-01] [ 1.56947227e-03 2.37275430e-04 9.99998740e-01 6.10696944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.883133365 meters 0.269298122064023 Centerline is valid? [False, False] Translation: X:2.31, Y:0.18, Z:0.06 [[ 9.99994101e-01 -5.14281389e-04 -3.39600433e-03 2.31450544e+00] [ 5.18701000e-04 9.99999020e-01 1.30066255e-03 1.78893999e-01] [ 3.39533210e-03 -1.30241639e-03 9.99993388e-01 5.79348848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.943133365 meters 0.2705804315610496 Centerline is valid? [False, False] Translation: X:2.31, Y:0.18, Z:0.06 [[ 9.99993556e-01 -8.16501078e-04 -3.49600742e-03 2.31477223e+00] [ 8.18526499e-04 9.99999498e-01 5.77961078e-04 1.81943088e-01] [ 3.49553376e-03 -5.80818928e-04 9.99993722e-01 5.78974952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.003133365 meters 0.2711444807546377 Centerline is valid? [False, False] Translation: X:2.31, Y:0.19, Z:0.06 [[ 9.99993046e-01 -1.19694801e-03 -3.53197815e-03 2.31468329e+00] [ 1.19556082e-03 9.99999207e-01 -3.94838167e-04 1.86125908e-01] [ 3.53244795e-03 3.90612727e-04 9.99993685e-01 5.82610724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.063133365 meters 0.27057271892164125 Centerline is valid? [False, False] Translation: X:2.31, Y:0.19, Z:0.06 [[ 9.99992225e-01 -1.74205950e-03 -3.53756368e-03 2.31449316e+00] [ 1.73569310e-03 9.99996870e-01 -1.80193102e-03 1.92061535e-01] [ 3.54069168e-03 1.79577688e-03 9.99992119e-01 5.86878852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.123133365 meters 0.27045360851705735 Centerline is valid? [False, False] Translation: X:2.31, Y:0.19, Z:0.06 [[ 9.99991548e-01 -1.95730268e-03 -3.61562455e-03 2.31456863e+00] [ 1.94903738e-03 9.99995483e-01 -2.28810440e-03 1.94138200e-01] [ 3.62008673e-03 2.28103807e-03 9.99990846e-01 5.89556460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.183133365 meters 0.2706451136411344 Centerline is valid? [False, False] Translation: X:2.31, Y:0.20, Z:0.06 [[ 9.99997527e-01 1.50929255e-04 -2.21878800e-03 2.30888515e+00] [-1.52827261e-04 9.99999623e-01 -8.55279728e-04 1.97919065e-01] [ 2.21865808e-03 8.55616704e-04 9.99997173e-01 6.28858992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.243133365 meters 0.2727336754352767 Centerline is valid? [False, False] Translation: X:2.31, Y:0.20, Z:0.06 [[ 9.99998003e-01 8.45551231e-05 -1.99665551e-03 2.30839558e+00] [-8.66762884e-05 9.99999432e-01 -1.06229656e-03 1.98699635e-01] [ 1.99656456e-03 1.06246750e-03 9.99997442e-01 6.28956841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.303133365 meters 0.2707402159224256 Centerline is valid? [False, False] Translation: X:2.29, Y:0.20, Z:0.06 [[ 9.99978425e-01 -5.95246538e-03 -2.77803438e-03 2.28688118e+00] [ 5.95861116e-03 9.99979807e-01 2.20926781e-03 2.00945300e-01] [ 2.76482769e-03 -2.22577337e-03 9.99993701e-01 6.29087793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.363133365 meters 0.2720966734995393 Centerline is valid? [False, False] Translation: X:2.31, Y:0.20, Z:0.06 [[ 9.99998292e-01 3.91367161e-04 -1.80649718e-03 2.30891800e+00] [-3.92813855e-04 9.99999602e-01 -8.00543197e-04 1.99949492e-01] [ 1.80618316e-03 8.01251447e-04 9.99998048e-01 6.19547006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.423133365 meters 0.2723094497660756 Centerline is valid? [False, False] Translation: X:2.29, Y:0.20, Z:0.06 [[ 0.99998293 -0.00513401 -0.00278855 2.28676219] [ 0.00514121 0.99998345 0.00258025 0.20323929] [ 0.00277525 -0.00259454 0.99999278 0.06257501] [ 0. 0. 0. 1. ]] SLAMing on 261.483133365 meters 0.2707017153427831 Centerline is valid? [False, False] Translation: X:2.29, Y:0.21, Z:0.06 [[ 9.99981675e-01 -5.28344044e-03 -2.95541521e-03 2.28742020e+00] [ 5.28985629e-03 9.99983660e-01 2.16729080e-03 2.05002054e-01] [ 2.94391617e-03 -2.18288481e-03 9.99993284e-01 6.19854252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54313336499996 meters 0.27167806318780174 Centerline is valid? [False, False] Translation: X:2.29, Y:0.21, Z:0.06 [[ 9.99979284e-01 -5.59961243e-03 -3.17412420e-03 2.28800676e+00] [ 5.60361967e-03 9.99983512e-01 1.25498757e-03 2.08743323e-01] [ 3.16704442e-03 -1.27274816e-03 9.99994175e-01 6.17859530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60313336499996 meters 0.26942294406629874 Centerline is valid? [False, False] Translation: X:2.27, Y:0.21, Z:0.06 [[ 9.99986741e-01 3.27021985e-03 -3.97788459e-03 2.26679608e+00] [-3.26911836e-03 9.99994616e-01 2.83371795e-04 2.12442238e-01] [ 3.97878987e-03 -2.70363862e-04 9.99992048e-01 6.13624557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66313336499996 meters 0.27045086520134526 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.06 [[ 9.99987422e-01 3.00783225e-03 -4.01361451e-03 2.26708615e+00] [-3.00938109e-03 9.99995400e-01 -3.79912229e-04 2.15255505e-01] [ 4.01245334e-03 3.91985946e-04 9.99991873e-01 6.09801456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72313336499997 meters 0.271807744098358 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.06 [[ 9.99987915e-01 2.48149779e-03 -4.24394781e-03 2.26800220e+00] [-2.48855684e-03 9.99995528e-01 -1.65885020e-03 2.20983289e-01] [ 4.23981240e-03 1.66939146e-03 9.99989619e-01 6.05006945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78313336499997 meters 0.27249790207450414 Centerline is valid? [False, False] Translation: X:2.27, Y:0.22, Z:0.06 [[ 9.99988905e-01 2.09069530e-03 -4.22112322e-03 2.26781832e+00] [-2.10171339e-03 9.99994392e-01 -2.60748032e-03 2.24951086e-01] [ 4.21564810e-03 2.61632298e-03 9.99987692e-01 6.08331259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84313336499997 meters 0.2726142675958474 Centerline is valid? [False, False] Translation: X:2.26, Y:0.23, Z:0.06 [[ 9.99987435e-01 4.10244526e-03 -2.88080154e-03 2.26229283e+00] [-4.10713115e-03 9.99990249e-01 -1.62256226e-03 2.33325680e-01] [ 2.87411698e-03 1.63437370e-03 9.99994534e-01 6.45455386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.903133365 meters 0.2713331583649405 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99998933 0.00369673 -0.00276907 2.26175578] [-0.00370384 0.99998984 -0.00256934 0.23741389] [ 0.00275954 0.00257957 0.99999287 0.06515447] [ 0. 0. 0. 1. ]] SLAMing on 261.963133365 meters 0.2711175950822974 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99999087 0.00335317 -0.00264946 2.26141799] [-0.00336209 0.99998867 -0.0033702 0.24080796] [ 0.00263813 0.00337908 0.99999081 0.0653441 ] [ 0. 0. 0. 1. ]] SLAMing on 262.023133365 meters 0.27361119138716433 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.06 [[ 0.99999031 0.00313158 -0.00309353 2.26281888] [-0.00314397 0.99998703 -0.00400813 0.24361685] [ 0.00308094 0.00401782 0.99998718 0.06430404] [ 0. 0. 0. 1. ]] SLAMing on 262.083133365 meters 0.27460096363275693 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.06 [[ 0.9999895 0.00314593 -0.00333298 2.26361591] [-0.00315915 0.99998713 -0.0039705 0.24344442] [ 0.00332045 0.00398098 0.99998656 0.06366843] [ 0. 0. 0. 1. ]] SLAMing on 262.143133365 meters 0.2734994340862661 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.06 [[ 0.99998921 0.00318354 -0.00338432 2.26375724] [-0.00319667 0.99998736 -0.00388126 0.24306916] [ 0.00337192 0.00389204 0.99998674 0.06361041] [ 0. 0. 0. 1. ]] SLAMing on 262.203133365 meters 0.2741111502083666 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:0.07 [[ 9.99991385e-01 -2.96260195e-03 -2.90727343e-03 2.23925440e+00] [ 2.95959181e-03 9.99995080e-01 -1.03913790e-03 2.44664784e-01] [ 2.91033768e-03 1.03052460e-03 9.99995234e-01 6.56895430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.263133365 meters 0.27058616356781734 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.07 [[ 9.99991390e-01 -3.12544988e-03 -2.72955959e-03 2.23839132e+00] [ 3.12133675e-03 9.99993989e-01 -1.50984581e-03 2.46654353e-01] [ 2.73426213e-03 1.50131294e-03 9.99995135e-01 6.68638564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.323133365 meters 0.275635692071137 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.07 [[ 9.99979174e-01 5.85130774e-03 -2.72283067e-03 2.26117203e+00] [-5.85618950e-03 9.99981253e-01 -1.78839122e-03 2.45768018e-01] [ 2.71231520e-03 1.80429939e-03 9.99994694e-01 6.58967092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.383133365 meters 0.27424943730723206 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.06 [[ 9.99989358e-01 -2.19997885e-03 -4.05518837e-03 2.24253785e+00] [ 2.19387315e-03 9.99996454e-01 -1.50948469e-03 2.54372665e-01] [ 4.05849482e-03 1.50057206e-03 9.99990638e-01 6.45001716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.443133365 meters 0.27298072171354404 Centerline is valid? [False, False] Translation: X:2.24, Y:0.26, Z:0.06 [[ 9.99987942e-01 -2.39751341e-03 -4.28579863e-03 2.24313530e+00] [ 2.38908000e-03 9.99995202e-01 -1.97179522e-03 2.56323591e-01] [ 4.29050547e-03 1.96153232e-03 9.99988872e-01 6.44622009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.503133365 meters 0.2729616264829942 Centerline is valid? [False, False] Translation: X:2.24, Y:0.26, Z:0.06 [[ 0.99998652 -0.00270258 -0.00443426 2.24354782] [ 0.00269089 0.9999929 -0.00263989 0.25910344] [ 0.00444136 0.00262792 0.99998668 0.06441202] [ 0. 0. 0. 1. ]] SLAMing on 262.563133365 meters 0.2732042887918882 Centerline is valid? [False, False] Translation: X:2.24, Y:0.26, Z:0.06 [[ 0.99998631 -0.00279321 -0.00442452 2.24346932] [ 0.0027805 0.999992 -0.00287623 0.26005292] [ 0.00443252 0.00286388 0.99998608 0.06454067] [ 0. 0. 0. 1. ]] SLAMing on 262.623133365 meters 0.2744741516657052 Centerline is valid? [False, False] Translation: X:2.24, Y:0.26, Z:0.06 [[ 0.99998576 -0.00274299 -0.00457785 2.24391603] [ 0.00273044 0.9999925 -0.00274573 0.25952904] [ 0.00458535 0.00273319 0.99998575 0.06430354] [ 0. 0. 0. 1. ]] SLAMing on 262.683133365 meters 0.2751173578527347 Centerline is valid? [False, False] Translation: X:2.24, Y:0.26, Z:0.06 [[ 0.9999871 -0.00262798 -0.00434587 2.2431794 ] [ 0.00261779 0.99999382 -0.00234869 0.2578293 ] [ 0.00435202 0.00233729 0.9999878 0.06473231] [ 0. 0. 0. 1. ]] SLAMing on 262.743133365 meters 0.2774915693966322 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.07 [[ 0.99998123 0.00548943 -0.00272009 2.26214615] [-0.00549667 0.99998136 -0.00266009 0.25089566] [ 0.00270544 0.00267499 0.99999276 0.06559848] [ 0. 0. 0. 1. ]] SLAMing on 262.803133365 meters 0.27654523543848347 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.07 [[ 9.99980092e-01 5.72766675e-03 -2.64761558e-03 2.26204286e+00] [-5.73324178e-03 9.99981354e-01 -2.10290687e-03 2.48545714e-01] [ 2.63552146e-03 2.11804443e-03 9.99994284e-01 6.53544300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.863133365 meters 0.2749713674113324 Centerline is valid? [False, False] Translation: X:2.26, Y:0.25, Z:0.07 [[ 9.99995946e-01 1.68416483e-03 -2.29619293e-03 2.26076001e+00] [-1.69698222e-03 9.99982927e-01 -5.59154342e-03 2.45389368e-01] [ 2.28673665e-03 5.59541735e-03 9.99981731e-01 6.62100910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.923133365 meters 0.27369477943762816 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.07 [[ 9.99990286e-01 -3.91817141e-03 -2.01868311e-03 2.23691566e+00] [ 3.91376273e-03 9.99989958e-01 -2.18328113e-03 2.46498935e-01] [ 2.02721731e-03 2.17535928e-03 9.99995579e-01 6.76013175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.983133365 meters 0.2711587746417535 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.07 [[ 9.99990852e-01 -3.89595486e-03 -1.76573302e-03 2.23610059e+00] [ 3.89222748e-03 9.99990200e-01 -2.10949559e-03 2.46140705e-01] [ 1.77393421e-03 2.10260365e-03 9.99996216e-01 6.81918328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04313336499996 meters 0.27256422317465806 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 9.99987864e-01 4.42836913e-03 -2.15896732e-03 2.25753269e+00] [-4.43409645e-03 9.99986644e-01 -2.65527596e-03 2.40903925e-01] [ 2.14717994e-03 2.66481681e-03 9.99994144e-01 6.84574927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10313336499996 meters 0.27354131829109507 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 9.99987714e-01 4.43093619e-03 -2.22227523e-03 2.25761084e+00] [-4.43683485e-03 9.99986629e-01 -2.65646478e-03 2.40877105e-01] [ 2.21047489e-03 2.66629201e-03 9.99994002e-01 6.86041509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16313336499996 meters 0.27253807440279454 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99998772 0.00436435 -0.00234643 2.25806952] [-0.00437096 0.99998648 -0.00281807 0.24158066] [ 0.0023341 0.00282829 0.99999328 0.0682772 ] [ 0. 0. 0. 1. ]] SLAMing on 263.22313336499997 meters 0.2731481228524621 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99998821 0.00426338 -0.0023261 2.25802559] [-0.00427045 0.99998625 -0.00304265 0.24257558] [ 0.0023131 0.00305254 0.99999267 0.06828448] [ 0. 0. 0. 1. ]] SLAMing on 263.28313336499997 meters 0.2721895330306255 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99998835 0.00424005 -0.00230849 2.25802018] [-0.0042472 0.99998617 -0.00310125 0.24282138] [ 0.00229531 0.00311101 0.99999253 0.06821389] [ 0. 0. 0. 1. ]] SLAMing on 263.34313336499997 meters 0.2726537315688375 Centerline is valid? [False, False] Translation: X:2.24, Y:0.24, Z:0.07 [[ 9.99983168e-01 -3.76500337e-03 -4.41467146e-03 2.23991701e+00] [ 3.75692067e-03 9.99991254e-01 -1.83773774e-03 2.44790958e-01] [ 4.42155194e-03 1.82112124e-03 9.99988567e-01 6.62187467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.403133365 meters 0.2728079736843908 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 9.99977787e-01 4.99278185e-03 -4.41550103e-03 2.26102752e+00] [-5.00125685e-03 9.99985669e-01 -1.91041826e-03 2.38741022e-01] [ 4.40589945e-03 1.93245888e-03 9.99988427e-01 6.56946777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.463133365 meters 0.27410827043399993 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 9.99978317e-01 5.01187684e-03 -4.27156680e-03 2.26058454e+00] [-5.01986057e-03 9.99985670e-01 -1.86037098e-03 2.38495749e-01] [ 4.26218164e-03 1.88177331e-03 9.99989146e-01 6.58947910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.523133365 meters 0.2718014988580185 Centerline is valid? [False, False] Translation: X:2.26, Y:0.24, Z:0.07 [[ 0.99998179 0.00488939 -0.00353682 2.25845904] [-0.00489773 0.99998523 -0.00235456 0.24052922] [ 0.00352526 0.00237184 0.99999097 0.06754975] [ 0. 0. 0. 1. ]] SLAMing on 263.583133365 meters 0.271465327248985 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.07 [[ 9.99988517e-01 -3.38112879e-03 -3.39623391e-03 2.23981840e+00] [ 3.37503387e-03 9.99992687e-01 -1.79874311e-03 2.47914472e-01] [ 3.40229086e-03 1.78726005e-03 9.99992615e-01 6.58101760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.643133365 meters 0.2696175957754819 Centerline is valid? [False, False] Translation: X:2.22, Y:0.25, Z:0.06 [[ 0.99997125 0.00536267 -0.00536127 2.22025746] [-0.00537765 0.99998167 -0.00278246 0.25035375] [ 0.00534625 0.00281121 0.99998176 0.06470422] [ 0. 0. 0. 1. ]] SLAMing on 263.703133365 meters 0.2739285598616214 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99984946e-01 -1.23759253e-03 -5.34562670e-03 2.24514788e+00] [ 1.23692617e-03 9.99999227e-01 -1.27959307e-04 2.50132224e-01] [ 5.34578093e-03 1.21345235e-04 9.99985704e-01 6.29026146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.763133365 meters 0.2741391602452883 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99983868e-01 -1.33815730e-03 -5.52019753e-03 2.24568005e+00] [ 1.33618332e-03 9.99999042e-01 -3.61263017e-04 2.51189026e-01] [ 5.52067567e-03 3.53881193e-04 9.99984698e-01 6.27008295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.823133365 meters 0.271797860138471 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99984488e-01 -1.39134900e-03 -5.39336353e-03 2.24514071e+00] [ 1.38871676e-03 9.99998915e-01 -4.91766035e-04 2.51712087e-01] [ 5.39404189e-03 4.84268552e-04 9.99985335e-01 6.32188548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.883133365 meters 0.2727454032952012 Centerline is valid? [False, False] Translation: X:2.24, Y:0.25, Z:0.06 [[ 9.99984910e-01 -1.41981341e-03 -5.30703937e-03 2.24485861e+00] [ 1.41685508e-03 9.99998839e-01 -5.61153567e-04 2.51989391e-01] [ 5.30782994e-03 5.53625794e-04 9.99985760e-01 6.33830718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.943133365 meters 0.2723887928331446 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:0.06 [[ 9.99995538e-01 -3.40149451e-04 -2.96778212e-03 2.20511488e+00] [ 3.39304755e-04 9.99999902e-01 -2.85120811e-04 2.55421137e-01] [ 2.96787881e-03 2.84112556e-04 9.99995555e-01 6.01157285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.003133365 meters 0.2736805083274179 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99999092e-01 -1.85795035e-04 -1.33457181e-03 2.24801911e+00] [ 1.86263945e-04 9.99999921e-01 3.51240100e-04 2.53213476e-01] [ 1.33450645e-03 -3.51488363e-04 9.99999048e-01 6.04733132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.063133365 meters 0.2747645253078524 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99998997e-01 -2.37572488e-04 -1.39626112e-03 2.24809314e+00] [ 2.37889427e-04 9.99999946e-01 2.26830021e-04 2.53735016e-01] [ 1.39620716e-03 -2.27161949e-04 9.99999000e-01 6.06409178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.123133365 meters 0.27389998282526024 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99999099e-01 -2.47378707e-04 -1.31907674e-03 2.24777941e+00] [ 2.47646692e-04 9.99999949e-01 2.03001421e-04 2.53828107e-01] [ 1.31902646e-03 -2.03327903e-04 9.99999109e-01 6.09083386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.183133365 meters 0.2745919087684377 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99999037e-01 -2.72147161e-04 -1.36068160e-03 2.24800645e+00] [ 2.72341534e-04 9.99999953e-01 1.42666223e-04 2.54099344e-01] [ 1.36064271e-03 -1.43036656e-04 9.99999064e-01 6.06469739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.243133365 meters 0.27445527055428676 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99999010e-01 -2.90151233e-04 -1.37681507e-03 2.24810267e+00] [ 2.90294507e-04 9.99999952e-01 1.03863319e-04 2.54286103e-01] [ 1.37678487e-03 -1.04262898e-04 9.99999047e-01 6.05395208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.303133365 meters 0.27289933353677354 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99999003e-01 -3.76399958e-04 -1.36082114e-03 2.24782424e+00] [ 3.76254246e-04 9.99999923e-01 -1.07330464e-04 2.55150404e-01] [ 1.36086144e-03 1.06818342e-04 9.99999068e-01 6.10550512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.363133365 meters 0.2725999134325485 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99998816e-01 -3.79839435e-04 -1.49150434e-03 2.24822648e+00] [ 3.79661228e-04 9.99999921e-01 -1.19762125e-04 2.55208218e-01] [ 1.49154971e-03 1.19195717e-04 9.99998881e-01 6.08577382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.423133365 meters 0.2748108531671919 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99998503e-01 -3.56314242e-04 -1.69307723e-03 2.24884883e+00] [ 3.56191938e-04 9.99999934e-01 -7.25389513e-05 2.54984348e-01] [ 1.69310297e-03 7.19357822e-05 9.99998564e-01 6.05409931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.483133365 meters 0.2722315897351815 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99998758e-01 -3.78443911e-04 -1.52994965e-03 2.24821420e+00] [ 3.78239056e-04 9.99999919e-01 -1.34183883e-04 2.55214177e-01] [ 1.53000030e-03 1.33605030e-04 9.99998821e-01 6.11419988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54313336499996 meters 0.27189414850082766 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99999084e-01 -4.59015906e-04 -1.27335236e-03 2.24729444e+00] [ 4.58530564e-04 9.99999822e-01 -3.81418881e-04 2.56063103e-01] [ 1.27352721e-03 3.80834660e-04 9.99999117e-01 6.20163378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60313336499996 meters 0.27120367500840764 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99998663e-01 -5.15946793e-04 -1.55170442e-03 2.24770181e+00] [ 5.15049547e-04 9.99999700e-01 -5.78576820e-04 2.56878381e-01] [ 1.55200247e-03 5.77776842e-04 9.99998629e-01 6.24932540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66313336499996 meters 0.2694044446228516 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99998683e-01 -5.72999822e-04 -1.51833340e-03 2.24758236e+00] [ 5.71886699e-04 9.99999567e-01 -7.33454352e-04 2.57505447e-01] [ 1.51875301e-03 7.32585071e-04 9.99998578e-01 6.26014536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72313336499997 meters 0.2717286623596104 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99998910e-01 -8.55607132e-05 1.47404497e-03 2.28841396e+00] [ 8.55100726e-05 9.99999996e-01 3.44178772e-05 2.56505663e-01] [-1.47404791e-03 -3.42917940e-05 9.99998913e-01 6.31525422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78313336499997 meters 0.27162831225798595 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99998944e-01 -1.11869035e-04 1.44864816e-03 2.28856038e+00] [ 1.11938084e-04 9.99999993e-01 -4.75833327e-05 2.56910210e-01] [-1.44864283e-03 4.77454413e-05 9.99998950e-01 6.30002990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84313336499997 meters 0.26996702769392067 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99998560e-01 -1.36626228e-04 1.69154901e-03 2.28782431e+00] [ 1.36830015e-04 9.99999983e-01 -1.20358530e-04 2.57158948e-01] [-1.69153254e-03 1.20589812e-04 9.99998562e-01 6.34214014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.903133365 meters 0.2691231423447381 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99997757e-01 -1.84037395e-04 2.10979758e-03 2.28665364e+00] [ 1.84610097e-04 9.99999946e-01 -2.71257691e-04 2.57795646e-01] [-2.10974755e-03 2.71646572e-04 9.99997738e-01 6.40098425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.963133365 meters 0.2702040161123188 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99998034e-01 -2.42164228e-04 1.96816778e-03 2.28729242e+00] [ 2.43099796e-04 9.99999858e-01 -4.75124135e-04 2.58721729e-01] [-1.96805245e-03 4.75601662e-04 9.99997950e-01 6.32874483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.023133365 meters 0.2699357543657529 Centerline is valid? [False, False] Translation: X:2.27, Y:0.26, Z:0.06 [[ 9.99978624e-01 6.33983882e-03 -1.59962990e-03 2.27015757e+00] [-6.34490034e-03 9.99974817e-01 -3.17919777e-03 2.59123458e-01] [ 1.57943401e-03 3.18927930e-03 9.99993667e-01 6.20634932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.083133365 meters 0.2689640526463187 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 0.99998986 -0.00284207 -0.00349267 2.2921808 ] [ 0.0028325 0.99999223 -0.00274103 0.26273457] [ 0.00350044 0.00273111 0.99999014 0.06246464] [ 0. 0. 0. 1. ]] SLAMing on 265.143133365 meters 0.2699534375765736 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 0.99999025 -0.00291089 -0.00331965 2.29184252] [ 0.00290113 0.99999147 -0.00294073 0.26356032] [ 0.00332818 0.00293107 0.99999017 0.0623346 ] [ 0. 0. 0. 1. ]] SLAMing on 265.203133365 meters 0.26881914971998827 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 0.99998957 -0.00303646 -0.00341195 2.2920355 ] [ 0.00302509 0.99998987 -0.00333265 0.2650854 ] [ 0.00342203 0.0033223 0.99998863 0.0623499 ] [ 0. 0. 0. 1. ]] SLAMing on 265.263133365 meters 0.2702712014725259 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 0.99998939 -0.00318509 -0.00332868 2.29185874] [ 0.00317225 0.99998754 -0.00385399 0.2671429 ] [ 0.00334092 0.00384339 0.99998703 0.0623493 ] [ 0. 0. 0. 1. ]] SLAMing on 265.323133365 meters 0.2697088945452993 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99994000e-01 1.11631835e-03 -3.27944321e-03 2.29148610e+00] [-1.11523982e-03 9.99999323e-01 3.30685759e-04 2.67481887e-01] [ 3.27981014e-03 -3.27026409e-04 9.99994568e-01 6.27960035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.383133365 meters 0.27046167780581243 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.06 [[ 0.99998093 -0.00497982 -0.00365357 2.31541222] [ 0.00499161 0.99998234 0.00322644 0.27056361] [ 0.00363744 -0.00324461 0.99998812 0.06168364] [ 0. 0. 0. 1. ]] SLAMing on 265.443133365 meters 0.27010438354545546 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 0.99998796 0.00417562 -0.00257689 2.29288206] [-0.00416822 0.99998719 0.00287054 0.26877335] [ 0.00258885 -0.00285977 0.99999256 0.06135044] [ 0. 0. 0. 1. ]] SLAMing on 265.503133365 meters 0.2701068726602274 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.07 [[ 9.99996357e-01 2.30505179e-03 -1.40445390e-03 2.28727451e+00] [-2.30367867e-03 9.99996868e-01 9.78526063e-04 2.69605860e-01] [ 1.40670505e-03 -9.75287088e-04 9.99998535e-01 6.52666252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.563133365 meters 0.267820082505971 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996063e-01 2.37728127e-03 -1.49048244e-03 2.28778499e+00] [-2.37554352e-03 9.99996498e-01 1.16658806e-03 2.68810711e-01] [ 1.49325053e-03 -1.16304276e-03 9.99998209e-01 6.45914968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.623133365 meters 0.26928069197602655 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996170e-01 2.34706852e-03 -1.46659943e-03 2.28791592e+00] [-2.34546134e-03 9.99996648e-01 1.09661415e-03 2.69151453e-01] [ 1.46916835e-03 -1.09317009e-03 9.99998323e-01 6.41777085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.683133365 meters 0.27021725830542626 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996622e-01 2.21987027e-03 -1.35216804e-03 2.28764168e+00] [-2.21888824e-03 9.99997274e-01 7.27334465e-04 2.70683179e-01] [ 1.35377894e-03 -7.24331698e-04 9.99998821e-01 6.41778243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.743133365 meters 0.2704526235623929 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996896e-01 2.08281987e-03 -1.36722196e-03 2.28785644e+00] [-2.08231870e-03 9.99997764e-01 3.67882955e-04 2.72211502e-01] [ 1.36798514e-03 -3.65034822e-04 9.99998998e-01 6.37752830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.803133365 meters 0.2717610466641811 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996979e-01 2.01251853e-03 -1.41108474e-03 2.28818234e+00] [-2.01226174e-03 9.99997959e-01 1.83374956e-04 2.72972460e-01] [ 1.41145090e-03 -1.80534930e-04 9.99998988e-01 6.32605169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.863133365 meters 0.27122722394487925 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99996855e-01 2.07709857e-03 -1.40528299e-03 2.28832738e+00] [-2.07662321e-03 9.99997786e-01 3.39638980e-04 2.72308677e-01] [ 1.40598534e-03 -3.36719669e-04 9.99998955e-01 6.29486629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.923133365 meters 0.2701757986039289 Centerline is valid? [False, False] Translation: X:2.27, Y:0.27, Z:0.06 [[ 9.99979047e-01 -5.79729468e-03 -2.88036157e-03 2.26936710e+00] [ 5.80246337e-03 9.99981565e-01 1.78935460e-03 2.72781122e-01] [ 2.86993505e-03 -1.80603030e-03 9.99994251e-01 6.12282411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.983133365 meters 0.2718150792741431 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99991027e-01 2.56251466e-03 -3.37326783e-03 2.29150532e+00] [-2.55876423e-03 9.99996104e-01 1.11565733e-03 2.69653485e-01] [ 3.37611357e-03 -1.10701593e-03 9.99993688e-01 6.18286879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04313336499996 meters 0.27235857021526894 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99990743e-01 2.59647282e-03 -3.43119407e-03 2.29156801e+00] [-2.59234286e-03 9.99995911e-01 1.20755114e-03 2.69284356e-01] [ 3.43431541e-03 -1.19864513e-03 9.99993384e-01 6.19872112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10313336499996 meters 0.27204892247346435 Centerline is valid? [False, False] Translation: X:2.29, Y:0.27, Z:0.06 [[ 9.99990501e-01 2.87835588e-03 -3.27296141e-03 2.29103262e+00] [-2.87225268e-03 9.99994131e-01 1.86790550e-03 2.66444543e-01] [ 3.27831869e-03 -1.85848699e-03 9.99992899e-01 6.23728210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16313336499996 meters 0.27124998068587175 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 0.99998995 0.00312692 -0.00321283 2.29074371] [-0.00311895 0.99999205 0.0024838 0.26386011] [ 0.00322057 -0.00247375 0.99999175 0.06272456] [ 0. 0. 0. 1. ]] SLAMing on 266.22313336499997 meters 0.2692535888104191 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.07 [[ 9.99997368e-01 9.08609250e-04 -2.10684295e-03 2.28548448e+00] [-9.06885331e-04 9.99999253e-01 8.19058314e-04 2.59603707e-01] [ 2.10758559e-03 -8.17145493e-04 9.99997445e-01 6.62633717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28313336499997 meters 0.2683155669396577 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.07 [[ 9.99997477e-01 1.15831531e-03 -1.92478927e-03 2.28517602e+00] [-1.15554631e-03 9.99998297e-01 1.43908795e-03 2.57033883e-01] [ 1.92645291e-03 -1.43686014e-03 9.99997112e-01 6.61050188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34313336499997 meters 0.2695596878162817 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.07 [[ 9.99997326e-01 1.22666721e-03 -1.96039654e-03 2.28548773e+00] [-1.22350146e-03 9.99997947e-01 1.61523466e-03 2.56291355e-01] [ 1.96237387e-03 -1.61283179e-03 9.99996774e-01 6.56240525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.403133365 meters 0.2702709904723641 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.07 [[ 9.99997078e-01 1.25141956e-03 -2.06840933e-03 2.28574296e+00] [-1.24794321e-03 9.99997808e-01 1.68112268e-03 2.56015507e-01] [ 2.07050858e-03 -1.67853651e-03 9.99996448e-01 6.56253098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.463133365 meters 0.26993985155352224 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.07 [[ 9.99996978e-01 1.41947467e-03 -2.00725225e-03 2.28555464e+00] [-1.41522004e-03 9.99996753e-01 2.11946195e-03 2.54201374e-01] [ 2.01025426e-03 -2.11661484e-03 9.99995739e-01 6.57673160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.523133365 meters 0.2701474592200897 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.07 [[ 9.99996051e-01 1.58629992e-03 -2.31984664e-03 2.28664893e+00] [-1.58018289e-03 9.99995276e-01 2.63628670e-03 2.51898805e-01] [ 2.32401762e-03 -2.63261051e-03 9.99993834e-01 6.50009118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.583133365 meters 0.26973906386089863 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.06 [[ 9.99995236e-01 1.72999974e-03 -2.55657248e-03 2.28742710e+00] [-1.72226660e-03 9.99993945e-01 3.02392024e-03 2.50249592e-01] [ 2.56178838e-03 -3.01950274e-03 9.99992160e-01 6.45083118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.643133365 meters 0.27011544270119653 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.06 [[ 9.99994744e-01 1.85272839e-03 -2.66057044e-03 2.28760648e+00] [-1.84387945e-03 9.99992774e-01 3.32456771e-03 2.48980843e-01] [ 2.66671074e-03 -3.31964446e-03 9.99990934e-01 6.46846651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.703133365 meters 0.26929636438785315 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.06 [[ 9.99994642e-01 1.88659955e-03 -2.67538344e-03 2.28763811e+00] [-1.87748999e-03 9.99992446e-01 3.40338716e-03 2.48640074e-01] [ 2.68178406e-03 -3.39834591e-03 9.99990630e-01 6.46964140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.763133365 meters 0.27073399078977245 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.07 [[ 9.99994882e-01 1.89919587e-03 -2.57461890e-03 2.28724833e+00] [-1.89034157e-03 9.99992306e-01 3.43715335e-03 2.48527885e-01] [ 2.58112692e-03 -3.43226885e-03 9.99990779e-01 6.50419322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.823133365 meters 0.2685583282567342 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.07 [[ 9.99968974e-01 7.18930126e-03 -3.21945933e-03 2.26507681e+00] [-7.18967709e-03 9.99974148e-01 -1.05178456e-04 2.44740332e-01] [ 3.21861995e-03 1.28322065e-04 9.99994812e-01 6.56150625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.883133365 meters 0.2693068703208671 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99995562e-01 -1.45477409e-03 -2.59981805e-03 2.28603778e+00] [ 1.45689466e-03 9.99998607e-01 8.13952045e-04 2.44518012e-01] [ 2.59863031e-03 -8.17736094e-04 9.99996289e-01 6.63201921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.943133365 meters 0.26891092758712304 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99995711e-01 -1.23302121e-03 -2.65662851e-03 2.28615212e+00] [ 1.23664160e-03 9.99998308e-01 1.36156486e-03 2.42235557e-01] [ 2.65494518e-03 -1.36484432e-03 9.99995544e-01 6.64149273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.003133365 meters 0.2696442829187012 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99996131e-01 -9.80771393e-04 -2.60295659e-03 2.28598180e+00] [ 9.85940198e-04 9.99997543e-01 1.98520419e-03 2.39610263e-01] [ 2.60100316e-03 -1.98776287e-03 9.99994642e-01 6.65994945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.063133365 meters 0.26957606216256963 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99996069e-01 -9.69311243e-04 -2.63094292e-03 2.28617757e+00] [ 9.74616479e-04 9.99997493e-01 2.01594435e-03 2.39465909e-01] [ 2.62898224e-03 -2.01850059e-03 9.99994507e-01 6.63185686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.123133365 meters 0.2712987695814918 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99995778e-01 -9.57627614e-04 -2.74342834e-03 2.28665657e+00] [ 9.63240580e-04 9.99997444e-01 2.04537733e-03 2.39304766e-01] [ 2.74146261e-03 -2.04801127e-03 9.99994145e-01 6.58072449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.183133365 meters 0.2710058287976204 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99996333e-01 -9.20673995e-04 -2.54672225e-03 2.28619617e+00] [ 9.26121259e-04 9.99997284e-01 2.13857979e-03 2.38935341e-01] [ 2.54474640e-03 -2.14093053e-03 9.99994470e-01 6.58310319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.243133365 meters 0.27295709876097146 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99996538e-01 -9.07550230e-04 -2.47007180e-03 2.28593604e+00] [ 9.12908429e-04 9.99997231e-01 2.16898587e-03 2.38819091e-01] [ 2.46809649e-03 -2.17123331e-03 9.99994597e-01 6.59924684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.303133365 meters 0.27296270478761525 Centerline is valid? [False, False] Translation: X:2.29, Y:0.24, Z:0.07 [[ 9.99996640e-01 -9.50181649e-04 -2.41189100e-03 2.28612108e+00] [ 9.55164040e-04 9.99997411e-01 2.06545081e-03 2.39249386e-01] [ 2.40992220e-03 -2.06774762e-03 9.99994958e-01 6.52822283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.363133365 meters 0.2720288778600012 Centerline is valid? [False, False] Translation: X:2.27, Y:0.24, Z:0.06 [[ 9.99974579e-01 4.35602363e-03 -5.64506020e-03 2.26686908e+00] [-4.36593995e-03 9.99988946e-01 -1.74550534e-03 2.41754280e-01] [ 5.63739433e-03 1.77010696e-03 9.99982543e-01 6.49866487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.423133365 meters 0.27364927707107023 Centerline is valid? [False, False] Translation: X:2.29, Y:0.25, Z:0.06 [[ 9.99979550e-01 -1.48550127e-03 -6.22030352e-03 2.29107849e+00] [ 1.49084438e-03 9.99998524e-01 8.54430115e-04 2.47028291e-01] [ 6.21902508e-03 -8.63686147e-04 9.99980289e-01 6.38641578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.483133365 meters 0.2714134448909706 Centerline is valid? [False, False] Translation: X:2.25, Y:0.25, Z:0.06 [[ 9.99992760e-01 -2.40788162e-04 -3.79768018e-03 2.25208283e+00] [ 2.45929069e-04 9.99999054e-01 1.35328764e-03 2.48865350e-01] [ 3.79735073e-03 -1.35421180e-03 9.99991873e-01 5.99296016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54313336499996 meters 0.2749605793089342 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99999880e-01 4.80078416e-04 -9.51045430e-05 2.29191540e+00] [-4.79925114e-04 9.99998596e-01 1.60545374e-03 2.60468570e-01] [ 9.58751532e-05 -1.60540791e-03 9.99998707e-01 6.08799814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60313336499996 meters 0.27356085181151873 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99999944e-01 2.83437307e-04 -1.76860629e-04 2.29178747e+00] [-2.83233771e-04 9.99999299e-01 1.14979235e-03 2.62428977e-01] [ 1.77186399e-04 -1.14974220e-03 9.99999323e-01 6.14719865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66313336499996 meters 0.27292494965407604 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99999920e-01 1.65818907e-04 -3.62887443e-04 2.29176601e+00] [-1.65497163e-04 9.99999593e-01 8.86471348e-04 2.63644893e-01] [ 3.63034289e-04 -8.86411220e-04 9.99999541e-01 6.23527653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72313336499997 meters 0.27263110752237507 Centerline is valid? [False, False] Translation: X:2.29, Y:0.26, Z:0.06 [[ 9.99999953e-01 3.97258268e-05 -3.04398519e-04 2.29143815e+00] [-3.95490460e-05 9.99999831e-01 5.80738522e-04 2.64978473e-01] [ 3.04421538e-04 -5.80726456e-04 9.99999785e-01 6.26999231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78313336499997 meters 0.2701908023485812 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997419e-01 4.97400212e-04 2.21704475e-03 2.25191920e+00] [-4.98780666e-04 9.99999682e-01 6.22145882e-04 2.64207305e-01] [-2.21673459e-03 -6.23250096e-04 9.99997349e-01 5.94972361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84313336499997 meters 0.2715979946368255 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997430e-01 4.38379019e-04 2.22451984e-03 2.25198045e+00] [-4.39434746e-04 9.99999791e-01 4.74119836e-04 2.64819513e-01] [-2.22431153e-03 -4.75096149e-04 9.99997413e-01 5.92973898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.903133365 meters 0.27290391333400255 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997553e-01 4.36338660e-04 2.16867247e-03 2.25228101e+00] [-4.37371394e-04 9.99999791e-01 4.75754094e-04 2.64826435e-01] [-2.16846442e-03 -4.76701446e-04 9.99997535e-01 5.89330954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.963133365 meters 0.2719651797710021 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997557e-01 5.73237773e-04 2.13494653e-03 2.25228064e+00] [-5.74991832e-04 9.99999498e-01 8.21070748e-04 2.63350012e-01] [-2.13447479e-03 -8.22296318e-04 9.99997384e-01 5.91385651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.023133365 meters 0.27396804823649573 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997487e-01 6.75273368e-04 2.13794718e-03 2.25227879e+00] [-6.77581955e-04 9.99999188e-01 1.07927500e-03 2.62274375e-01] [-2.13721664e-03 -1.08072092e-03 9.99997132e-01 5.91512121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.083133365 meters 0.27360655174650717 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997439e-01 6.89376277e-04 2.15586400e-03 2.25236880e+00] [-6.91779117e-04 9.99999140e-01 1.11401332e-03 2.62118485e-01] [-2.15509417e-03 -1.11550185e-03 9.99997056e-01 5.88751264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.143133365 meters 0.2722833993312736 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997740e-01 6.18825605e-04 2.03402841e-03 2.25270526e+00] [-6.20743392e-04 9.99999363e-01 9.42355481e-04 2.62844018e-01] [-2.03344396e-03 -9.43615960e-04 9.99997487e-01 5.87381772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.203133365 meters 0.2727801066629278 Centerline is valid? [False, False] Translation: X:2.25, Y:0.26, Z:0.06 [[ 9.99997913e-01 4.99696721e-04 1.98115358e-03 2.25308470e+00] [-5.00962487e-04 9.99999671e-01 6.38458537e-04 2.64162566e-01] [-1.98083389e-03 -6.39449688e-04 9.99997834e-01 5.81165869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.263133365 meters 0.27411340698336206 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.06 [[ 9.99985162e-01 -5.09111663e-03 1.93835681e-03 2.27673262e+00] [ 5.08388838e-03 9.99980173e-01 3.71590308e-03 2.68541584e-01] [-1.95723648e-03 -3.70599355e-03 9.99991217e-01 5.66369977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.323133365 meters 0.27541746364119163 Centerline is valid? [False, False] Translation: X:2.28, Y:0.27, Z:0.06 [[ 9.99984162e-01 -5.21370457e-03 2.11959952e-03 2.27603522e+00] [ 5.20648713e-03 9.99980678e-01 3.39647165e-03 2.69969009e-01] [-2.13726676e-03 -3.38538219e-03 9.99991986e-01 5.71679178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.383133365 meters 0.27237825933115034 Centerline is valid? [False, False] Translation: X:2.26, Y:0.27, Z:0.06 [[ 9.99992754e-01 3.31285794e-03 1.87546884e-03 2.25510732e+00] [-3.31710824e-03 9.99991927e-01 2.26770546e-03 2.69519305e-01] [-1.86794111e-03 -2.27391016e-03 9.99995670e-01 5.63001035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.443133365 meters 0.2745506437335646 Centerline is valid? [False, False] Translation: X:2.25, Y:0.27, Z:0.06 [[ 9.99993619e-01 2.98713091e-03 1.95956753e-03 2.25499698e+00] [-2.98966397e-03 9.99994698e-01 1.29101045e-03 2.73718839e-01] [-1.95570073e-03 -1.29686066e-03 9.99997247e-01 5.61096068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.503133365 meters 0.27230984828359356 Centerline is valid? [False, False] Translation: X:2.25, Y:0.28, Z:0.06 [[ 9.99994393e-01 2.75054630e-03 1.91032430e-03 2.25494302e+00] [-2.75190315e-03 9.99995963e-01 7.08008052e-04 2.76170112e-01] [-1.90836917e-03 -7.13261109e-04 9.99997925e-01 5.63908574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.563133365 meters 0.273792193601838 Centerline is valid? [False, False] Translation: X:2.25, Y:0.28, Z:0.06 [[ 9.99994911e-01 2.53209836e-03 1.94075953e-03 2.25456804e+00] [-2.53244358e-03 9.99996778e-01 1.75441333e-04 2.78462614e-01] [-1.94030904e-03 -1.80355305e-04 9.99998101e-01 5.69315046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.623133365 meters 0.27207426015847874 Centerline is valid? [False, False] Translation: X:2.25, Y:0.28, Z:0.06 [[ 9.99995327e-01 2.18311307e-03 2.14011511e-03 2.25379688e+00] [-2.18160959e-03 9.99997372e-01 -7.04604232e-04 2.82205397e-01] [-2.14164772e-03 6.99932044e-04 9.99997462e-01 5.74276787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.683133365 meters 0.27361423924000516 Centerline is valid? [False, False] Translation: X:2.28, Y:0.29, Z:0.06 [[ 9.99994430e-01 -3.05458709e-03 1.34522053e-03 2.27666731e+00] [ 3.05160607e-03 9.99992896e-01 2.21251416e-03 2.92525644e-01] [-1.35196929e-03 -2.20839675e-03 9.99996648e-01 5.67580799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.743133365 meters 0.27247182166307937 Centerline is valid? [False, False] Translation: X:2.26, Y:0.29, Z:0.06 [[ 9.99995305e-01 3.03870768e-03 -3.96051834e-04 2.25609926e+00] [-3.03923332e-03 9.99994492e-01 -1.33343574e-03 2.93597938e-01] [ 3.91997731e-04 1.33463317e-03 9.99999033e-01 5.74764904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.803133365 meters 0.27223472435580964 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.06 [[ 9.99995879e-01 2.81882621e-03 -5.43471302e-04 2.25652414e+00] [-2.81984230e-03 9.99994261e-01 -1.87800808e-03 2.95850279e-01] [ 5.38174405e-04 1.87953284e-03 9.99998089e-01 5.72153863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.863133365 meters 0.27386618154164855 Centerline is valid? [False, False] Translation: X:2.24, Y:0.30, Z:0.06 [[ 9.99985220e-01 -5.28516672e-03 -1.27579420e-03 2.23642178e+00] [ 5.28387092e-03 9.99985523e-01 -1.01692593e-03 2.99350220e-01] [ 1.28115035e-03 1.01016977e-03 9.99998669e-01 5.57653930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.923133365 meters 0.2709736203427323 Centerline is valid? [False, False] Translation: X:2.24, Y:0.30, Z:0.06 [[ 9.99985329e-01 -5.26985766e-03 -1.25334936e-03 2.23609062e+00] [ 5.26862941e-03 9.99985639e-01 -9.81264026e-04 2.99174626e-01] [ 1.25850248e-03 9.74646196e-04 9.99998733e-01 5.64179649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.983133365 meters 0.2706270676509969 Centerline is valid? [False, False] Translation: X:2.24, Y:0.30, Z:0.06 [[ 9.99986212e-01 -5.11680706e-03 -1.18076838e-03 2.23577175e+00] [ 5.11615301e-03 9.99986758e-01 -5.56280868e-04 2.97427630e-01] [ 1.18359913e-03 5.50232206e-04 9.99999148e-01 5.68427493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04313336499996 meters 0.2720087620850415 Centerline is valid? [False, False] Translation: X:2.24, Y:0.29, Z:0.06 [[ 9.99987765e-01 -4.82036596e-03 -1.11040996e-03 2.23550176e+00] [ 4.82076011e-03 9.99988318e-01 3.52552632e-04 2.93687882e-01] [ 1.10869755e-03 -3.57901339e-04 9.99999321e-01 5.71161496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10313336499996 meters 0.2732468978095473 Centerline is valid? [False, False] Translation: X:2.24, Y:0.29, Z:0.06 [[ 9.99988525e-01 -4.64595461e-03 -1.16814147e-03 2.23580924e+00] [ 4.64686425e-03 9.99988901e-01 7.77202081e-04 2.91898988e-01] [ 1.16451766e-03 -7.82621358e-04 9.99999016e-01 5.68396745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16313336499996 meters 0.2737832931860068 Centerline is valid? [False, False] Translation: X:2.24, Y:0.29, Z:0.06 [[ 9.99988591e-01 -4.62886099e-03 -1.17938324e-03 2.23593210e+00] [ 4.62984397e-03 9.99988936e-01 8.32100842e-04 2.91661554e-01] [ 1.17551851e-03 -8.37551709e-04 9.99998958e-01 5.66030272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22313336499997 meters 0.27282507617512586 Centerline is valid? [False, False] Translation: X:2.24, Y:0.29, Z:0.06 [[ 9.99987840e-01 -4.72372374e-03 -1.41649157e-03 2.23697648e+00] [ 4.72420671e-03 9.99988784e-01 3.37809254e-04 2.93651823e-01] [ 1.41487997e-03 -3.44496945e-04 9.99998940e-01 5.52579395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28313336499997 meters 0.27560812142896457 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.05 [[ 9.99988193e-01 4.82144286e-03 6.06975466e-04 2.25813001e+00] [-4.82151343e-03 9.99988370e-01 1.14847007e-04 2.99792485e-01] [-6.06414679e-04 -1.17772191e-04 9.99999809e-01 5.45800459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34313336499997 meters 0.2732926856538797 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.05 [[ 9.99989591e-01 4.53022270e-03 5.43866034e-04 2.25815397e+00] [-4.52989227e-03 9.99989556e-01 -6.07266668e-04 3.02817714e-01] [-5.46611407e-04 6.04796693e-04 9.99999668e-01 5.47615872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.403133365 meters 0.27339697994197587 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.06 [[ 9.99990561e-01 4.32173364e-03 4.48851190e-04 2.25821176e+00] [-4.32124277e-03 9.99990071e-01 -1.08887757e-03 3.04847230e-01] [-4.53552572e-04 1.08692770e-03 9.99999306e-01 5.50053564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.463133365 meters 0.2730256217071747 Centerline is valid? [False, False] Translation: X:2.26, Y:0.31, Z:0.06 [[ 9.99992020e-01 3.98228643e-03 3.17573358e-04 2.25831410e+00] [-3.98166990e-03 9.99990232e-01 -1.91892128e-03 3.08255651e-01] [-3.25211950e-04 1.91764149e-03 9.99998108e-01 5.53039995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.523133365 meters 0.2737670377524155 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.05 [[ 9.99998508e-01 -1.66410245e-03 -4.63470609e-04 2.28136242e+00] [ 1.66465972e-03 9.99997889e-01 1.20460618e-03 3.15444155e-01] [ 4.61465042e-04 -1.20537591e-03 9.99999167e-01 5.47138727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.583133365 meters 0.2755959319897343 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.05 [[ 9.99998177e-01 -1.84842152e-03 -4.78555737e-04 2.28141674e+00] [ 1.84878081e-03 9.99998009e-01 7.51435185e-04 3.17310289e-01] [ 4.77165816e-04 -7.52318560e-04 9.99999603e-01 5.45872773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.643133365 meters 0.2709887544497218 Centerline is valid? [False, False] Translation: X:2.24, Y:0.32, Z:0.06 [[ 9.99992729e-01 -2.89347163e-03 -2.48406576e-03 2.23871779e+00] [ 2.89175809e-03 9.99995579e-01 -6.93124917e-04 3.15710085e-01] [ 2.48606032e-03 6.85936560e-04 9.99996674e-01 5.60812264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.703133365 meters 0.27253480533271945 Centerline is valid? [False, False] Translation: X:2.28, Y:0.32, Z:0.06 [[ 9.99986091e-01 -5.24093922e-03 5.92315603e-04 2.28005575e+00] [ 5.24209279e-03 9.99984333e-01 -1.96307972e-03 3.16464384e-01] [-5.82017942e-04 1.96615739e-03 9.99997898e-01 5.67101274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.763133365 meters 0.27155431462941904 Centerline is valid? [False, False] Translation: X:2.26, Y:0.31, Z:0.06 [[ 9.99991205e-01 3.82271326e-03 1.72550392e-03 2.25893242e+00] [-3.81884691e-03 9.99990203e-01 -2.23846927e-03 3.10304788e-01] [-1.73404404e-03 2.23186015e-03 9.99996006e-01 5.64913422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.823133365 meters 0.2713934648334558 Centerline is valid? [False, False] Translation: X:2.28, Y:0.31, Z:0.06 [[ 9.99979507e-01 -5.09017566e-03 3.88281333e-03 2.27818482e+00] [ 5.09473066e-03 9.99986344e-01 -1.16412885e-03 3.07781760e-01] [-3.87683469e-03 1.18388688e-03 9.99991784e-01 5.70919071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.883133365 meters 0.27260385827784706 Centerline is valid? [False, False] Translation: X:2.30, Y:0.30, Z:0.06 [[ 9.99993255e-01 2.30075898e-03 2.86283897e-03 2.29717898e+00] [-2.29503027e-03 9.99995361e-01 -2.00273871e-03 2.96833556e-01] [-2.86743351e-03 1.99615490e-03 9.99993897e-01 5.93294192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.943133365 meters 0.27288762435328756 Centerline is valid? [False, False] Translation: X:2.30, Y:0.30, Z:0.06 [[ 9.99993332e-01 2.38510609e-03 2.76548038e-03 2.29751058e+00] [-2.38020151e-03 9.99995591e-01 -1.77543607e-03 2.95881235e-01] [-2.76970279e-03 1.76884184e-03 9.99994600e-01 5.91234471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.003133365 meters 0.27276268582912133 Centerline is valid? [False, False] Translation: X:2.30, Y:0.30, Z:0.06 [[ 9.99992594e-01 2.38046999e-03 3.02406964e-03 2.29714566e+00] [-2.37505766e-03 9.99995574e-01 -1.79208140e-03 2.95905916e-01] [-3.02832225e-03 1.78488579e-03 9.99993822e-01 5.86367005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.063133365 meters 0.27346068432923776 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.06 [[ 9.99991827e-01 2.49235414e-03 3.18327159e-03 2.29663732e+00] [-2.48753479e-03 9.99995755e-01 -1.51702368e-03 2.94753561e-01] [-3.18703903e-03 1.50909278e-03 9.99993783e-01 5.89599863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.123133365 meters 0.2722089497811914 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.06 [[ 9.99991408e-01 2.71912917e-03 3.12899709e-03 2.29675659e+00] [-2.71626284e-03 9.99995888e-01 -9.19937702e-04 2.92313325e-01] [-3.13148565e-03 9.11430620e-04 9.99994682e-01 5.90393466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.183133365 meters 0.2713588618105102 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.06 [[ 9.99991256e-01 3.04592268e-03 2.86532526e-03 2.29771128e+00] [-3.04578480e-03 9.99995360e-01 -5.24839952e-05 2.88652574e-01] [-2.86547183e-03 4.37563722e-05 9.99995894e-01 5.84820575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.243133365 meters 0.2721496624159783 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.06 [[ 9.99990813e-01 3.17043212e-03 2.88489165e-03 2.29768681e+00] [-3.17121749e-03 9.99994936e-01 2.67701822e-04 2.87349101e-01] [-2.88402831e-03 -2.76847982e-04 9.99995803e-01 5.84787545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.303133365 meters 0.273611384900572 Centerline is valid? [False, False] Translation: X:2.30, Y:0.29, Z:0.06 [[ 9.99990781e-01 3.25125907e-03 2.80480762e-03 2.29812136e+00] [-3.25263103e-03 9.99994593e-01 4.84722604e-04 2.86465645e-01] [-2.80321650e-03 -4.93841140e-04 9.99995949e-01 5.79372295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.363133365 meters 0.27382927682917324 Centerline is valid? [False, False] Translation: X:2.30, Y:0.28, Z:0.06 [[ 9.99990778e-01 3.44569150e-03 2.56351240e-03 2.29897996e+00] [-3.44829759e-03 9.99993542e-01 1.01288467e-03 2.84242503e-01] [-2.56000575e-03 -1.02171508e-03 9.99996201e-01 5.73587656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.423133365 meters 0.27377176005975296 Centerline is valid? [False, False] Translation: X:2.30, Y:0.28, Z:0.06 [[ 9.99990526e-01 3.59654714e-03 2.45220629e-03 2.29902406e+00] [-3.60001456e-03 9.99992524e-01 1.41105429e-03 2.82621184e-01] [-2.44711303e-03 -1.41986890e-03 9.99995998e-01 5.78819399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.483133365 meters 0.27315512887609716 Centerline is valid? [False, False] Translation: X:2.30, Y:0.28, Z:0.06 [[ 9.99990333e-01 3.72396605e-03 2.33796693e-03 2.29924863e+00] [-3.72804499e-03 9.99991532e-01 1.74272494e-03 2.81252516e-01] [-2.33145728e-03 -1.75142414e-03 9.99995748e-01 5.79989040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54313336499996 meters 0.270840808070262 Centerline is valid? [False, False] Translation: X:2.30, Y:0.28, Z:0.06 [[ 9.99990231e-01 3.67811422e-03 2.45157527e-03 2.29875194e+00] [-3.68210235e-03 9.99991902e-01 1.62423819e-03 2.81804795e-01] [-2.44558128e-03 -1.63324928e-03 9.99995676e-01 5.84973115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60313336499996 meters 0.2713651354956281 Centerline is valid? [False, False] Translation: X:2.30, Y:0.28, Z:0.06 [[ 9.99990126e-01 3.66904053e-03 2.50721462e-03 2.29827226e+00] [-3.67306750e-03 9.99991969e-01 1.60344127e-03 2.81937889e-01] [-2.50131139e-03 -1.61263461e-03 9.99995571e-01 5.92886560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66313336499996 meters 0.2720917377259149 Centerline is valid? [False, False] Translation: X:2.32, Y:0.28, Z:0.06 [[ 9.99982356e-01 -5.26445672e-03 2.75182584e-03 2.31950732e+00] [ 5.25826182e-03 9.99983636e-01 2.25360684e-03 2.83081773e-01] [-2.76364483e-03 -2.23909725e-03 9.99993674e-01 5.99692437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72313336499997 meters 0.27154899143561584 Centerline is valid? [False, False] Translation: X:2.32, Y:0.28, Z:0.06 [[ 0.99998379 -0.00515929 0.0024086 2.32036188] [ 0.0051529 0.99998321 0.00265173 0.28150804] [-0.00242224 -0.00263928 0.99999358 0.05978122] [ 0. 0. 0. 1. ]] SLAMing on 270.78313336499997 meters 0.2718791994719031 Centerline is valid? [False, False] Translation: X:2.32, Y:0.28, Z:0.06 [[ 0.99998416 -0.00485375 0.0028503 2.31887421] [ 0.00484298 0.99998116 0.00377282 0.27747246] [-0.00286856 -0.00375896 0.99998882 0.06114694] [ 0. 0. 0. 1. ]] SLAMing on 270.84313336499997 meters 0.27149318114121795 Centerline is valid? [False, False] Translation: X:2.32, Y:0.28, Z:0.06 [[ 0.99998459 -0.00465643 0.00302374 2.31848912] [ 0.00464312 0.99997956 0.004396 0.275013 ] [-0.00304414 -0.00438189 0.99998577 0.06115468] [ 0. 0. 0. 1. ]] SLAMing on 270.903133365 meters 0.27099220661210044 Centerline is valid? [False, False] Translation: X:2.32, Y:0.27, Z:0.06 [[ 0.99998558 -0.0044565 0.00299809 2.31872736] [ 0.00444144 0.99997759 0.00500989 0.27259754] [-0.00302035 -0.00499651 0.99998296 0.06078619] [ 0. 0. 0. 1. ]] SLAMing on 270.963133365 meters 0.27029753891484415 Centerline is valid? [False, False] Translation: X:2.30, Y:0.27, Z:0.06 [[ 9.99998617e-01 7.36339529e-04 1.49116740e-03 2.29782145e+00] [-7.39124141e-04 9.99997983e-01 1.86771414e-03 2.65638177e-01] [-1.48978912e-03 -1.86881372e-03 9.99997144e-01 6.12337852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.023133365 meters 0.26685873526564635 Centerline is valid? [False, False] Translation: X:2.26, Y:0.26, Z:0.06 [[ 9.99993958e-01 -5.07774786e-04 3.43883402e-03 2.25835044e+00] [ 5.03240328e-04 9.99999003e-01 1.31934003e-03 2.60350077e-01] [-3.43950052e-03 -1.31760150e-03 9.99993217e-01 5.83887548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.083133365 meters 0.27008684072248745 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99977868e-01 -7.00579143e-04 6.61604109e-03 2.30044710e+00] [ 6.90490435e-04 9.99998596e-01 1.52704703e-03 2.57826972e-01] [-6.61710162e-03 -1.52244492e-03 9.99976948e-01 5.78700051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.143133365 meters 0.27029305725512887 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99978713e-01 -5.98130265e-04 6.49742058e-03 2.30096066e+00] [ 5.86493481e-04 9.99998221e-01 1.79274298e-03 2.56700866e-01] [-6.49848131e-03 -1.78889412e-03 9.99977285e-01 5.73369376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.203133365 meters 0.27035729850313034 Centerline is valid? [False, False] Translation: X:2.30, Y:0.26, Z:0.06 [[ 9.99979709e-01 -5.63376213e-04 6.34534272e-03 2.30153810e+00] [ 5.51428422e-04 9.99998072e-01 1.88451499e-03 2.56310705e-01] [-6.34639218e-03 -1.88097775e-03 9.99978092e-01 5.68409736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.263133365 meters 0.2719272230549989 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99980095e-01 -4.26680056e-04 6.29497460e-03 2.30150104e+00] [ 4.12132300e-04 9.99997242e-01 2.31212729e-03 2.54588846e-01] [-6.29594378e-03 -2.30948690e-03 9.99977513e-01 5.72050289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.323133365 meters 0.26983492147156907 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99980594e-01 -2.82486043e-04 6.22348470e-03 2.30163180e+00] [ 2.65182953e-04 9.99996098e-01 2.78093944e-03 2.52749542e-01] [-6.22424599e-03 -2.77923511e-03 9.99976767e-01 5.72975714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.383133365 meters 0.26948206789074236 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99979985e-01 -1.35607746e-04 6.32549589e-03 2.30122679e+00] [ 1.14618792e-04 9.99994488e-01 3.31839611e-03 2.50626403e-01] [-6.32591102e-03 -3.31760467e-03 9.99974488e-01 5.77137607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.443133365 meters 0.27077223753209756 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99979070e-01 -8.99133766e-06 6.46985527e-03 2.30058883e+00] [-1.50027707e-05 9.99993123e-01 3.70854240e-03 2.49055056e-01] [-6.46984412e-03 -3.70856184e-03 9.99972193e-01 5.84776158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.503133365 meters 0.26994589642360667 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99979405e-01 7.72247421e-05 6.41739076e-03 2.30073130e+00] [-1.02589360e-04 9.99992185e-01 3.95224633e-03 2.48071448e-01] [-6.41703540e-03 -3.95282329e-03 9.99971598e-01 5.84242558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.563133365 meters 0.27066579705930566 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99969806e-01 5.48376101e-03 5.50602230e-03 2.27774579e+00] [-5.48505471e-03 9.99984933e-01 2.19888323e-04 2.48880229e-01] [-5.50473352e-03 -2.50082517e-04 9.99984818e-01 5.95534784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.623133365 meters 0.2692417323079263 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99969827e-01 5.35666392e-03 5.62594996e-03 2.27730801e+00] [-5.35622783e-03 9.99985651e-01 -9.25784355e-05 2.50209673e-01] [-5.62636514e-03 6.24417725e-05 9.99984170e-01 5.98838354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.683133365 meters 0.2695304502188634 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99970055e-01 5.28409191e-03 5.65397117e-03 2.27727277e+00] [-5.28261121e-03 9.99986009e-01 -2.76788805e-04 2.50968801e-01] [-5.65535464e-03 2.46912785e-04 9.99983978e-01 5.98155233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.743133365 meters 0.26818467671803586 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99971856e-01 5.18529429e-03 5.42209985e-03 2.27784961e+00] [-5.18241919e-03 9.99986423e-01 -5.44171954e-04 2.52050202e-01] [-5.42484792e-03 5.16057045e-04 9.99985152e-01 5.96897505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.803133365 meters 0.27029776375404296 Centerline is valid? [False, False] Translation: X:2.30, Y:0.25, Z:0.06 [[ 9.99982294e-01 -3.42003867e-03 4.86972824e-03 2.29986145e+00] [ 3.41866190e-03 9.99994114e-01 2.91016269e-04 2.53909035e-01] [-4.87069486e-03 -2.74363162e-04 9.99988100e-01 6.03154961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.863133365 meters 0.26755649241035295 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99985957e-01 4.48407746e-03 2.82456729e-03 2.28192339e+00] [-4.48095697e-03 9.99989344e-01 -1.11013101e-03 2.51235219e-01] [-2.82951511e-03 1.09745865e-03 9.99995395e-01 5.88865957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.923133365 meters 0.2679984058035968 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99986926e-01 4.31218614e-03 2.74820470e-03 2.28211030e+00] [-4.30793061e-03 9.99989516e-01 -1.55251849e-03 2.53064052e-01] [-2.75487063e-03 1.54065911e-03 9.99995019e-01 5.88681445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.983133365 meters 0.26921029436944116 Centerline is valid? [False, False] Translation: X:2.28, Y:0.25, Z:0.06 [[ 9.99987876e-01 4.13389508e-03 2.67568784e-03 2.28210319e+00] [-4.12852571e-03 9.99989459e-01 -2.00914862e-03 2.54985333e-01] [-2.68396524e-03 1.99807762e-03 9.99994402e-01 5.92423052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04313336499996 meters 0.2689888866473396 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 0.99998891 0.00390335 0.00263635 2.28226543] [-0.00389655 0.99998908 -0.00257977 0.25738202] [-0.00264639 0.00256947 0.9999932 0.05910523] [ 0. 0. 0. 1. ]] SLAMing on 272.10313336499996 meters 0.27047960774711205 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 0.9999891 0.00383307 0.00266783 2.2820613 ] [-0.00382573 0.9999889 -0.00275054 0.25809849] [-0.00267834 0.0027403 0.99999266 0.05937424] [ 0. 0. 0. 1. ]] SLAMing on 272.16313336499996 meters 0.2682123740341637 Centerline is valid? [False, False] Translation: X:2.26, Y:0.26, Z:0.06 [[ 0.99998227 -0.0053567 0.00260275 2.2594316 ] [ 0.00536435 0.99998129 -0.00293973 0.26111665] [-0.00258696 0.00295364 0.99999229 0.0599347 ] [ 0. 0. 0. 1. ]] SLAMing on 272.22313336499997 meters 0.2695941170780915 Centerline is valid? [False, False] Translation: X:2.26, Y:0.26, Z:0.06 [[ 9.99995348e-01 -1.16448439e-03 2.81921331e-03 2.25874775e+00] [ 1.16168216e-03 9.99998830e-01 9.95408068e-04 2.62311987e-01] [-2.82036915e-03 -9.92128407e-04 9.99995531e-01 6.02770533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28313336499997 meters 0.2681035933460826 Centerline is valid? [False, False] Translation: X:2.28, Y:0.26, Z:0.06 [[ 9.99962904e-01 6.79574115e-03 5.29236835e-03 2.27796619e+00] [-6.79523553e-03 9.99976906e-01 -1.13513031e-04 2.62213393e-01] [-5.29301753e-03 7.75459310e-05 9.99985989e-01 6.06790885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34313336499997 meters 0.26869913767593223 Centerline is valid? [False, False] Translation: X:2.26, Y:0.27, Z:0.06 [[ 9.99992700e-01 -1.28617958e-03 3.59809456e-03 2.25891574e+00] [ 1.28567770e-03 9.99999163e-01 1.41793951e-04 2.70189378e-01] [-3.59827392e-03 -1.37166926e-04 9.99993517e-01 5.96575189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.403133365 meters 0.26851818664265414 Centerline is valid? [False, False] Translation: X:2.26, Y:0.27, Z:0.06 [[ 9.99997055e-01 4.80451491e-04 2.37872884e-03 2.26431301e+00] [-4.84718493e-04 9.99998274e-01 1.79356451e-03 2.71653891e-01] [-2.37786302e-03 -1.79471225e-03 9.99995562e-01 5.62764040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.463133365 meters 0.2702548048150384 Centerline is valid? [False, False] Translation: X:2.26, Y:0.27, Z:0.06 [[ 9.99997010e-01 2.14785919e-04 2.43594378e-03 2.26423756e+00] [-2.17556259e-04 9.99999330e-01 1.13706755e-03 2.74353244e-01] [-2.43569792e-03 -1.13759410e-03 9.99996387e-01 5.61747436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.523133365 meters 0.27147898914108726 Centerline is valid? [False, False] Translation: X:2.26, Y:0.28, Z:0.06 [[ 9.99997389e-01 -2.18984820e-05 2.28497938e-03 2.26466574e+00] [ 2.05850061e-05 9.99999835e-01 5.74852451e-04 2.76728313e-01] [-2.28499159e-03 -5.74803914e-04 9.99997224e-01 5.60716918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.583133365 meters 0.2699183730478208 Centerline is valid? [False, False] Translation: X:2.27, Y:0.28, Z:0.06 [[ 9.99997675e-01 -2.83543328e-04 2.13775120e-03 2.26505776e+00] [ 2.83822465e-04 9.99999951e-01 -1.30273160e-04 2.79580082e-01] [-2.13771415e-03 1.30879599e-04 9.99997707e-01 5.59833295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.643133365 meters 0.26955445489534213 Centerline is valid? [False, False] Translation: X:2.26, Y:0.29, Z:0.06 [[ 9.99997352e-01 -7.83444819e-04 2.16384585e-03 2.26497838e+00] [ 7.86858227e-04 9.99998447e-01 -1.57707218e-03 2.85299162e-01] [-2.16260694e-03 1.57877065e-03 9.99996415e-01 5.60431561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.703133365 meters 0.2697768835184805 Centerline is valid? [False, False] Translation: X:2.27, Y:0.29, Z:0.06 [[ 9.99997206e-01 -1.13048186e-03 2.07604824e-03 2.26535462e+00] [ 1.13559533e-03 9.99996321e-01 -2.46355315e-03 2.88911897e-01] [-2.07325560e-03 2.46590382e-03 9.99994810e-01 5.57645431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.763133365 meters 0.27007202309797 Centerline is valid? [False, False] Translation: X:2.26, Y:0.30, Z:0.06 [[ 9.99994624e-01 1.18766523e-03 3.05647856e-03 2.26121815e+00] [-1.18356209e-03 9.99998397e-01 -1.34390092e-03 2.96545617e-01] [-3.05806976e-03 1.34027617e-03 9.99994426e-01 5.84210237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.823133365 meters 0.2705507504464978 Centerline is valid? [False, False] Translation: X:2.28, Y:0.30, Z:0.06 [[ 9.99976534e-01 -5.96220830e-03 3.37391798e-03 2.28448941e+00] [ 5.95962417e-03 9.99981941e-01 7.75450690e-04 2.99378761e-01] [-3.37848045e-03 -7.55325210e-04 9.99994008e-01 5.70734214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.883133365 meters 0.26999997831116473 Centerline is valid? [False, False] Translation: X:2.27, Y:0.30, Z:0.06 [[ 9.99997027e-01 2.36373540e-03 5.98952248e-04 2.26692745e+00] [-2.36335161e-03 9.99997002e-01 -6.40654405e-04 2.99496513e-01] [-6.00464789e-04 6.39236966e-04 9.99999615e-01 5.57648566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.943133365 meters 0.27011891341924343 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.06 [[ 0.99998963 -0.00345356 0.00296971 2.28671261] [ 0.00344497 0.99998989 0.00289011 0.29985274] [-0.00297966 -0.00287985 0.99999141 0.05595068] [ 0. 0. 0. 1. ]] SLAMing on 273.003133365 meters 0.269652105134113 Centerline is valid? [False, False] Translation: X:2.29, Y:0.30, Z:0.06 [[ 0.99998871 -0.00363127 0.00306581 2.28636081] [ 0.00362397 0.99999059 0.00238349 0.30189653] [-0.00307444 -0.00237235 0.99999246 0.05625527] [ 0. 0. 0. 1. ]] SLAMing on 273.063133365 meters 0.26914381848789903 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.06 [[ 9.99988885e-01 -3.89451954e-03 2.65740122e-03 2.28723640e+00] [ 3.89111102e-03 9.99991602e-01 1.28661748e-03 3.06246142e-01] [-2.66238966e-03 -1.27626293e-03 9.99995641e-01 5.63045278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.123133365 meters 0.26847304887871537 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.06 [[ 9.99987297e-01 -4.16584132e-03 2.83755265e-03 2.28652920e+00] [ 4.16433603e-03 9.99991185e-01 5.36189883e-04 3.09280250e-01] [-2.83976132e-03 -5.24366549e-04 9.99995830e-01 5.69761736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.183133365 meters 0.27131898141322597 Centerline is valid? [False, False] Translation: X:2.29, Y:0.31, Z:0.06 [[ 9.99986030e-01 -4.42101065e-03 2.89747738e-03 2.28602559e+00] [ 4.42130107e-03 9.99990222e-01 -9.38352297e-05 3.11876739e-01] [-2.89703420e-03 1.06644539e-04 9.99995798e-01 5.77529172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.243133365 meters 0.2686687103158564 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99997098e-01 -5.75753691e-04 2.33935219e-03 2.28737238e+00] [ 5.69075478e-04 9.99995764e-01 2.85439103e-03 3.16895246e-01] [-2.34098571e-03 -2.85305148e-03 9.99993190e-01 5.72772318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.303133365 meters 0.2718291605474394 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99996099e-01 -1.14827093e-03 2.54618998e-03 2.28655998e+00] [ 1.14458710e-03 9.99998297e-01 1.44778594e-03 3.22822090e-01] [-2.54784810e-03 -1.44486596e-03 9.99995710e-01 5.78222752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.363133365 meters 0.26986425702592437 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 0.99999273 0.00278779 0.00260001 2.28643799] [-0.00280011 0.99998481 0.00474683 0.32691285] [-0.00258674 -0.00475408 0.99998535 0.05788093] [ 0. 0. 0. 1. ]] SLAMing on 273.423133365 meters 0.27116833366323523 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99994185e-01 2.52193723e-03 2.29546528e-03 2.28734326e+00] [-2.53132145e-03 9.99988414e-01 4.09447238e-03 3.29658365e-01] [-2.28511268e-03 -4.10025913e-03 9.99988983e-01 5.74344693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.483133365 meters 0.2706146574470115 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995676e-01 2.42642877e-03 1.66141488e-03 2.28895287e+00] [-2.43274832e-03 9.99989774e-01 3.81231602e-03 3.30932984e-01] [-1.65214758e-03 -3.81634134e-03 9.99991353e-01 5.70670641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54313336499996 meters 0.2710889805697561 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995673e-01 2.40943286e-03 1.68781773e-03 2.28880478e+00] [-2.41577772e-03 9.99989986e-01 3.76731255e-03 3.31110696e-01] [-1.67872374e-03 -3.77137364e-03 9.99991479e-01 5.72696889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60313336499996 meters 0.27406596428829233 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995702e-01 2.39597624e-03 1.68981319e-03 2.28871210e+00] [-2.40226084e-03 9.99990169e-01 3.72694056e-03 3.31276240e-01] [-1.68086692e-03 -3.73098391e-03 9.99991627e-01 5.74841857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66313336499996 meters 0.27256434829364123 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995586e-01 2.45242408e-03 1.67754163e-03 2.28876504e+00] [-2.45891019e-03 9.99989468e-01 3.87536139e-03 3.30674767e-01] [-1.66801993e-03 -3.87946920e-03 9.99991084e-01 5.74108888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72313336499997 meters 0.2722647688801018 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995605e-01 2.47949724e-03 1.62523000e-03 2.28896210e+00] [-2.48588627e-03 9.99989144e-01 3.94099424e-03 3.30419003e-01] [-1.61544067e-03 -3.94501706e-03 9.99990914e-01 5.72559167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78313336499997 meters 0.2727371854871347 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995630e-01 2.50020898e-03 1.57731969e-03 2.28921673e+00] [-2.50649243e-03 9.99988881e-01 3.99430723e-03 3.30223374e-01] [-1.56731555e-03 -3.99824331e-03 9.99990779e-01 5.69562313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84313336499997 meters 0.2732064280181682 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99995128e-01 2.65046784e-03 1.64867471e-03 2.28920890e+00] [-2.65763806e-03 9.99986954e-01 4.36219905e-03 3.28722166e-01] [-1.63709134e-03 -4.36655938e-03 9.99989126e-01 5.65923400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.903133365 meters 0.2719048240860801 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99994526e-01 2.79437093e-03 1.77181780e-03 2.28858508e+00] [-2.80272887e-03 9.99984875e-01 4.73234954e-03 3.27078113e-01] [-1.75856706e-03 -4.73728956e-03 9.99987233e-01 5.72638368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.963133365 meters 0.2713268877455664 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99997625e-01 -1.28814896e-03 1.75783784e-03 2.28821540e+00] [ 1.28627118e-03 9.99998601e-01 1.06894683e-03 3.24465070e-01] [-1.75921234e-03 -1.06668324e-03 9.99997884e-01 5.80153162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.023133365 meters 0.27123126765580313 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99998007e-01 -9.64387841e-04 1.74827319e-03 2.28839629e+00] [ 9.61145005e-04 9.99997818e-01 1.85477174e-03 3.21207620e-01] [-1.75005809e-03 -1.85308770e-03 9.99996752e-01 5.76395136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.083133365 meters 0.27101507387316304 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99998180e-01 -7.24134684e-04 1.76486353e-03 2.28818326e+00] [ 7.19840929e-04 9.99996783e-01 2.43233256e-03 3.18831573e-01] [-1.76661919e-03 -2.43105771e-03 9.99995484e-01 5.79590862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.143133365 meters 0.2702958690914529 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99998789e-01 -4.81960126e-04 1.47986109e-03 2.28852570e+00] [ 4.77277480e-04 9.99994884e-01 3.16297122e-03 3.16041682e-01] [-1.48137794e-03 -3.16226108e-03 9.99993903e-01 5.84920196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.203133365 meters 0.2689711729648743 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99998539e-01 -5.21260334e-04 1.62788579e-03 2.28802088e+00] [ 5.16308044e-04 9.99995243e-01 3.04110011e-03 3.16488620e-01] [-1.62946326e-03 -3.04025518e-03 9.99994051e-01 5.89368383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.263133365 meters 0.26904099426243294 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99998021e-01 -7.15833992e-04 1.85615949e-03 2.28734883e+00] [ 7.11539732e-04 9.99997072e-01 2.31314782e-03 3.19236450e-01] [-1.85780989e-03 -2.31182251e-03 9.99995602e-01 5.93514902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.323133365 meters 0.2697972513240004 Centerline is valid? [False, False] Translation: X:2.29, Y:0.32, Z:0.06 [[ 9.99997719e-01 -1.04565045e-03 1.86220490e-03 2.28706285e+00] [ 1.04402398e-03 9.99999073e-01 8.74166524e-04 3.24616213e-01] [-1.86311724e-03 -8.72220344e-04 9.99997884e-01 6.00043910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.383133365 meters 0.26901322514570725 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99997466e-01 -1.42693706e-03 1.74099630e-03 2.28713961e+00] [ 1.42729272e-03 9.99998961e-01 -2.03056387e-04 3.28902575e-01] [-1.74070474e-03 2.05540783e-04 9.99998464e-01 6.04756052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.443133365 meters 0.27077060755098004 Centerline is valid? [False, False] Translation: X:2.29, Y:0.33, Z:0.06 [[ 9.99996772e-01 -1.78136417e-03 1.81156885e-03 2.28677911e+00] [ 1.78332043e-03 9.99997828e-01 -1.07882743e-03 3.32492957e-01] [-1.80964313e-03 1.08205455e-03 9.99997777e-01 6.08888678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.503133365 meters 0.27144588736220104 Centerline is valid? [False, False] Translation: X:2.33, Y:0.34, Z:0.06 [[ 9.99991765e-01 -1.81533113e-03 3.62979140e-03 2.32950751e+00] [ 1.81768319e-03 9.99998140e-01 -6.44794755e-04 3.42090673e-01] [-3.62861413e-03 6.51387255e-04 9.99993204e-01 6.07829782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.563133365 meters 0.26950238401311744 Centerline is valid? [False, False] Translation: X:2.33, Y:0.35, Z:0.06 [[ 9.99992118e-01 -2.08412626e-03 3.37925606e-03 2.33005580e+00] [ 2.08905424e-03 9.99996759e-01 -1.45542932e-03 3.45317354e-01] [-3.37621181e-03 1.46247730e-03 9.99993231e-01 6.08551651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.623133365 meters 0.2682777429924508 Centerline is valid? [False, False] Translation: X:2.31, Y:0.35, Z:0.06 [[ 0.99997669 0.0063587 0.00248688 2.3075784 ] [-0.00634916 0.99997254 -0.00382253 0.35290975] [-0.00251112 0.00380665 0.9999896 0.06190836] [ 0. 0. 0. 1. ]] SLAMing on 274.683133365 meters 0.2703211847131849 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99996345e-01 -6.21541746e-05 2.70307889e-03 2.32920604e+00] [ 6.52934842e-05 9.99999324e-01 -1.16131015e-03 3.59553610e-01] [-2.70300488e-03 1.16148240e-03 9.99995672e-01 6.18861003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.743133365 meters 0.2692042073108729 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99996880e-01 -3.24429047e-04 2.47703709e-03 2.32963675e+00] [ 3.29440985e-04 9.99997899e-01 -2.02322060e-03 3.62937284e-01] [-2.47637549e-03 2.02403032e-03 9.99994885e-01 6.20676078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.803133365 meters 0.2677539128876972 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:0.06 [[ 9.99984557e-01 -4.93607053e-03 2.55358343e-03 2.30592896e+00] [ 4.93314199e-03 9.99987169e-01 1.15186632e-03 3.68226518e-01] [-2.55923635e-03 -1.13925134e-03 9.99996076e-01 6.29274974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.863133365 meters 0.2691792198028688 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:0.06 [[ 9.99983736e-01 -5.16956627e-03 2.40914116e-03 2.30626086e+00] [ 5.16830070e-03 9.99986503e-01 5.31251347e-04 3.70782998e-01] [-2.41185498e-03 -5.18791541e-04 9.99996957e-01 6.28883199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.923133365 meters 0.2693555921017296 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:0.06 [[ 9.99997070e-01 -9.11797234e-04 2.24264711e-03 2.30661789e+00] [ 9.01341012e-04 9.99988740e-01 4.65904616e-03 3.71509743e-01] [-2.24686996e-03 -4.65701112e-03 9.99986632e-01 6.28090459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.983133365 meters 0.2706235727724398 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:0.06 [[ 9.99996782e-01 -9.51511102e-04 2.35183657e-03 2.30621933e+00] [ 9.40774992e-04 9.99989152e-01 4.56188842e-03 3.71924297e-01] [-2.35615174e-03 -4.55966119e-03 9.99986829e-01 6.31251071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04313336499996 meters 0.2686071917017467 Centerline is valid? [False, False] Translation: X:2.31, Y:0.37, Z:0.06 [[ 9.99996772e-01 -9.29889798e-04 2.36454479e-03 2.30622242e+00] [ 9.18952941e-04 9.99988895e-01 4.62224139e-03 3.71668021e-01] [-2.36881671e-03 -4.62005356e-03 9.99986522e-01 6.30456868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10313336499996 meters 0.2692210955453187 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:0.06 [[ 0.99997235 0.00665521 0.00331843 2.32652344] [-0.00666747 0.99997094 0.00369595 0.36868549] [-0.00329374 -0.00371797 0.99998766 0.06385029] [ 0. 0. 0. 1. ]] SLAMing on 275.16313336499996 meters 0.2694659395352322 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:0.06 [[ 9.99991675e-01 2.54806619e-03 3.18701505e-03 2.32667234e+00] [-2.54782220e-03 9.99996751e-01 -8.06140532e-05 3.67346431e-01] [-3.18721011e-03 7.24934344e-05 9.99994918e-01 6.39699353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22313336499997 meters 0.2710409053657533 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:0.06 [[ 9.99991052e-01 2.59692647e-03 3.33933671e-03 2.32641043e+00] [-2.59711616e-03 9.99996626e-01 5.24684321e-05 3.66795366e-01] [-3.33918918e-03 -6.11406080e-05 9.99994423e-01 6.37926459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28313336499997 meters 0.269449975357496 Centerline is valid? [False, False] Translation: X:2.33, Y:0.37, Z:0.06 [[ 9.99990555e-01 2.67060758e-03 3.42893234e-03 2.32614400e+00] [-2.67143204e-03 9.99996404e-01 2.35885882e-04 3.66037614e-01] [-3.42829005e-03 -2.45043814e-04 9.99994093e-01 6.39181095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34313336499997 meters 0.26991975207926877 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99990133e-01 2.83528915e-03 3.41969795e-03 2.32625036e+00] [-2.83749275e-03 9.99995770e-01 6.39703471e-04 3.64384699e-01] [-3.41786974e-03 -6.49400528e-04 9.99993948e-01 6.37647543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.403133365 meters 0.2681624537389911 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99993358e-01 -1.15576720e-03 3.45662806e-03 2.32637825e+00] [ 1.16515216e-03 9.99995638e-01 -2.71428338e-03 3.60673185e-01] [-3.45347590e-03 2.71829285e-03 9.99990342e-01 6.33890250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.463133365 meters 0.2717030206176646 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99993416e-01 -1.04102503e-03 3.47613935e-03 2.32633950e+00] [ 1.04945176e-03 9.99996513e-01 -2.42322104e-03 3.59474791e-01] [-3.47360459e-03 2.42685312e-03 9.99991022e-01 6.33993041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.523133365 meters 0.26925839354852893 Centerline is valid? [False, False] Translation: X:2.33, Y:0.36, Z:0.06 [[ 9.99993378e-01 -8.35797651e-04 3.54206564e-03 2.32624453e+00] [ 8.42640564e-04 9.99997781e-01 -1.93084721e-03 3.57444700e-01] [-3.54044399e-03 1.93381911e-03 9.99991863e-01 6.33025131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.583133365 meters 0.27038041259503015 Centerline is valid? [False, False] Translation: X:2.33, Y:0.35, Z:0.06 [[ 9.99993627e-01 -4.31373685e-04 3.54405513e-03 2.32665245e+00] [ 4.35160679e-04 9.99999335e-01 -1.06784642e-03 3.53738301e-01] [-3.54359213e-03 1.06938185e-03 9.99993150e-01 6.26542070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.643133365 meters 0.27120227036818306 Centerline is valid? [False, False] Translation: X:2.33, Y:0.35, Z:0.06 [[ 9.99993747e-01 -7.30431461e-05 3.53553736e-03 2.32677485e+00] [ 7.37095672e-05 9.99999980e-01 -1.88362241e-04 3.50072448e-01] [-3.53552353e-03 1.88621666e-04 9.99993732e-01 6.25173494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.703133365 meters 0.269504267850244 Centerline is valid? [False, False] Translation: X:2.33, Y:0.35, Z:0.06 [[ 9.99993959e-01 3.25160660e-04 3.46064093e-03 2.32710592e+00] [-3.27967368e-04 9.99999618e-01 8.10500633e-04 3.45958386e-01] [-3.46037607e-03 -8.11630714e-04 9.99993684e-01 6.22744745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.763133365 meters 0.2707100107724438 Centerline is valid? [False, False] Translation: X:2.33, Y:0.34, Z:0.06 [[ 9.99994259e-01 8.33122627e-04 3.28442025e-03 2.32776742e+00] [-8.39712368e-04 9.99997636e-01 2.00549554e-03 3.41067491e-01] [-3.28274166e-03 -2.00824200e-03 9.99992595e-01 6.19731667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.823133365 meters 0.268802032423323 Centerline is valid? [False, False] Translation: X:2.31, Y:0.34, Z:0.06 [[ 9.99975069e-01 6.59064937e-03 2.53462592e-03 2.30586953e+00] [-6.58773967e-03 9.99977634e-01 -1.15462071e-03 3.35492323e-01] [-2.54217893e-03 1.13789447e-03 9.99996121e-01 6.24278901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.883133365 meters 0.26897864682999806 Centerline is valid? [False, False] Translation: X:2.31, Y:0.33, Z:0.06 [[ 0.99999272 0.00273624 0.0026578 2.30522939] [-0.00272517 0.99998763 -0.00416066 0.33081241] [-0.00266916 0.00415339 0.99998781 0.063001 ] [ 0. 0. 0. 1. ]] SLAMing on 275.943133365 meters 0.26913306685568245 Centerline is valid? [False, False] Translation: X:2.33, Y:0.33, Z:0.06 [[ 0.99997521 -0.00644027 0.00284592 2.32577299] [ 0.0064492 0.99997428 -0.00313928 0.331075 ] [-0.00282563 0.00315756 0.99999102 0.06318493] [ 0. 0. 0. 1. ]] SLAMing on 276.003133365 meters 0.26845110792527743 Centerline is valid? [False, False] Translation: X:2.31, Y:0.32, Z:0.06 [[ 9.99993360e-01 1.68347597e-03 3.23197193e-03 2.30698185e+00] [-1.67026222e-03 9.99990254e-01 -4.08680472e-03 3.22483745e-01] [-3.23882047e-03 4.08137934e-03 9.99986426e-01 6.10426596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.063133365 meters 0.2698608655187238 Centerline is valid? [False, False] Translation: X:2.31, Y:0.32, Z:0.06 [[ 9.99992694e-01 2.14079282e-03 3.16673020e-03 2.30715276e+00] [-2.13140601e-03 9.99993334e-01 -2.96460763e-03 3.17847294e-01] [-3.17305570e-03 2.95783639e-03 9.99990591e-01 6.10816621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.123133365 meters 0.26931374126039914 Centerline is valid? [False, False] Translation: X:2.31, Y:0.31, Z:0.06 [[ 9.99991887e-01 2.47067941e-03 3.18160687e-03 2.30704669e+00] [-2.46393290e-03 9.99994712e-01 -2.12264805e-03 3.14393567e-01] [-3.18683442e-03 2.11479156e-03 9.99992686e-01 6.12480504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.183133365 meters 0.2678752379050518 Centerline is valid? [False, False] Translation: X:2.31, Y:0.31, Z:0.06 [[ 9.99990936e-01 2.76775092e-03 3.23542531e-03 2.30685248e+00] [-2.76332206e-03 9.99995240e-01 -1.37253469e-03 3.11300965e-01] [-3.23920875e-03 1.36358173e-03 9.99993824e-01 6.14415691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.243133365 meters 0.2696909190982336 Centerline is valid? [False, False] Translation: X:2.33, Y:0.31, Z:0.06 [[ 9.99972664e-01 -6.35207016e-03 3.78439750e-03 2.32764023e+00] [ 6.35364305e-03 9.99979734e-01 -4.03746221e-04 3.11144080e-01] [-3.78175618e-03 4.27779895e-04 9.99992758e-01 6.10430430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.303133365 meters 0.2695252167525415 Centerline is valid? [False, False] Translation: X:2.33, Y:0.31, Z:0.06 [[ 9.99973993e-01 -6.15004871e-03 3.76710446e-03 2.32777935e+00] [ 6.14978637e-03 9.99981087e-01 8.12196850e-05 3.09100976e-01] [-3.76753272e-03 -5.80506851e-05 9.99992901e-01 6.09007119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.363133365 meters 0.26887437053112745 Centerline is valid? [False, False] Translation: X:2.33, Y:0.31, Z:0.06 [[ 9.99976123e-01 -5.89567663e-03 3.60471607e-03 2.32812903e+00] [ 5.89289988e-03 9.99982332e-01 7.80448122e-04 3.06245550e-01] [-3.60925365e-03 -7.59187257e-04 9.99993198e-01 6.10560279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.423133365 meters 0.2683946424456964 Centerline is valid? [False, False] Translation: X:2.33, Y:0.30, Z:0.06 [[ 9.99978311e-01 -5.49353611e-03 3.63290428e-03 2.32784600e+00] [ 5.48611612e-03 9.99982851e-01 2.04926047e-03 3.01051659e-01] [-3.64409967e-03 -2.02928549e-03 9.99991301e-01 6.15934960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.483133365 meters 0.2673478382724684 Centerline is valid? [False, False] Translation: X:2.33, Y:0.30, Z:0.06 [[ 0.99997998 -0.00523841 0.0035503 2.32814442] [ 0.00522888 0.99998272 0.00268757 0.29841316] [-0.00356431 -0.00266895 0.99999009 0.06144584] [ 0. 0. 0. 1. ]] SLAMing on 276.54313336499996 meters 0.27048705014367214 Centerline is valid? [False, False] Translation: X:2.35, Y:0.29, Z:0.06 [[ 9.99989756e-01 2.79120609e-03 3.56328496e-03 2.34801181e+00] [-2.79858219e-03 9.99993948e-01 2.06672213e-03 2.91903729e-01] [-3.55749475e-03 -2.07667311e-03 9.99991516e-01 6.30649040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60313336499996 meters 0.26788649424283945 Centerline is valid? [False, False] Translation: X:2.35, Y:0.29, Z:0.06 [[ 0.99998786 0.00318574 0.00375848 2.34696747] [-0.00319748 0.99999002 0.00312067 0.28726529] [-0.0037485 -0.00313265 0.99998807 0.06425581] [ 0. 0. 0. 1. ]] SLAMing on 276.66313336499996 meters 0.2666822634363336 Centerline is valid? [False, False] Translation: X:2.34, Y:0.28, Z:0.07 [[ 9.99988203e-01 8.41849068e-04 4.78390729e-03 2.34266020e+00] [-8.49874937e-04 9.99998235e-01 1.67589571e-03 2.80816934e-01] [-4.78248799e-03 -1.67994166e-03 9.99987153e-01 6.68796448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72313336499997 meters 0.26846257016240316 Centerline is valid? [False, False] Translation: X:2.39, Y:0.28, Z:0.07 [[ 9.99983485e-01 4.84265232e-04 5.72669887e-03 2.38763778e+00] [-4.97064108e-04 9.99997382e-01 2.23373642e-03 2.75644180e-01] [-5.72560216e-03 -2.23654607e-03 9.99981107e-01 6.52578122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78313336499997 meters 0.26824962151800213 Centerline is valid? [False, False] Translation: X:2.39, Y:0.27, Z:0.06 [[ 9.99983441e-01 9.79628175e-04 5.67085171e-03 2.38814589e+00] [-9.98253218e-04 9.99994114e-01 3.28244847e-03 2.71186351e-01] [-5.66760276e-03 -3.28805506e-03 9.99978533e-01 6.47350147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84313336499997 meters 0.26890486177931766 Centerline is valid? [False, False] Translation: X:2.39, Y:0.27, Z:0.06 [[ 9.99983873e-01 1.26073150e-03 5.53761359e-03 2.38887411e+00] [-1.28248908e-03 9.99991466e-01 3.92726199e-03 2.68466853e-01] [-5.53261511e-03 -3.93430059e-03 9.99976955e-01 6.40130397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.903133365 meters 0.2679337530826881 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.06 [[ 9.99981346e-01 -2.71271075e-03 5.47260342e-03 2.38948335e+00] [ 2.70947072e-03 9.99996150e-01 5.99371575e-04 2.64868541e-01] [-5.47420827e-03 -5.84532535e-04 9.99984846e-01 6.31544240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.963133365 meters 0.2687918061310248 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.06 [[ 9.99981617e-01 -2.30087134e-03 5.61002469e-03 2.38918070e+00] [ 2.29213048e-03 9.99996150e-01 1.56400987e-03 2.60880319e-01] [-5.61360167e-03 -1.55112221e-03 9.99983041e-01 6.32159429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.023133365 meters 0.2696946321928021 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.06 [[ 9.99965600e-01 5.75871201e-03 5.96961151e-03 2.40858638e+00] [-5.76243547e-03 9.99983213e-01 6.06723569e-04 2.55157756e-01] [-5.96601735e-03 -6.41102199e-04 9.99981998e-01 6.45079593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.083133365 meters 0.27012594703505405 Centerline is valid? [False, False] Translation: X:2.41, Y:0.25, Z:0.06 [[ 9.99965712e-01 5.83553416e-03 5.87555424e-03 2.40895349e+00] [-5.84038489e-03 9.99982618e-01 8.08758064e-04 2.54313008e-01] [-5.87073258e-03 -8.43045832e-04 9.99982412e-01 6.42069567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.143133365 meters 0.2701858442207111 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.06 [[ 9.99967097e-01 5.70716155e-03 5.76482031e-03 2.40939559e+00] [-5.70986798e-03 9.99983596e-01 4.53124264e-04 2.55757563e-01] [-5.76213969e-03 -4.86025718e-04 9.99983281e-01 6.37326008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.203133365 meters 0.2691108281870552 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.06 [[ 9.99984204e-01 -3.02741965e-03 4.73559685e-03 2.38935494e+00] [ 3.02425390e-03 9.99995199e-01 6.75519752e-04 2.60403490e-01] [-4.73761920e-03 -6.61187435e-04 9.99988559e-01 6.32826936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.263133365 meters 0.2707782573593428 Centerline is valid? [False, False] Translation: X:2.39, Y:0.26, Z:0.06 [[ 9.99982581e-01 -3.32108431e-03 4.87943127e-03 2.38896324e+00] [ 3.32271977e-03 9.99994426e-01 -3.27106252e-04 2.64345432e-01] [-4.87831773e-03 3.43313537e-04 9.99988042e-01 6.33558060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.323133365 meters 0.27098113409729385 Centerline is valid? [False, False] Translation: X:2.39, Y:0.27, Z:0.06 [[ 9.99992026e-01 -9.62653893e-04 3.87563069e-03 2.39371362e+00] [ 9.57646128e-04 9.99998705e-01 1.29376466e-03 2.69623851e-01] [-3.87687112e-03 -1.29004286e-03 9.99991653e-01 6.00220116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.383133365 meters 0.26872441182565376 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:0.06 [[ 9.99964648e-01 7.63954646e-03 3.51297220e-03 2.37289851e+00] [-7.64133653e-03 9.99970681e-01 4.96420712e-04 2.67916385e-01] [-3.50907678e-03 -5.23246965e-04 9.99993706e-01 5.95827145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.443133365 meters 0.2690427398965563 Centerline is valid? [False, False] Translation: X:2.39, Y:0.28, Z:0.06 [[ 9.99991156e-01 -6.03571991e-05 4.20536361e-03 2.39044828e+00] [ 5.32804156e-05 9.99998583e-01 1.68289113e-03 2.76671546e-01] [-4.20545923e-03 -1.68265218e-03 9.99989741e-01 6.24062628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.503133365 meters 0.26967839476419386 Centerline is valid? [False, False] Translation: X:2.39, Y:0.28, Z:0.06 [[ 9.99991927e-01 -8.58065838e-05 4.01726073e-03 2.39088710e+00] [ 7.92918749e-05 9.99998682e-01 1.62181058e-03 2.76924189e-01] [-4.01739459e-03 -1.62147896e-03 9.99990616e-01 6.23713303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.563133365 meters 0.26991609014103546 Centerline is valid? [False, False] Translation: X:2.39, Y:0.28, Z:0.06 [[ 9.99991702e-01 -2.10023827e-05 4.07376379e-03 2.39069224e+00] [ 1.36843681e-05 9.99998386e-01 1.79639630e-03 2.76225381e-01] [-4.07379494e-03 -1.79632565e-03 9.99990089e-01 6.25493805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.623133365 meters 0.2677645244703194 Centerline is valid? [False, False] Translation: X:2.37, Y:0.27, Z:0.06 [[ 9.99969283e-01 5.55449009e-03 5.53004542e-03 2.36767135e+00] [-5.54742063e-03 9.99983777e-01 -1.29289093e-03 2.69431919e-01] [-5.53713706e-03 1.26217372e-03 9.99983873e-01 6.34936112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.683133365 meters 0.26906062830607425 Centerline is valid? [False, False] Translation: X:2.39, Y:0.27, Z:0.06 [[ 9.99979841e-01 -3.21343076e-03 5.47651615e-03 2.38995931e+00] [ 3.21535750e-03 9.99994772e-01 -3.43050780e-04 2.68019294e-01] [-5.47538514e-03 3.60652822e-04 9.99984945e-01 6.35102732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.743133365 meters 0.2691030124669935 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:0.06 [[ 9.99991116e-01 2.16230863e-03 3.61846712e-03 2.36908903e+00] [-2.14988877e-03 9.99991797e-01 -3.43273026e-03 2.63089331e-01] [-3.62586006e-03 3.42492046e-03 9.99987561e-01 6.37928251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.803133365 meters 0.267295159733279 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:0.06 [[ 0.99999029 0.00258001 0.00357182 2.36891096] [-0.00257151 0.99999386 -0.00238011 0.25874556] [-0.00357794 0.0023709 0.99999079 0.06437677] [ 0. 0. 0. 1. ]] SLAMing on 277.863133365 meters 0.2676977529060647 Centerline is valid? [False, False] Translation: X:2.37, Y:0.26, Z:0.06 [[ 9.99990207e-01 2.82211920e-03 3.40897888e-03 2.36930088e+00] [-2.81603622e-03 9.99994437e-01 -1.78788367e-03 2.56265698e-01] [-3.41400553e-03 1.77826635e-03 9.99992591e-01 6.44285214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.923133365 meters 0.26980780571965285 Centerline is valid? [False, False] Translation: X:2.37, Y:0.25, Z:0.06 [[ 9.99990113e-01 3.04287928e-03 3.24256304e-03 2.37003032e+00] [-3.03891594e-03 9.99994630e-01 -1.22651282e-03 2.53843147e-01] [-3.24627775e-03 1.21664681e-03 9.99993991e-01 6.37665253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98313336499996 meters 0.2688686644400385 Centerline is valid? [False, False] Translation: X:2.37, Y:0.25, Z:0.07 [[ 9.99991169e-01 8.33829669e-04 4.11913287e-03 2.36540675e+00] [-8.22461910e-04 9.99995851e-01 -2.76066909e-03 2.49018421e-01] [-4.12141771e-03 2.75725688e-03 9.99987706e-01 6.72510265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04313336499996 meters 0.2700276030026212 Centerline is valid? [False, False] Translation: X:2.38, Y:0.25, Z:0.07 [[ 9.99957244e-01 -7.37566505e-03 5.57761915e-03 2.38430864e+00] [ 7.38561286e-03 9.99971168e-01 -1.76503333e-03 2.52860880e-01] [-5.56444005e-03 1.80615200e-03 9.99982887e-01 6.78461806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10313336499996 meters 0.26883871650282337 Centerline is valid? [False, False] Translation: X:2.38, Y:0.25, Z:0.07 [[ 0.99998059 -0.00305072 0.0054321 2.38456504] [ 0.00303686 0.99999212 0.00255789 0.25260831] [-0.00543986 -0.00254134 0.99998197 0.06788862] [ 0. 0. 0. 1. ]] SLAMing on 278.16313336499996 meters 0.26922775112698166 Centerline is valid? [False, False] Translation: X:2.38, Y:0.25, Z:0.07 [[ 9.99980880e-01 -3.16596800e-03 5.31198601e-03 2.38476362e+00] [ 3.15437526e-03 9.99992628e-01 2.18933602e-03 2.54067759e-01] [-5.31887822e-03 -2.17253816e-03 9.99983495e-01 6.79979545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22313336499997 meters 0.2693547991105215 Centerline is valid? [False, False] Translation: X:2.38, Y:0.26, Z:0.07 [[ 9.99980230e-01 -3.26900668e-03 5.37155980e-03 2.38445036e+00] [ 3.25869289e-03 9.99992832e-01 1.92770411e-03 2.55190349e-01] [-5.37782298e-03 -1.91016174e-03 9.99983715e-01 6.83445356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28313336499997 meters 0.2698904696748582 Centerline is valid? [False, False] Translation: X:2.38, Y:0.26, Z:0.07 [[ 9.99979824e-01 -3.33547544e-03 5.40612863e-03 2.38412080e+00] [ 3.32600871e-03 9.99992921e-01 1.75915703e-03 2.55917652e-01] [-5.41195799e-03 -1.74114071e-03 9.99983839e-01 6.88593891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34313336499997 meters 0.2698923137842035 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.07 [[ 9.99962695e-01 4.87675452e-03 7.12916960e-03 2.40330215e+00] [-4.88231657e-03 9.99987790e-01 7.62986921e-04 2.53999867e-01] [-7.12536165e-03 -7.97765321e-04 9.99974296e-01 6.98017949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.403133365 meters 0.2694530588723734 Centerline is valid? [False, False] Translation: X:2.40, Y:0.25, Z:0.07 [[ 9.99964229e-01 4.92851149e-03 6.87389412e-03 2.40389282e+00] [-4.93489152e-03 9.99987408e-01 9.11501467e-04 2.53379448e-01] [-6.86931522e-03 -9.45390783e-04 9.99975959e-01 6.98344036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.463133365 meters 0.26936166940248896 Centerline is valid? [False, False] Translation: X:2.41, Y:0.25, Z:0.07 [[ 9.99979521e-01 3.37821078e-03 5.43562749e-03 2.40924634e+00] [-3.37390179e-03 9.99993987e-01 -8.01704654e-04 2.54996112e-01] [-5.43830313e-03 7.83348962e-04 9.99984905e-01 6.67137915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.523133365 meters 0.2699666627954566 Centerline is valid? [False, False] Translation: X:2.41, Y:0.25, Z:0.07 [[ 9.99979432e-01 3.39425822e-03 5.44190653e-03 2.40907112e+00] [-3.39017269e-03 9.99993965e-01 -7.59801576e-04 2.54837682e-01] [-5.44445265e-03 7.41336945e-04 9.99984904e-01 6.70540569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.583133365 meters 0.27007183367308435 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99978246e-01 3.32613060e-03 5.69595578e-03 2.40826507e+00] [-3.32065995e-03 9.99994016e-01 -9.69632928e-04 2.55788923e-01] [-5.69914682e-03 9.50697503e-04 9.99983308e-01 6.75483655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.643133365 meters 0.2703747203796939 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99978193e-01 3.27937502e-03 5.73237642e-03 2.40828223e+00] [-3.27318258e-03 9.99994050e-01 -1.08930651e-03 2.56281190e-01] [-5.73591456e-03 1.07051964e-03 9.99982976e-01 6.73085471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.703133365 meters 0.26988775844730983 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99978665e-01 3.25957610e-03 5.66086656e-03 2.40836072e+00] [-3.25320461e-03 9.99994065e-01 -1.13437659e-03 2.56477505e-01] [-5.66453055e-03 1.11593644e-03 9.99983334e-01 6.74968557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.763133365 meters 0.27048833351054474 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99978603e-01 3.21120536e-03 5.69926214e-03 2.40790260e+00] [-3.20413191e-03 9.99994086e-01 -1.24981387e-03 2.57061230e-01] [-5.70324184e-03 1.23152594e-03 9.99982978e-01 6.82458205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.823133365 meters 0.2695633184265969 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99978816e-01 3.19427910e-03 5.67127941e-03 2.40776161e+00] [-3.18701190e-03 9.99994089e-01 -1.28997997e-03 2.57257365e-01] [-5.67536644e-03 1.27187820e-03 9.99983086e-01 6.86815626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.883133365 meters 0.2689524919595655 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99979733e-01 3.21335742e-03 5.49622131e-03 2.40837881e+00] [-3.20662389e-03 9.99994098e-01 -1.23349299e-03 2.56968992e-01] [-5.50015252e-03 1.21584368e-03 9.99984135e-01 6.81813079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.943133365 meters 0.2700091254000643 Centerline is valid? [False, False] Translation: X:2.41, Y:0.26, Z:0.07 [[ 9.99979588e-01 3.32474527e-03 5.45607177e-03 2.40848536e+00] [-3.31966582e-03 9.99994048e-01 -9.39764172e-04 2.55750024e-01] [-5.45916377e-03 9.21632655e-04 9.99984674e-01 6.81741021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.003133365 meters 0.2699759423921326 Centerline is valid? [False, False] Translation: X:2.41, Y:0.25, Z:0.07 [[ 9.99979036e-01 3.46020412e-03 5.47315219e-03 2.40826116e+00] [-3.45725314e-03 9.99993873e-01 -5.48542104e-04 2.54183292e-01] [-5.47501672e-03 5.29608532e-04 9.99984872e-01 6.86495351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.063133365 meters 0.2709653632264266 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99967743e-01 -5.34770055e-03 5.99292997e-03 2.42939241e+00] [ 5.34642907e-03 9.99985682e-01 2.28165032e-04 2.53521809e-01] [-5.99406432e-03 -1.96116897e-04 9.99982016e-01 6.91664142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.123133365 meters 0.2703663908086773 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99968559e-01 -5.09972189e-03 6.07245061e-03 2.42926280e+00] [ 5.09310364e-03 9.99986420e-01 1.10484636e-03 2.50074656e-01] [-6.07800256e-03 -1.07388400e-03 9.99980952e-01 6.91186078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.183133365 meters 0.2677337953623948 Centerline is valid? [False, False] Translation: X:2.41, Y:0.24, Z:0.07 [[ 9.99985332e-01 3.11758462e-03 4.42913628e-03 2.41095468e+00] [-3.12049113e-03 9.99994920e-01 6.49466215e-04 2.43561053e-01] [-4.42708902e-03 -6.63277769e-04 9.99989980e-01 6.83737314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.243133365 meters 0.2685660183213302 Centerline is valid? [False, False] Translation: X:2.41, Y:0.24, Z:0.07 [[ 9.99985972e-01 3.21459241e-03 4.20976937e-03 2.41144008e+00] [-3.21850163e-03 9.99994395e-01 9.22160301e-04 2.42443090e-01] [-4.20678140e-03 -9.35696515e-04 9.99990714e-01 6.84240870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.303133365 meters 0.2670740025943371 Centerline is valid? [False, False] Translation: X:2.41, Y:0.24, Z:0.07 [[ 9.99985935e-01 3.23918395e-03 4.19975019e-03 2.41139386e+00] [-3.24335943e-03 9.99994252e-01 9.87792963e-04 2.42186218e-01] [-4.19652641e-03 -1.00140037e-03 9.99990693e-01 6.85820832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.363133365 meters 0.26930026312193367 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99977283e-01 -4.64836127e-03 4.88120753e-03 2.43098413e+00] [ 4.63781612e-03 9.99986892e-01 2.16945821e-03 2.46313512e-01] [-4.89122797e-03 -2.14677079e-03 9.99985734e-01 6.98025987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.423133365 meters 0.2677921690366775 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99977063e-01 -4.68684856e-03 4.88951494e-03 2.43065099e+00] [ 4.67675540e-03 9.99986914e-01 2.07364061e-03 2.46794215e-01] [-4.89916979e-03 -2.05072598e-03 9.99985896e-01 7.04590189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48313336499996 meters 0.2679836587447418 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99975161e-01 -4.70483461e-03 5.24812907e-03 2.42948794e+00] [ 4.69431810e-03 9.99986953e-01 2.01437910e-03 2.46991697e-01] [-5.25753791e-03 -1.98969268e-03 9.99984200e-01 7.14196337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54313336499996 meters 0.26691983424655324 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99973844e-01 -4.69937371e-03 5.49789103e-03 2.42881656e+00] [ 4.68825208e-03 9.99986941e-01 2.03403290e-03 2.46956582e-01] [-5.50737792e-03 -2.00820419e-03 9.99982818e-01 7.17027793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60313336499996 meters 0.26672158652412675 Centerline is valid? [False, False] Translation: X:2.43, Y:0.25, Z:0.07 [[ 9.99975723e-01 -4.61347742e-03 5.22204915e-03 2.42965810e+00] [ 4.60137294e-03 9.99986705e-01 2.32760267e-03 2.45840305e-01] [-5.23271807e-03 -2.30351757e-03 9.99983656e-01 7.11596805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66313336499996 meters 0.2688102684742897 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.07 [[ 0.99997692 -0.00445856 0.00512575 2.42992729] [ 0.00444443 0.9999863 0.00276455 0.24404925] [-0.005138 -0.00274171 0.99998304 0.07105826] [ 0. 0. 0. 1. ]] SLAMing on 279.72313336499997 meters 0.26943926663547835 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.07 [[ 0.99997725 -0.00432436 0.00517741 2.4297576 ] [ 0.00430827 0.99998587 0.00311313 0.24260176] [-0.0051908 -0.00309075 0.99998175 0.07117592] [ 0. 0. 0. 1. ]] SLAMing on 279.78313336499997 meters 0.268380320018249 Centerline is valid? [False, False] Translation: X:2.41, Y:0.24, Z:0.07 [[ 9.99991300e-01 3.13624868e-03 2.75016811e-03 2.41305660e+00] [-3.14148295e-03 9.99993259e-01 1.90100572e-03 2.36702651e-01] [-2.74418754e-03 -1.90962879e-03 9.99994411e-01 6.90052687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84313336499997 meters 0.2674842515886007 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99991090e-01 3.31400947e-03 2.61496778e-03 2.41346020e+00] [-3.32028106e-03 9.99991613e-01 2.39765882e-03 2.34655135e-01] [-2.60699999e-03 -2.40631989e-03 9.99993707e-01 6.88173914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.903133365 meters 0.2667383376031589 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992554e-01 1.06603195e-03 3.70879453e-03 2.40798184e+00] [-1.06833692e-03 9.99999237e-01 6.19562389e-04 2.31360999e-01] [-3.70813123e-03 -6.23520018e-04 9.99992930e-01 7.27873051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.963133365 meters 0.26774538665774517 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992207e-01 1.19243950e-03 3.76362180e-03 2.40755986e+00] [-1.19610695e-03 9.99998812e-01 9.72348365e-04 2.29917873e-01] [-3.76245787e-03 -9.76842481e-04 9.99992445e-01 7.34667420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.023133365 meters 0.2669302793356357 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992162e-01 1.16443968e-03 3.78409201e-03 2.40759327e+00] [-1.16787606e-03 9.99998908e-01 9.06029476e-04 2.30204306e-01] [-3.78303286e-03 -9.10441725e-04 9.99992430e-01 7.32964152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.083133365 meters 0.2673369681320855 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992009e-01 1.08168142e-03 3.84864564e-03 2.40730818e+00] [-1.08438829e-03 9.99999166e-01 7.01313192e-04 2.31089020e-01] [-3.84788383e-03 -7.05481014e-04 9.99992348e-01 7.35685115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.143133365 meters 0.26648211339849437 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992324e-01 9.63066867e-04 3.79801542e-03 2.40752600e+00] [-9.64600013e-04 9.99999454e-01 4.01859209e-04 2.32330863e-01] [-3.79762633e-03 -4.05519690e-04 9.99992707e-01 7.33466708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.203133365 meters 0.2675116092888467 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99992584e-01 8.27620320e-04 3.76114441e-03 2.40765848e+00] [-8.27863820e-04 9.99999655e-01 6.31844940e-05 2.33748411e-01] [-3.76109082e-03 -6.62977408e-05 9.99992925e-01 7.32306500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.263133365 meters 0.2671430335092142 Centerline is valid? [False, False] Translation: X:2.41, Y:0.24, Z:0.07 [[ 9.99992742e-01 6.69915687e-04 3.75058570e-03 2.40766788e+00] [-6.68637186e-04 9.99999718e-01 -3.42123818e-04 2.35443671e-01] [-3.75081384e-03 3.39613554e-04 9.99992908e-01 7.32602201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.323133365 meters 0.2694058239477414 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.07 [[ 9.99961349e-01 -7.84560290e-03 3.96817802e-03 2.42853629e+00] [ 7.84505735e-03 9.99969215e-01 1.53028111e-04 2.39680856e-01] [-3.96925646e-03 -1.21891612e-04 9.99992115e-01 7.34818070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.383133365 meters 0.267343440774805 Centerline is valid? [False, False] Translation: X:2.43, Y:0.24, Z:0.07 [[ 9.99962669e-01 -7.76853709e-03 3.78300730e-03 2.42916946e+00] [ 7.76730047e-03 9.99969776e-01 3.41469853e-04 2.38835404e-01] [-3.78554569e-03 -3.12073351e-04 9.99992786e-01 7.30578052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.443133365 meters 0.26778429411951477 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99996575e-01 3.81736771e-04 2.58938047e-03 2.41024922e+00] [-3.80445668e-04 9.99999803e-01 -4.99088808e-04 2.33899162e-01] [-2.58957048e-03 4.98101980e-04 9.99996523e-01 7.20096196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.503133365 meters 0.2666833609605795 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99996394e-01 5.46947847e-04 2.62937450e-03 2.40986953e+00] [-5.46739143e-04 9.99999847e-01 -8.00921013e-05 2.32139586e-01] [-2.62941790e-03 7.86542305e-05 9.99996540e-01 7.26499553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.563133365 meters 0.2674165070043174 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99996045e-01 6.84333474e-04 2.72806539e-03 2.40955764e+00] [-6.85278332e-04 9.99999706e-01 3.45427549e-04 2.30491698e-01] [-2.72782820e-03 -3.47295667e-04 9.99996219e-01 7.28731319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.623133365 meters 0.2677181906970264 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99995654e-01 7.98770998e-04 2.83782026e-03 2.40923926e+00] [-8.00619365e-04 9.99999468e-01 6.50257040e-04 2.29243959e-01] [-2.83729934e-03 -6.52526228e-04 9.99995762e-01 7.30464378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.683133365 meters 0.2678716351567052 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99995800e-01 8.37952610e-04 2.77466316e-03 2.40930980e+00] [-8.40027874e-04 9.99999368e-01 7.46852775e-04 2.28844512e-01] [-2.77403558e-03 -7.49180432e-04 9.99995872e-01 7.32079995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.743133365 meters 0.267459722244811 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99995230e-01 8.56574665e-04 2.96751558e-03 2.40900567e+00] [-8.58966468e-04 9.99999307e-01 8.04814111e-04 2.28604913e-01] [-2.96682414e-03 -8.07359268e-04 9.99995273e-01 7.29320675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.803133365 meters 0.2672434039984559 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99995036e-01 8.54000172e-04 3.03299064e-03 2.40874680e+00] [-8.56442266e-04 9.99999310e-01 8.03969272e-04 2.28632055e-01] [-3.03230196e-03 -8.06562862e-04 9.99995077e-01 7.31671951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.863133365 meters 0.26713448754123087 Centerline is valid? [False, False] Translation: X:2.41, Y:0.23, Z:0.07 [[ 9.99995246e-01 8.36328750e-04 2.96781513e-03 2.40883566e+00] [-8.38596136e-04 9.99999357e-01 7.62829288e-04 2.28813939e-01] [-2.96717525e-03 -7.65314460e-04 9.99995305e-01 7.32952541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.923133365 meters 0.2680217206333088 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:0.07 [[ 9.99990227e-01 7.46515453e-04 4.35757320e-03 2.45268200e+00] [-7.46896032e-04 9.99999717e-01 8.57105780e-05 2.30925325e-01] [-4.35750798e-03 -8.89643945e-05 9.99990502e-01 7.24594272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98313336499996 meters 0.2686931085241601 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:0.07 [[ 9.99989840e-01 7.34054997e-04 4.44750865e-03 2.45240801e+00] [-7.34315321e-04 9.99999729e-01 5.68997734e-05 2.31059671e-01] [-4.44746568e-03 -6.01650691e-05 9.99990108e-01 7.25967717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04313336499996 meters 0.2688898840458929 Centerline is valid? [False, False] Translation: X:2.47, Y:0.23, Z:0.07 [[ 0.99997462 -0.00498193 0.005093 2.4743739 ] [ 0.00496472 0.99998194 0.0033866 0.23247521] [-0.00510978 -0.00336123 0.9999813 0.072058 ] [ 0. 0. 0. 1. ]] SLAMing on 281.10313336499996 meters 0.2686545021510095 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.07 [[ 0.99997578 -0.00490817 0.00493485 2.47505009] [ 0.00489054 0.99998164 0.00357733 0.23159969] [-0.00495231 -0.00355311 0.99998142 0.07137372] [ 0. 0. 0. 1. ]] SLAMing on 281.16313336499996 meters 0.2689243403525371 Centerline is valid? [False, False] Translation: X:2.48, Y:0.23, Z:0.07 [[ 0.9999761 -0.00485268 0.00492416 2.47510144] [ 0.0048344 0.99998141 0.00371726 0.23101507] [-0.00494211 -0.00369337 0.99998097 0.07133383] [ 0. 0. 0. 1. ]] SLAMing on 281.22313336499997 meters 0.2701456909658578 Centerline is valid? [False, False] Translation: X:2.50, Y:0.23, Z:0.07 [[ 9.99982788e-01 1.22111690e-03 5.73873175e-03 2.49789222e+00] [-1.22585758e-03 9.99998910e-01 8.22640538e-04 2.28749370e-01] [-5.73772095e-03 -8.29661247e-04 9.99983195e-01 7.03997735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28313336499997 meters 0.26782645777736963 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.07 [[ 9.99990332e-01 3.26925309e-04 4.38510623e-03 2.45408797e+00] [-3.30656520e-04 9.99999584e-01 8.50184692e-04 2.20842630e-01] [-4.38482646e-03 -8.51626436e-04 9.99990024e-01 7.15543011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34313336499997 meters 0.2683591293690247 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:0.07 [[ 9.99990405e-01 4.41125589e-04 4.35845588e-03 2.45426634e+00] [-4.46104930e-04 9.99999249e-01 1.14154925e-03 2.19625250e-01] [-4.35794904e-03 -1.14348263e-03 9.99989850e-01 7.13280512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.403133365 meters 0.27085473551007727 Centerline is valid? [False, False] Translation: X:2.47, Y:0.22, Z:0.07 [[ 9.99948960e-01 8.81006666e-03 4.94579166e-03 2.47466842e+00] [-8.81153808e-03 9.99961140e-01 2.75797782e-04 2.15989606e-01] [-4.94316966e-03 -3.19363737e-04 9.99987731e-01 7.23473152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.463133365 meters 0.2713766971199367 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:0.07 [[ 9.99987923e-01 3.02612166e-04 4.90541684e-03 2.49534889e+00] [-3.10085958e-04 9.99998792e-01 1.52289031e-03 2.15493014e-01] [-4.90495007e-03 -1.52439302e-03 9.99986809e-01 7.27694330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.523133365 meters 0.2706365567077505 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:0.07 [[ 9.99980541e-01 -3.78600828e-03 4.95819789e-03 2.49517717e+00] [ 3.79708002e-03 9.99990315e-01 -2.22551062e-03 2.13121659e-01] [-4.94972406e-03 2.24429399e-03 9.99985232e-01 7.29155071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.583133365 meters 0.26817306341020725 Centerline is valid? [False, False] Translation: X:2.49, Y:0.21, Z:0.07 [[ 9.99981333e-01 -3.52153423e-03 4.99327059e-03 2.49487034e+00] [ 3.52873863e-03 9.99992745e-01 -1.43474551e-03 2.09896146e-01] [-4.98818186e-03 1.45233868e-03 9.99986504e-01 7.34295747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.643133365 meters 0.26962145139403076 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:0.07 [[ 9.99963547e-01 5.01289505e-03 6.91194726e-03 2.51256356e+00] [-5.00267894e-03 9.99986370e-01 -1.49453443e-03 2.01062277e-01] [-6.91934499e-03 1.45990170e-03 9.99974995e-01 7.49776930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.703133365 meters 0.26677606182818697 Centerline is valid? [False, False] Translation: X:2.49, Y:0.20, Z:0.08 [[ 9.99968115e-01 -4.52025106e-03 6.58303107e-03 2.49031183e+00] [ 4.52609753e-03 9.99989376e-01 -8.73485306e-04 1.97669947e-01] [-6.57901275e-03 9.03252896e-04 9.99977950e-01 7.57827016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.763133365 meters 0.2682328675360691 Centerline is valid? [False, False] Translation: X:2.51, Y:0.18, Z:0.08 [[ 9.99976000e-01 3.52733113e-03 5.96305459e-03 2.50996857e+00] [-3.52063110e-03 9.99993160e-01 -1.13371340e-03 1.84858716e-01] [-5.96701279e-03 1.11269247e-03 9.99981578e-01 7.75911434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.823133365 meters 0.2677751203347929 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.08 [[ 9.99981606e-01 -4.88547111e-03 3.59452201e-03 2.49108862e+00] [ 4.88232976e-03 9.99987692e-01 8.82181011e-04 1.75996503e-01] [-3.59878764e-03 -8.64615142e-04 9.99993151e-01 7.67372518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.883133365 meters 0.2684805686718417 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.07 [[ 9.99974938e-01 -6.75953445e-03 2.10546810e-03 2.49590400e+00] [ 6.75830336e-03 9.99976988e-01 5.91277484e-04 1.63160958e-01] [-2.10941641e-03 -5.77033273e-04 9.99997609e-01 7.45424280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.943133365 meters 0.26964459891016856 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.07 [[ 9.99978821e-01 -6.18788814e-03 2.01678310e-03 2.49651431e+00] [ 6.18394913e-03 9.99978971e-01 1.95353571e-03 1.57410506e-01] [-2.02882894e-03 -1.94102266e-03 9.99996058e-01 7.39280794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.003133365 meters 0.2703356500739216 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:0.07 [[ 9.99982264e-01 -5.65564406e-03 1.86704218e-03 2.49701361e+00] [ 5.64978320e-03 9.99979143e-01 3.12960591e-03 1.52424215e-01] [-1.88470318e-03 -3.11900202e-03 9.99993360e-01 7.37895457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.063133365 meters 0.26963416894728875 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99993477e-01 2.20634541e-03 2.85969238e-03 2.47790010e+00] [-2.21636263e-03 9.99991403e-01 3.50447788e-03 1.37403724e-01] [-2.85193570e-03 -3.51079314e-03 9.99989770e-01 7.23206975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.123133365 meters 0.26992548595679894 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992242e-01 -1.57531843e-03 3.61039358e-03 2.47637227e+00] [ 1.57353418e-03 9.99998638e-01 4.96984763e-04 1.33500395e-01] [-3.61117157e-03 -4.91299830e-04 9.99993359e-01 7.24937788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.183133365 meters 0.2707190174690625 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992293e-01 -1.47307574e-03 3.63926112e-03 2.47639329e+00] [ 1.47028803e-03 9.99998624e-01 7.68567510e-04 1.32388137e-01] [-3.64038827e-03 -7.63210824e-04 9.99993083e-01 7.23304073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.243133365 meters 0.2715660842678424 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99993542e-01 -1.38255116e-03 3.31716575e-03 2.47716071e+00] [ 1.37918444e-03 9.99998532e-01 1.01701006e-03 1.31354028e-01] [-3.31856694e-03 -1.01242851e-03 9.99993981e-01 7.22151148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.303133365 meters 0.27130373727464796 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992899e-01 -1.35920695e-03 3.51491553e-03 2.47651802e+00] [ 1.35544754e-03 9.99998507e-01 1.07172071e-03 1.31163875e-01] [-3.51636697e-03 -1.06694882e-03 9.99993248e-01 7.26562258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.363133365 meters 0.2720950307752169 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992539e-01 -1.37789685e-03 3.60878923e-03 2.47640880e+00] [ 1.37420226e-03 9.99998529e-01 1.02605706e-03 1.31355199e-01] [-3.61019772e-03 -1.02109019e-03 9.99992962e-01 7.24095149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.423133365 meters 0.2721551340625727 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992831e-01 -1.36490556e-03 3.53205442e-03 2.47685539e+00] [ 1.36116811e-03 9.99998511e-01 1.06033773e-03 1.31153343e-01] [-3.53349642e-03 -1.05552241e-03 9.99993200e-01 7.18322430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48313336499996 meters 0.2705066541901653 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99993446e-01 -1.32172104e-03 3.37060724e-03 2.47717034e+00] [ 1.31778250e-03 9.99998447e-01 1.17044832e-03 1.30685428e-01] [-3.37214901e-03 -1.16599892e-03 9.99993635e-01 7.19808632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54313336499996 meters 0.2708978228059201 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99994004e-01 -1.37980028e-03 3.17622878e-03 2.47794785e+00] [ 1.37655692e-03 9.99998529e-01 1.02309352e-03 1.31249377e-01] [-3.17763577e-03 -1.01871513e-03 9.99994432e-01 7.11535043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60313336499996 meters 0.27148440806874363 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99993850e-01 -1.47803384e-03 3.18034418e-03 2.47798165e+00] [ 1.47556715e-03 9.99998609e-01 7.77811797e-04 1.32265261e-01] [-3.18148939e-03 -7.73114202e-04 9.99994640e-01 7.10419974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66313336499996 meters 0.2711271745811989 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:0.07 [[ 9.99992991e-01 -1.61902373e-03 3.37602034e-03 2.47715445e+00] [ 1.61774611e-03 9.99998619e-01 3.81135652e-04 1.34162134e-01] [-3.37663275e-03 -3.75671437e-04 9.99994229e-01 7.18517605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72313336499997 meters 0.2730670293022863 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99992571e-01 -1.75667449e-03 3.43104602e-03 2.47711775e+00] [ 1.75655241e-03 9.99998457e-01 3.85960030e-05 1.35570609e-01] [-3.43110853e-03 -3.25689041e-05 9.99994113e-01 7.16285582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78313336499997 meters 0.2721328098717552 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99992153e-01 -1.85593233e-03 3.50003647e-03 2.47691007e+00] [ 1.85665067e-03 9.99998256e-01 -2.01999824e-04 1.36594690e-01] [-3.49965546e-03 2.08496584e-04 9.99993854e-01 7.16842703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84313336499997 meters 0.2715780475697812 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99991891e-01 -1.84953506e-03 3.57729626e-03 2.47662284e+00] [ 1.85021901e-03 9.99998271e-01 -1.87891797e-04 1.36567670e-01] [-3.57694256e-03 1.94509055e-04 9.99993584e-01 7.19224635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.903133365 meters 0.27065561960623724 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99992230e-01 -1.88828114e-03 3.46034960e-03 2.47688405e+00] [ 1.88927747e-03 9.99998175e-01 -2.84682884e-04 1.36952610e-01] [-3.45980572e-03 2.91218233e-04 9.99993972e-01 7.19313059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.963133365 meters 0.2705100671727383 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99991391e-01 -2.11548462e-03 3.56957831e-03 2.47665928e+00] [ 2.11867202e-03 9.99997360e-01 -8.89390648e-04 1.39449217e-01] [-3.56768739e-03 8.96945757e-04 9.99993234e-01 7.17941950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.023133365 meters 0.272408919292221 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99990619e-01 -2.28528210e-03 3.67961692e-03 2.47636351e+00] [ 2.29013046e-03 9.99996514e-01 -1.31395139e-03 1.41240656e-01] [-3.67660135e-03 1.32236587e-03 9.99992367e-01 7.18290823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.083133365 meters 0.27019534374367815 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99990548e-01 -2.37037945e-03 3.64475715e-03 2.47642010e+00] [ 2.37594463e-03 9.99996017e-01 -1.52333048e-03 1.42108292e-01] [-3.64113176e-03 1.53197582e-03 9.99992198e-01 7.18690149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.143133365 meters 0.2707201014476508 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99990432e-01 -2.53251677e-03 3.56689030e-03 2.47661971e+00] [ 2.53936187e-03 9.99994941e-01 -1.91584832e-03 1.43728482e-01] [-3.56202034e-03 1.92488762e-03 9.99991803e-01 7.17989504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.203133365 meters 0.2694133276149964 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:0.07 [[ 9.99989713e-01 -2.62334283e-03 3.70024630e-03 2.47631098e+00] [ 2.63123836e-03 9.99994269e-01 -2.13053237e-03 1.44633700e-01] [-3.69463597e-03 2.14024669e-03 9.99990884e-01 7.17650322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.263133365 meters 0.27107100477949153 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.07 [[ 9.99989900e-01 -2.71334389e-03 3.58288888e-03 2.47666784e+00] [ 2.72176964e-03 9.99993537e-01 -2.34888536e-03 1.45527793e-01] [-3.57649239e-03 2.35861343e-03 9.99990823e-01 7.15879749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.323133365 meters 0.26909157322224714 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:0.07 [[ 0.99998982 -0.00286791 0.00348387 2.47694985] [ 0.00287758 0.99999201 -0.00277602 0.14724133] [-0.00347588 0.00278601 0.99999008 0.07140583] [ 0. 0. 0. 1. ]] SLAMing on 283.383133365 meters 0.2729395014414992 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99986144e-01 4.58924618e-04 5.24416226e-03 2.51876334e+00] [-4.51387435e-04 9.99998864e-01 -1.43834519e-03 1.58583755e-01] [-5.24481639e-03 1.43595812e-03 9.99985215e-01 7.15322739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.443133365 meters 0.27097067758086685 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:0.07 [[ 9.99975513e-01 -5.74317109e-03 3.99856984e-03 2.49551661e+00] [ 5.73799384e-03 9.99982686e-01 1.30504666e-03 1.60978821e-01] [-4.00599572e-03 -1.28207093e-03 9.99991154e-01 7.31133107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.503133365 meters 0.2728304235472509 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:0.07 [[ 9.99976056e-01 2.97528184e-03 6.24777766e-03 2.51549643e+00] [-2.97434744e-03 9.99995564e-01 -1.58843313e-04 1.67810969e-01] [-6.24822255e-03 1.40256449e-04 9.99980470e-01 7.31937254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.563133365 meters 0.2683432521301099 Centerline is valid? [False, False] Translation: X:2.47, Y:0.17, Z:0.07 [[ 9.99985595e-01 1.55673636e-03 5.13671699e-03 2.47218536e+00] [-1.55244346e-03 9.99998442e-01 -8.39609770e-04 1.69787780e-01] [-5.13801604e-03 8.31623213e-04 9.99986455e-01 7.36077732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.623133365 meters 0.27083947544391884 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.07 [[ 9.99976467e-01 -4.30048191e-03 5.34522645e-03 2.49449381e+00] [ 4.29307654e-03 9.99989810e-01 1.39612063e-03 1.77932009e-01] [-5.35117598e-03 -1.37314031e-03 9.99984740e-01 7.29488911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.683133365 meters 0.27036161335314646 Centerline is valid? [False, False] Translation: X:2.49, Y:0.18, Z:0.07 [[ 9.99975880e-01 -4.48110068e-03 5.30654182e-03 2.49449264e+00] [ 4.47599277e-03 9.99989508e-01 9.74053406e-04 1.79725544e-01] [-5.31085098e-03 -9.50277869e-04 9.99985446e-01 7.30628101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.743133365 meters 0.268553793214157 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.07 [[ 9.99986371e-01 3.37321965e-03 3.98484000e-03 2.47606378e+00] [-3.37084322e-03 9.99994137e-01 -6.02933152e-04 1.78749851e-01] [-3.98685046e-03 5.89492664e-04 9.99991879e-01 7.20872512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.803133365 meters 0.2686550674207694 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.07 [[ 9.99979767e-01 -4.81232934e-03 4.16015798e-03 2.49620592e+00] [ 4.81228677e-03 9.99988421e-01 2.02445284e-05 1.84638695e-01] [-4.16020724e-03 -2.24245531e-07 9.99991346e-01 7.36594678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.863133365 meters 0.269178407846768 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.07 [[ 9.99980132e-01 -4.75524862e-03 4.13807367e-03 2.49610055e+00] [ 4.75454797e-03 9.99988681e-01 1.79139973e-04 1.83992972e-01] [-4.13887869e-03 -1.59461744e-04 9.99991422e-01 7.40449720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.923133365 meters 0.2692594705120202 Centerline is valid? [False, False] Translation: X:2.48, Y:0.18, Z:0.07 [[ 9.99994609e-01 2.68353026e-03 1.89206457e-03 2.47874082e+00] [-2.68151106e-03 9.99995833e-01 -1.06892386e-03 1.79490748e-01] [-1.89492518e-03 1.06384450e-03 9.99997639e-01 7.24084035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98313336499996 meters 0.26965090027425953 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.07 [[ 9.99992600e-01 -3.33909159e-03 1.91085385e-03 2.50176409e+00] [ 3.33519032e-03 9.99992355e-01 2.04119529e-03 1.78869659e-01] [-1.91765498e-03 -2.03480713e-03 9.99996091e-01 7.15018516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04313336499996 meters 0.26879678900407783 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.07 [[ 9.99993054e-01 -3.19257175e-03 1.92314670e-03 2.50163004e+00] [ 3.18796954e-03 9.99992059e-01 2.39139297e-03 1.77403070e-01] [-1.93076612e-03 -2.38524542e-03 9.99995291e-01 7.17334335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10313336499996 meters 0.26842330367362305 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:0.07 [[ 9.99993559e-01 -3.00246538e-03 1.96632792e-03 2.50144318e+00] [ 2.99684255e-03 9.99991430e-01 2.85629217e-03 1.75482459e-01] [-1.97488699e-03 -2.85038100e-03 9.99993988e-01 7.19624633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16313336499996 meters 0.2691248529759404 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.07 [[ 9.99993956e-01 -2.83250300e-03 2.01627406e-03 2.50110846e+00] [ 2.82590044e-03 9.99990661e-01 3.26998505e-03 1.73777952e-01] [-2.02551747e-03 -3.26426749e-03 9.99992621e-01 7.24518404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22313336499997 meters 0.2675356396464903 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.07 [[ 9.99994945e-01 -2.53244417e-03 1.92245622e-03 2.50127867e+00] [ 2.52472106e-03 9.99988776e-01 4.00916602e-03 1.70716291e-01] [-1.93258763e-03 -4.00429209e-03 9.99990115e-01 7.26039338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28313336499997 meters 0.2686375047336754 Centerline is valid? [False, False] Translation: X:2.52, Y:0.17, Z:0.07 [[ 9.99990542e-01 3.75347739e-03 2.19693814e-03 2.52373347e+00] [-3.75548732e-03 9.99992533e-01 9.11468639e-04 1.67489033e-01] [-2.19350056e-03 -9.19710592e-04 9.99997171e-01 7.19598597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34313336499997 meters 0.269044332875934 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.07 [[ 9.99984078e-01 -5.31557622e-03 1.89454543e-03 2.50325627e+00] [ 5.31180314e-03 9.99983910e-01 1.99104649e-03 1.67286809e-01] [-1.90509850e-03 -1.98095133e-03 9.99996223e-01 7.15440483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.403133365 meters 0.2700666326794968 Centerline is valid? [False, False] Translation: X:2.53, Y:0.16, Z:0.07 [[ 9.99992218e-01 3.86385403e-03 7.96482066e-04 2.52560771e+00] [-3.86532584e-03 9.99990810e-01 1.85470238e-03 1.62001342e-01] [-7.89308447e-04 -1.85776661e-03 9.99997963e-01 7.14871686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.463133365 meters 0.26996723259863387 Centerline is valid? [False, False] Translation: X:2.53, Y:0.16, Z:0.07 [[ 9.99992182e-01 3.89155523e-03 7.00999868e-04 2.52594307e+00] [-3.89289991e-03 9.99990566e-01 1.92719033e-03 1.61671280e-01] [-6.93493487e-04 -1.92990419e-03 9.99997897e-01 7.12475874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.523133365 meters 0.27093438029036404 Centerline is valid? [False, False] Translation: X:2.54, Y:0.16, Z:0.07 [[ 9.99992866e-01 -3.01264803e-03 2.27840227e-03 2.54364240e+00] [ 3.00356085e-03 9.99987564e-01 3.98136346e-03 1.63530805e-01] [-2.29036838e-03 -3.97449174e-03 9.99989479e-01 7.43301721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.583133365 meters 0.26901590061119374 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99997135e-01 2.36537671e-03 -3.68196456e-04 2.52404344e+00] [-2.36501988e-03 9.99996736e-01 9.66582068e-04 1.61501643e-01] [ 3.70481585e-04 -9.65708507e-04 9.99999465e-01 7.43338222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.643133365 meters 0.26972848004565286 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99996864e-01 2.44946413e-03 -5.21130998e-04 2.52439534e+00] [-2.44884191e-03 9.99996292e-01 1.19129223e-03 1.60568145e-01] [ 5.24047093e-04 -1.19001233e-03 9.99999155e-01 7.43655124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.703133365 meters 0.2684983044569769 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.08 [[ 9.99996362e-01 2.66143590e-03 -4.39591916e-04 2.52372984e+00] [-2.66065834e-03 9.99994912e-01 1.76003892e-03 1.58237635e-01] [ 4.44273910e-04 -1.75886291e-03 9.99998355e-01 7.53997003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.763133365 meters 0.26869054896923705 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.08 [[ 9.99995992e-01 2.78686378e-03 -5.00125048e-04 2.52401397e+00] [-2.78581698e-03 9.99993953e-01 2.08169372e-03 1.56898859e-01] [ 5.05923421e-04 -2.08029212e-03 9.99997708e-01 7.51048982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.823133365 meters 0.2700138192673281 Centerline is valid? [False, False] Translation: X:2.54, Y:0.16, Z:0.08 [[ 9.99984481e-01 -5.44920869e-03 1.15965174e-03 2.54304257e+00] [ 5.44601371e-03 9.99981415e-01 2.74066514e-03 1.59240107e-01] [-1.17456464e-03 -2.73430713e-03 9.99995572e-01 7.57601705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.883133365 meters 0.27056468650889204 Centerline is valid? [False, False] Translation: X:2.54, Y:0.16, Z:0.08 [[ 9.99984006e-01 -5.51704122e-03 1.24491358e-03 2.54300913e+00] [ 5.51386691e-03 9.99981575e-01 2.53901330e-03 1.60030526e-01] [-1.25889848e-03 -2.53210841e-03 9.99996002e-01 7.53752790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.943133365 meters 0.26992023293252987 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99996351e-01 2.67309146e-03 -3.90329103e-04 2.52345991e+00] [-2.67244416e-03 9.99995069e-01 1.64954781e-03 1.60538024e-01] [ 3.94736571e-04 -1.64849866e-03 9.99998563e-01 7.36914547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.003133365 meters 0.2701676913677393 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99996881e-01 2.45130762e-03 -4.78730654e-04 2.52377929e+00] [-2.45080987e-03 9.99996458e-01 1.03755765e-03 1.63022628e-01] [ 4.81272331e-04 -1.03638113e-03 9.99999347e-01 7.34155074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.063133365 meters 0.2701436961889036 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99997141e-01 2.35134540e-03 -4.33986135e-04 2.52339074e+00] [-2.35100513e-03 9.99996930e-01 7.82911195e-04 1.64155568e-01] [ 4.35825698e-04 -7.81888653e-04 9.99999599e-01 7.40062986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.123133365 meters 0.268833598919943 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99997168e-01 2.37182399e-03 -1.98039385e-04 2.52265911e+00] [-2.37165857e-03 9.99996842e-01 8.31363775e-04 1.64005283e-01] [ 2.00010608e-04 -8.30891738e-04 9.99999635e-01 7.45579985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.183133365 meters 0.2693425424037458 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99996932e-01 2.45729342e-03 -3.13040920e-04 2.52291131e+00] [-2.45692813e-03 9.99996307e-01 1.16200231e-03 1.62709430e-01] [ 3.15895145e-04 -1.16122963e-03 9.99999276e-01 7.46084638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.243133365 meters 0.270382979826375 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.07 [[ 9.99996383e-01 2.63740163e-03 -5.27374264e-04 2.52328145e+00] [-2.63648867e-03 9.99995038e-01 1.72440575e-03 1.60520772e-01] [ 5.31919597e-04 -1.72300910e-03 9.99998374e-01 7.48868150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.303133365 meters 0.2680574073332793 Centerline is valid? [False, False] Translation: X:2.52, Y:0.16, Z:0.08 [[ 9.99995688e-01 2.85763728e-03 -6.77316573e-04 2.52345735e+00] [-2.85604176e-03 9.99993172e-01 2.34503351e-03 1.58055572e-01] [ 6.84013203e-04 -2.34308896e-03 9.99997021e-01 7.52493158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.363133365 meters 0.2672021884993268 Centerline is valid? [False, False] Translation: X:2.52, Y:0.15, Z:0.08 [[ 9.99994447e-01 3.23564755e-03 -7.98061583e-04 2.52353543e+00] [-3.23297237e-03 9.99989226e-01 3.33090320e-03 1.54101960e-01] [ 8.08830614e-04 -3.32830460e-03 9.99994134e-01 7.57015244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.423133365 meters 0.26747395664378876 Centerline is valid? [False, False] Translation: X:2.52, Y:0.15, Z:0.08 [[ 9.99999467e-01 -8.15710936e-04 -6.33011803e-04 2.52307818e+00] [ 8.15561323e-04 9.99999639e-01 -2.36574072e-04 1.51059680e-01] [ 6.33204551e-04 2.36057686e-04 9.99999772e-01 7.59266249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48313336499996 meters 0.2681133868108399 Centerline is valid? [False, False] Translation: X:2.52, Y:0.15, Z:0.08 [[ 9.99999640e-01 -4.21667558e-04 -7.36904324e-04 2.52307770e+00] [ 4.22318143e-04 9.99999521e-01 8.82929749e-04 1.46685628e-01] [ 7.36531668e-04 -8.83240639e-04 9.99999339e-01 7.64548923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54313336499996 meters 0.268326396325072 Centerline is valid? [False, False] Translation: X:2.52, Y:0.14, Z:0.08 [[ 9.99999745e-01 -1.41910554e-04 -6.99819533e-04 2.52278898e+00] [ 1.43101054e-04 9.99998542e-01 1.70139636e-03 1.43454811e-01] [ 6.99577067e-04 -1.70149607e-03 9.99998308e-01 7.69525746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60313336499996 meters 0.26876853933303974 Centerline is valid? [False, False] Translation: X:2.52, Y:0.14, Z:0.08 [[ 9.99999833e-01 1.53774951e-04 -5.56280874e-04 2.52218737e+00] [-1.52298570e-04 9.99996469e-01 2.65308986e-03 1.39736963e-01] [ 5.56686889e-04 -2.65300470e-03 9.99996326e-01 7.75970189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66313336499996 meters 0.2681977795993881 Centerline is valid? [False, False] Translation: X:2.51, Y:0.12, Z:0.08 [[ 9.99969277e-01 7.48398416e-03 -2.33145210e-03 2.50585890e+00] [-7.47694154e-03 9.99967502e-01 3.01491100e-03 1.24800887e-01] [ 2.35393987e-03 -2.99738624e-03 9.99992737e-01 7.53177934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72313336499997 meters 0.2683152155320181 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:0.08 [[ 9.99989282e-01 3.91242664e-03 -2.47548470e-03 2.50582960e+00] [-3.90946079e-03 9.99991636e-01 1.20179375e-03 1.14148759e-01] [ 2.48016592e-03 -1.19210306e-03 9.99996214e-01 7.58264821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78313336499997 meters 0.26812874519797947 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:0.08 [[ 9.99997090e-01 1.25525545e-04 -2.40900727e-03 2.50546841e+00] [-1.29787512e-04 9.99998427e-01 -1.76910527e-03 1.08512703e-01] [ 2.40878141e-03 1.76941279e-03 9.99995533e-01 7.62473725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84313336499997 meters 0.2687538663911885 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:0.08 [[ 9.99996733e-01 5.08230061e-04 -2.50504962e-03 2.50572274e+00] [-5.09817543e-04 9.99999670e-01 -6.33115230e-04 1.04033068e-01] [ 2.50472703e-03 6.34390280e-04 9.99996662e-01 7.61689643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.903133365 meters 0.2686324029702932 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:0.08 [[ 9.99996151e-01 8.47717377e-04 -2.64186499e-03 2.50612553e+00] [-8.46983918e-04 9.99999602e-01 2.78735567e-04 1.00336738e-01] [ 2.64210023e-03 -2.76496877e-04 9.99996471e-01 7.59596259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.963133365 meters 0.27105450267561026 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.07 [[ 9.99997934e-01 1.04551885e-03 -1.74343360e-03 2.55129223e+00] [-1.04664585e-03 9.99999244e-01 -6.45640349e-04 9.36942851e-02] [ 1.74275725e-03 6.47463773e-04 9.99998272e-01 7.44993175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.023133365 meters 0.27069468375734423 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.07 [[ 9.99997836e-01 1.24840646e-03 -1.66389197e-03 2.55106355e+00] [-1.24857238e-03 9.99999216e-01 -9.86851988e-05 9.15159733e-02] [ 1.66376747e-03 1.00762475e-04 9.99998611e-01 7.45948203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.083133365 meters 0.27005025726536913 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.08 [[ 9.99997743e-01 1.48274949e-03 -1.52140524e-03 2.55048609e+00] [-1.48177822e-03 9.99998698e-01 6.39330648e-04 8.86991732e-02] [ 1.52235123e-03 -6.37074820e-04 9.99998638e-01 7.51834234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.143133365 meters 0.27022591098530213 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.07 [[ 9.99997385e-01 1.59942709e-03 -1.63441559e-03 2.55087083e+00] [-1.59785754e-03 9.99998262e-01 9.61168039e-04 8.73744913e-02] [ 1.63595007e-03 -9.58553963e-04 9.99998202e-01 7.48967802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.203133365 meters 0.2709157569979348 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.07 [[ 9.99997261e-01 1.68526081e-03 -1.62390016e-03 2.55084464e+00] [-1.68335170e-03 9.99997891e-01 1.17628376e-03 8.64974120e-02] [ 1.62587908e-03 -1.17354694e-03 9.99997990e-01 7.48972553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.263133365 meters 0.27109006077727477 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.08 [[ 9.99997198e-01 1.81099093e-03 -1.52436911e-03 2.55025784e+00] [-1.80869753e-03 9.99997233e-01 1.50452662e-03 8.52088323e-02] [ 1.52708957e-03 -1.50176528e-03 9.99997706e-01 7.57050494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.323133365 meters 0.26936243627259315 Centerline is valid? [False, False] Translation: X:2.51, Y:0.08, Z:0.07 [[ 9.99999877e-01 4.21372326e-04 2.61372078e-04 2.51240629e+00] [-4.21942862e-04 9.99997520e-01 2.18664661e-03 8.35191215e-02] [-2.60450037e-04 -2.18675663e-03 9.99997575e-01 7.23232930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.383133365 meters 0.26845309091831104 Centerline is valid? [False, False] Translation: X:2.51, Y:0.08, Z:0.07 [[ 9.99999919e-01 3.76749629e-04 1.42725809e-04 2.51269556e+00] [-3.77044886e-04 9.99997777e-01 2.07435904e-03 8.39740628e-02] [-1.41943978e-04 -2.07441268e-03 9.99997838e-01 7.22888143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.443133365 meters 0.2693880139975871 Centerline is valid? [False, False] Translation: X:2.51, Y:0.08, Z:0.07 [[ 9.99999915e-01 3.00656300e-04 2.82196025e-04 2.51214704e+00] [-3.01185500e-04 9.99998193e-01 1.87712610e-03 8.48847376e-02] [-2.81631145e-04 -1.87721093e-03 9.99998198e-01 7.28144643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.503133365 meters 0.26939935143975324 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.08 [[ 9.99998575e-01 1.68832972e-03 1.23908606e-05 2.54729947e+00] [-1.68834453e-03 9.99997714e-01 1.31220210e-03 8.84711482e-02] [-1.01754025e-05 -1.31222115e-03 9.99999139e-01 7.75770931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.563133365 meters 0.2682267727572436 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:0.08 [[ 9.99987638e-01 -4.62024785e-03 -1.83795579e-03 2.52652287e+00] [ 4.62783531e-03 9.99980698e-01 4.14559427e-03 9.32161177e-02] [ 1.81876665e-03 -4.15404878e-03 9.99989718e-01 7.76462475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.623133365 meters 0.26979545068473915 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:0.08 [[ 9.99986604e-01 -4.82644817e-03 -1.87022814e-03 2.52657966e+00] [ 4.83323633e-03 9.99981687e-01 3.64222684e-03 9.52809412e-02] [ 1.85261487e-03 -3.65121730e-03 9.99991618e-01 7.76713126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.683133365 meters 0.2698842670542287 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:0.08 [[ 9.99986020e-01 -4.99228753e-03 -1.74248182e-03 2.52626010e+00] [ 4.99771019e-03 9.99982639e-01 3.12167886e-03 9.72078242e-02] [ 1.72686725e-03 -3.13034364e-03 9.99993609e-01 7.77841348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.743133365 meters 0.26890781723203155 Centerline is valid? [False, False] Translation: X:2.51, Y:0.09, Z:0.08 [[ 0.99999009 0.00347358 -0.00278541 2.50780343] [-0.00346588 0.99999017 0.00276646 0.0946922 ] [ 0.00279499 -0.00275678 0.99999229 0.07602407] [ 0. 0. 0. 1. ]] SLAMing on 286.803133365 meters 0.27072026446155095 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:0.08 [[ 9.99994786e-01 2.88240612e-03 -1.45599535e-03 2.55072855e+00] [-2.88077480e-03 9.99995222e-01 1.12126870e-03 9.25215606e-02] [ 1.45922035e-03 -1.11706846e-03 9.99998311e-01 7.54768454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.863133365 meters 0.27017558182535617 Centerline is valid? [False, False] Translation: X:2.55, Y:0.10, Z:0.08 [[ 9.99999388e-01 1.05939287e-03 -3.18586867e-04 2.54629654e+00] [-1.05986516e-03 9.99998334e-01 -1.48596367e-03 9.86010625e-02] [ 3.17012117e-04 1.48630042e-03 9.99998845e-01 7.85649665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.923133365 meters 0.2705755127904787 Centerline is valid? [False, False] Translation: X:2.55, Y:0.10, Z:0.08 [[ 9.99999536e-01 9.39139202e-04 -2.12277734e-04 2.54602418e+00] [-9.39521927e-04 9.99997920e-01 -1.81009293e-03 9.99141078e-02] [ 2.10577364e-04 1.81029153e-03 9.99998339e-01 7.86526204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98313336499996 meters 0.27040825550153214 Centerline is valid? [False, False] Translation: X:2.55, Y:0.10, Z:0.08 [[ 9.99999631e-01 6.68231824e-04 -5.40732217e-04 2.54734356e+00] [-6.69717195e-04 9.99995990e-01 -2.75145919e-03 1.03473130e-01] [ 5.38891436e-04 2.75182031e-03 9.99996069e-01 7.73806082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04313336499996 meters 0.26787659308227213 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:0.08 [[ 9.99983171e-01 -5.27385243e-03 -2.41732919e-03 2.52689112e+00] [ 5.27504979e-03 9.99985967e-01 4.89214516e-04 1.07277410e-01] [ 2.41471522e-03 -5.01957815e-04 9.99996959e-01 7.75322166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10313336499996 meters 0.2699498565015068 Centerline is valid? [False, False] Translation: X:2.55, Y:0.11, Z:0.08 [[ 9.99991556e-01 3.63367303e-03 -1.91962135e-03 2.54608724e+00] [-3.63561652e-03 9.99992881e-01 -1.00991965e-03 1.07209078e-01] [ 1.91593797e-03 1.01689012e-03 9.99997648e-01 7.83319982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16313336499996 meters 0.2693432985335167 Centerline is valid? [False, False] Translation: X:2.55, Y:0.11, Z:0.08 [[ 9.99992009e-01 3.47727576e-03 -1.97224104e-03 2.54670309e+00] [-3.48002595e-03 9.99992975e-01 -1.39273697e-03 1.08777264e-01] [ 1.96738425e-03 1.39958929e-03 9.99997085e-01 7.73106556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22313336499997 meters 0.26931112536536983 Centerline is valid? [False, False] Translation: X:2.55, Y:0.11, Z:0.08 [[ 9.99992621e-01 3.42256506e-03 -1.74494265e-03 2.54597447e+00] [-3.42524627e-03 9.99992954e-01 -1.53589595e-03 1.09396811e-01] [ 1.73967366e-03 1.54186147e-03 9.99997298e-01 7.77992384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28313336499997 meters 0.26850969257581525 Centerline is valid? [False, False] Translation: X:2.55, Y:0.11, Z:0.08 [[ 9.99993157e-01 3.35404818e-03 -1.56065662e-03 2.54536008e+00] [-3.35674000e-03 9.99992878e-01 -1.72538634e-03 1.10170446e-01] [ 1.55485848e-03 1.73061326e-03 9.99997294e-01 7.82879872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34313336499997 meters 0.2699463150092338 Centerline is valid? [False, False] Translation: X:2.57, Y:0.11, Z:0.08 [[ 9.99990006e-01 -4.23762209e-03 -1.42480479e-03 2.56546032e+00] [ 4.23651845e-03 9.99990724e-01 -7.76715780e-04 1.13987723e-01] [ 1.42808300e-03 7.70671806e-04 9.99998683e-01 7.97478113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.403133365 meters 0.26947603217863997 Centerline is valid? [False, False] Translation: X:2.57, Y:0.12, Z:0.08 [[ 9.99989510e-01 -4.34545869e-03 -1.44792832e-03 2.56552501e+00] [ 4.34393448e-03 9.99990009e-01 -1.05416562e-03 1.15098636e-01] [ 1.45249468e-03 1.04786486e-03 9.99998396e-01 7.97395472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.463133365 meters 0.27058310047469775 Centerline is valid? [False, False] Translation: X:2.59, Y:0.12, Z:0.08 [[ 9.99990116e-01 4.44254971e-03 -1.78693769e-04 2.58509823e+00] [-4.44302097e-03 9.99986405e-01 -2.72947830e-03 1.17762970e-01] [ 1.66565497e-04 2.73024526e-03 9.99996259e-01 8.00897081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.523133365 meters 0.2690619366245902 Centerline is valid? [False, False] Translation: X:2.57, Y:0.13, Z:0.08 [[ 9.99990393e-01 -4.30798901e-03 -8.10008561e-04 2.56580334e+00] [ 4.30602751e-03 9.99987830e-01 -2.40792553e-03 1.25610696e-01] [ 8.20372020e-04 2.40441448e-03 9.99996773e-01 7.88427810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.583133365 meters 0.2704395600136234 Centerline is valid? [False, False] Translation: X:2.57, Y:0.13, Z:0.08 [[ 9.99997284e-01 -1.67824464e-03 -1.61735863e-03 2.57021205e+00] [ 1.67762090e-03 9.99998518e-01 -3.86932182e-04 1.29372794e-01] [ 1.61800560e-03 3.84217817e-04 9.99998617e-01 7.53243797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.643133365 meters 0.2680272648389158 Centerline is valid? [False, False] Translation: X:2.53, Y:0.13, Z:0.07 [[ 9.99998526e-01 -1.71412521e-03 9.58571825e-05 2.53229256e+00] [ 1.71409597e-03 9.99998485e-01 3.04302349e-04 1.33688211e-01] [-9.63786496e-05 -3.04137592e-04 9.99999949e-01 7.17437787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.703133365 meters 0.26890033247896533 Centerline is valid? [False, False] Translation: X:2.53, Y:0.13, Z:0.07 [[ 9.99998568e-01 -1.69078804e-03 7.51945617e-05 2.53260170e+00] [ 1.69076057e-03 9.99998504e-01 3.63822130e-04 1.33430730e-01] [-7.58095953e-05 -3.63694473e-04 9.99999931e-01 7.11610196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.763133365 meters 0.27187971766478475 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:0.07 [[ 9.99997073e-01 -2.05136980e-03 1.28330524e-03 2.57695480e+00] [ 2.05238795e-03 9.99997580e-01 -7.92566124e-04 1.30640187e-01] [-1.28167629e-03 7.95197644e-04 9.99998862e-01 7.00130689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.823133365 meters 0.27284294131953113 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:0.07 [[ 9.99997174e-01 -1.99358808e-03 1.29537142e-03 2.57705082e+00] [ 1.99442923e-03 9.99997801e-01 -6.48387922e-04 1.30029919e-01] [-1.29407595e-03 6.50969616e-04 9.99998951e-01 6.97177026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.883133365 meters 0.26803916621919466 Centerline is valid? [False, False] Translation: X:2.58, Y:0.13, Z:0.07 [[ 9.99997136e-01 -1.88848234e-03 1.47036383e-03 2.57655002e+00] [ 1.88904303e-03 9.99998144e-01 -3.80031920e-04 1.28934859e-01] [-1.46964341e-03 3.82808412e-04 9.99998847e-01 6.99079474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.943133365 meters 0.27080212384157476 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.07 [[ 0.99998475 0.00423699 0.0035412 2.59673624] [-0.0042234 0.99998373 -0.00383501 0.12788814] [-0.00355739 0.00381999 0.99998638 0.06982843] [ 0. 0. 0. 1. ]] SLAMing on 288.003133365 meters 0.27114891834873395 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.07 [[ 0.99998383 0.00412133 0.00391872 2.59580304] [-0.00410472 0.99998259 -0.00423861 0.129589 ] [-0.00393612 0.00422246 0.99998334 0.07009483] [ 0. 0. 0. 1. ]] SLAMing on 288.063133365 meters 0.26895982179269023 Centerline is valid? [False, False] Translation: X:2.57, Y:0.14, Z:0.07 [[ 9.99991277e-01 -2.20803650e-03 3.54559430e-03 2.57394434e+00] [ 2.21379499e-03 9.99996236e-01 -1.62102415e-03 1.35561317e-01] [-3.54200167e-03 1.62885922e-03 9.99992400e-01 7.05880599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.123133365 meters 0.27069972020349525 Centerline is valid? [False, False] Translation: X:2.57, Y:0.14, Z:0.07 [[ 0.99999083 -0.00261292 0.00339444 2.57433255] [ 0.00262291 0.99999223 -0.00294346 0.14056678] [-0.00338672 0.00295233 0.99998991 0.07056265] [ 0. 0. 0. 1. ]] SLAMing on 288.183133365 meters 0.26973602342198283 Centerline is valid? [False, False] Translation: X:2.57, Y:0.14, Z:0.07 [[ 0.99998992 -0.00297163 0.00336514 2.57471836] [ 0.0029846 0.9999881 -0.00385839 0.14421316] [-0.00335364 0.00386839 0.99998689 0.06999441] [ 0. 0. 0. 1. ]] SLAMing on 288.243133365 meters 0.26891850707352294 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:0.07 [[ 9.99990132e-01 -7.46912157e-04 4.37926885e-03 2.57107227e+00] [ 7.58481667e-04 9.99996225e-01 -2.64081630e-03 1.51049033e-01] [-4.37727987e-03 2.64411183e-03 9.99986924e-01 7.16352459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.303133365 meters 0.26922188225694255 Centerline is valid? [False, False] Translation: X:2.57, Y:0.15, Z:0.07 [[ 9.99988955e-01 -1.04787875e-03 4.58163284e-03 2.57067782e+00] [ 1.06318174e-03 9.99993861e-01 -3.33891265e-03 1.53812588e-01] [-4.57810593e-03 3.34374688e-03 9.99983930e-01 7.15548852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.363133365 meters 0.2684376829874515 Centerline is valid? [False, False] Translation: X:2.57, Y:0.16, Z:0.07 [[ 9.99984190e-01 1.12391510e-03 5.50964975e-03 2.56712607e+00] [-1.11075636e-03 9.99996525e-01 -2.39078548e-03 1.61142709e-01] [-5.51231765e-03 2.38462781e-03 9.99981964e-01 7.33984768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.423133365 meters 0.26964569702539704 Centerline is valid? [False, False] Translation: X:2.57, Y:0.17, Z:0.07 [[ 9.99984863e-01 5.93889414e-04 5.47008594e-03 2.56746811e+00] [-5.74427596e-04 9.99993503e-01 -3.55874741e-03 1.65804727e-01] [-5.47216390e-03 3.55555138e-03 9.99978707e-01 7.30750373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48313336499996 meters 0.2698152757776505 Centerline is valid? [False, False] Translation: X:2.57, Y:0.17, Z:0.07 [[ 9.99976896e-01 4.05483494e-03 5.45572059e-03 2.56836593e+00] [-4.04883783e-03 9.99991188e-01 -1.10983051e-03 1.73581337e-01] [-5.46017269e-03 1.08771554e-03 9.99984502e-01 7.17954848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54313336499996 meters 0.27261217451651476 Centerline is valid? [False, False] Translation: X:2.59, Y:0.18, Z:0.07 [[ 9.99979984e-01 -8.40346463e-04 6.27101647e-03 2.59072065e+00] [ 8.28534494e-04 9.99997878e-01 1.88594138e-03 1.81065997e-01] [-6.27258801e-03 -1.88070788e-03 9.99978559e-01 7.14394686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60313336499996 meters 0.2710474151280878 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.07 [[ 9.99980669e-01 -1.24856097e-03 6.09120792e-03 2.59135167e+00] [ 1.24332315e-03 9.99998854e-01 8.63609874e-04 1.85236697e-01] [-6.09227921e-03 -8.56019839e-04 9.99981076e-01 7.11191339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66313336499996 meters 0.2708934694911393 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.07 [[ 9.99981370e-01 -1.63334227e-03 5.88153380e-03 2.59232915e+00] [ 1.63394918e-03 9.99998660e-01 -9.83854147e-05 1.89360929e-01] [-5.88136523e-03 1.07993709e-04 9.99982699e-01 7.01698812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72313336499997 meters 0.2726833413482062 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.07 [[ 9.99953260e-01 6.95612405e-03 6.71489389e-03 2.61188203e+00] [-6.94845478e-03 9.99975181e-01 -1.16478314e-03 1.86701799e-01] [-6.72282960e-03 1.11807056e-03 9.99976776e-01 7.04263898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78313336499997 meters 0.26969941883759385 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.07 [[ 9.99976397e-01 -1.34022311e-03 6.73865955e-03 2.59205716e+00] [ 1.34131291e-03 9.99999088e-01 -1.57206306e-04 1.91455557e-01] [-6.73844272e-03 1.66241246e-04 9.99977283e-01 6.95265763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84313336499997 meters 0.2678473600736978 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.07 [[ 9.99975387e-01 -1.41784900e-03 6.87134645e-03 2.59151161e+00] [ 1.42039192e-03 9.99998925e-01 -3.65209584e-04 1.92281964e-01] [-6.87082125e-03 3.74960600e-04 9.99976325e-01 7.01449568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.903133365 meters 0.27129849082984353 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.07 [[ 9.99942368e-01 6.63651807e-03 8.43905314e-03 2.61082414e+00] [-6.62154980e-03 9.99976457e-01 -1.80039568e-03 1.90523702e-01] [-8.45080281e-03 1.74441231e-03 9.99962770e-01 7.03758682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.963133365 meters 0.2709937208173572 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.07 [[ 9.99946593e-01 6.32326468e-03 8.17475240e-03 2.61170214e+00] [-6.30176992e-03 9.99976626e-01 -2.65249803e-03 1.94011160e-01] [-8.19133377e-03 2.60084097e-03 9.99963068e-01 6.99650530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.023133365 meters 0.2699544472710161 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.07 [[ 9.99973248e-01 -1.50458971e-03 7.15815970e-03 2.59423712e+00] [ 1.51565796e-03 9.99997664e-01 -1.54106796e-03 2.01928792e-01] [-7.15582430e-03 1.55187606e-03 9.99973193e-01 6.77096853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.083133365 meters 0.2709723118946325 Centerline is valid? [False, False] Translation: X:2.59, Y:0.20, Z:0.07 [[ 9.99971476e-01 -1.69257013e-03 7.36082652e-03 2.59386133e+00] [ 1.70751697e-03 9.99996492e-01 -2.02478240e-03 2.03857511e-01] [-7.35737362e-03 2.03729338e-03 9.99970859e-01 6.75852501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.143133365 meters 0.27048957758258424 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.07 [[ 9.99973368e-01 -1.80570171e-03 7.07129525e-03 2.59484592e+00] [ 1.82222539e-03 9.99995623e-01 -2.33098079e-03 2.05152635e-01] [-7.06705524e-03 2.34380421e-03 9.99972281e-01 6.68238167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.203133365 meters 0.2715759602180952 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:0.07 [[ 9.99973547e-01 -1.94277135e-03 7.00934388e-03 2.59522812e+00] [ 1.96156001e-03 9.99994499e-01 -2.67463793e-03 2.06576480e-01] [-7.00410911e-03 2.68831643e-03 9.99971857e-01 6.63525913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.263133365 meters 0.2719516874734612 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:0.07 [[ 9.99973120e-01 -2.23828522e-03 6.98213370e-03 2.59512688e+00] [ 2.26339419e-03 9.99990993e-01 -3.59034770e-03 2.10185917e-01] [-6.97403459e-03 3.60605451e-03 9.99969179e-01 6.67632882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.323133365 meters 0.27011405154970747 Centerline is valid? [False, False] Translation: X:2.57, Y:0.21, Z:0.07 [[ 0.9999668 0.00650403 0.00490867 2.5744694 ] [-0.00648283 0.99996964 -0.0043236 0.21487924] [-0.00493665 0.00429163 0.99997861 0.06698033] [ 0. 0. 0. 1. ]] SLAMing on 289.383133365 meters 0.27014891561715054 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.07 [[ 9.99976419e-01 -1.69394570e-03 6.65520767e-03 2.59310441e+00] [ 1.71998336e-03 9.99990882e-01 -3.90859993e-03 2.20975843e-01] [-6.64852603e-03 3.91995460e-03 9.99970215e-01 6.81811632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.443133365 meters 0.2705397703992425 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.07 [[ 9.99975579e-01 -1.93848275e-03 6.71444682e-03 2.59276336e+00] [ 1.97023833e-03 9.99986891e-01 -4.72605879e-03 2.24152344e-01] [-6.70519742e-03 4.73917244e-03 9.99966290e-01 6.87340883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.503133365 meters 0.26955857746085526 Centerline is valid? [False, False] Translation: X:2.59, Y:0.23, Z:0.07 [[ 9.99976870e-01 -2.21289118e-03 6.43138775e-03 2.59333814e+00] [ 2.25058564e-03 9.99980299e-01 -5.85969971e-03 2.28532976e-01] [-6.41829417e-03 5.87403857e-03 9.99962150e-01 6.88971590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.563133365 meters 0.2725328554219818 Centerline is valid? [False, False] Translation: X:2.59, Y:0.23, Z:0.07 [[ 9.99975634e-01 -2.53283517e-03 6.50510132e-03 2.59319007e+00] [ 2.57663517e-03 9.99974009e-01 -6.73364668e-03 2.32058875e-01] [-6.48787703e-03 6.75024388e-03 9.99956170e-01 6.88961557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.623133365 meters 0.27028613500997184 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99970020e-01 -2.23023402e-04 7.74010114e-03 2.58870506e+00] [ 2.65353738e-04 9.99985013e-01 -5.46836821e-03 2.38570245e-01] [-7.73876556e-03 5.47025814e-03 9.99955093e-01 7.12634424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.683133365 meters 0.2697244978372573 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99972532e-01 -2.29755478e-04 7.40829554e-03 2.58975968e+00] [ 2.70401833e-04 9.99984915e-01 -5.48606530e-03 2.38643907e-01] [-7.40692334e-03 5.48791783e-03 9.99957509e-01 7.05323687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.743133365 meters 0.2705477662547984 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99973777e-01 -2.14875861e-04 7.23868451e-03 2.59034320e+00] [ 2.54318346e-04 9.99985125e-01 -5.44836743e-03 2.38489202e-01] [-7.23740611e-03 5.45006549e-03 9.99958958e-01 7.00512835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.803133365 meters 0.26973611519657337 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99974359e-01 -1.54864994e-04 7.15944132e-03 2.59054177e+00] [ 1.92733719e-04 9.99985995e-01 -5.28895347e-03 2.37842148e-01] [-7.15852197e-03 5.29019772e-03 9.99960384e-01 6.99802897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.863133365 meters 0.2698625323216643 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99974514e-01 -1.00196303e-04 7.13876974e-03 2.59041985e+00] [ 1.36981187e-04 9.99986716e-01 -5.15252972e-03 2.37240358e-01] [-7.13815865e-03 5.15337628e-03 9.99961244e-01 7.03450677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.923133365 meters 0.2690776139558574 Centerline is valid? [False, False] Translation: X:2.58, Y:0.24, Z:0.07 [[ 9.99963120e-01 1.75065242e-03 8.40796678e-03 2.58480026e+00] [-1.72296052e-03 9.99993072e-01 -3.29964563e-03 2.35771486e-01] [-8.41368507e-03 3.28503734e-03 9.99959208e-01 7.44197560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98313336499996 meters 0.2714404822752101 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99964482e-01 1.63773733e-03 8.26753424e-03 2.58521649e+00] [-1.60781127e-03 9.99992137e-01 -3.62505652e-03 2.37076791e-01] [-8.27340612e-03 3.61163513e-03 9.99959253e-01 7.42228447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04313336499996 meters 0.2709105947301307 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99969170e-01 1.41439510e-03 7.72388475e-03 2.58673269e+00] [-1.38025033e-03 9.99989261e-01 -4.42421565e-03 2.40362524e-01] [-7.73005939e-03 4.41341836e-03 9.99960383e-01 7.35320408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10313336499996 meters 0.27184741920635547 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99969882e-01 1.19632962e-03 7.66835000e-03 2.58678811e+00] [-1.15816826e-03 9.99986934e-01 -4.97898585e-03 2.42610411e-01] [-7.67420632e-03 4.96995466e-03 9.99958202e-01 7.37761802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16313336499996 meters 0.270333854230537 Centerline is valid? [False, False] Translation: X:2.59, Y:0.24, Z:0.07 [[ 9.99969922e-01 9.89146453e-04 7.69264554e-03 2.58666763e+00] [-9.47027352e-04 9.99984553e-01 -5.47695920e-03 2.44637165e-01] [-7.69794422e-03 5.46950932e-03 9.99955412e-01 7.39493405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22313336499997 meters 0.2703419269989499 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:0.07 [[ 9.99969828e-01 5.84755490e-04 7.74601303e-03 2.58657411e+00] [-5.34694775e-04 9.99978970e-01 -6.46326695e-03 2.48639678e-01] [-7.74962957e-03 6.45893019e-03 9.99949111e-01 7.39626351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28313336499997 meters 0.2696402921535798 Centerline is valid? [False, False] Translation: X:2.59, Y:0.25, Z:0.07 [[ 9.99971959e-01 3.27632505e-04 7.48153034e-03 2.58737785e+00] [-2.74079353e-04 9.99974344e-01 -7.15795146e-03 2.51451972e-01] [-7.48368357e-03 7.15570021e-03 9.99946394e-01 7.36152831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34313336499997 meters 0.2694820173272659 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.07 [[ 9.99970639e-01 -2.99027935e-05 7.66292646e-03 2.58669995e+00] [ 9.38102645e-05 9.99965221e-01 -8.33960198e-03 2.56010563e-01] [-7.66241057e-03 8.34007598e-03 9.99935863e-01 7.42574817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.403133365 meters 0.2704680566195049 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.07 [[ 9.99971190e-01 -3.70916138e-04 7.58165733e-03 2.58674359e+00] [ 4.42843062e-04 9.99954895e-01 -9.48748966e-03 2.60527813e-01] [-7.57779629e-03 9.49057381e-03 9.99926250e-01 7.46367399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.463133365 meters 0.26869261728160554 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.07 [[ 9.99973490e-01 -6.76927346e-04 7.24990442e-03 2.58747807e+00] [ 7.55393821e-04 9.99941114e-01 -1.08258410e-02 2.65788529e-01] [-7.24214919e-03 1.08310305e-02 9.99915116e-01 7.47330839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.523133365 meters 0.2688562101187236 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 9.99973273e-01 -9.64061637e-04 7.24739218e-03 2.58729668e+00] [ 1.04818207e-03 9.99932027e-01 -1.16121690e-02 2.68989528e-01] [-7.23570471e-03 1.16194553e-02 9.99906312e-01 7.52325641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.583133365 meters 0.26717923242054314 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 9.99973160e-01 -1.09752630e-03 7.24392998e-03 2.58717024e+00] [ 1.18405022e-03 9.99927885e-01 -1.19508724e-02 2.70365707e-01] [-7.23029118e-03 1.19591288e-02 9.99902346e-01 7.55478354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.643133365 meters 0.26788448090647315 Centerline is valid? [False, False] Translation: X:2.57, Y:0.27, Z:0.08 [[ 0.99996023 -0.00555598 0.00697698 2.56548871] [ 0.00561054 0.99995364 -0.00782565 0.27482861] [-0.00693318 0.00786448 0.99994504 0.07527757] [ 0. 0. 0. 1. ]] SLAMing on 290.703133365 meters 0.26867106992992956 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 0.99996691 0.00275941 0.0076533 2.58673556] [-0.00269501 0.99996098 -0.0084131 0.27221729] [-0.00767622 0.0083922 0.99993532 0.07542726] [ 0. 0. 0. 1. ]] SLAMing on 290.763133365 meters 0.2682490906413883 Centerline is valid? [False, False] Translation: X:2.56, Y:0.27, Z:0.08 [[ 9.99983544e-01 -1.94957779e-03 5.39549733e-03 2.56445339e+00] [ 1.97746572e-03 9.99984689e-01 -5.16824315e-03 2.74589827e-01] [-5.38533883e-03 5.17882751e-03 9.99972089e-01 7.68198477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.823133365 meters 0.26799515726924034 Centerline is valid? [False, False] Translation: X:2.57, Y:0.28, Z:0.08 [[ 9.99986075e-01 -2.01240519e-03 4.87844279e-03 2.56573007e+00] [ 2.03888080e-03 9.99983189e-01 -5.42817711e-03 2.75680374e-01] [-4.86743709e-03 5.43804809e-03 9.99973367e-01 7.64486891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.883133365 meters 0.26621301311909845 Centerline is valid? [False, False] Translation: X:2.56, Y:0.28, Z:0.08 [[ 9.99982913e-01 -2.22592306e-03 5.40551620e-03 2.56423700e+00] [ 2.26015494e-03 9.99977380e-01 -6.33493867e-03 2.78978989e-01] [-5.39129284e-03 6.34704773e-03 9.99965324e-01 7.72787123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.943133365 meters 0.26642093855245297 Centerline is valid? [False, False] Translation: X:2.61, Y:0.29, Z:0.08 [[ 9.99973061e-01 -4.78811421e-04 7.32449602e-03 2.60602266e+00] [ 5.13685104e-04 9.99988539e-01 -4.76009991e-03 2.85838873e-01] [-7.32213289e-03 4.76373416e-03 9.99961846e-01 7.74871438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.003133365 meters 0.2670647961536716 Centerline is valid? [False, False] Translation: X:2.59, Y:0.29, Z:0.08 [[ 0.99995133 0.00881966 0.00442145 2.58729282] [-0.00879477 0.99994555 -0.00561763 0.29330043] [-0.00447076 0.00557847 0.99997445 0.07677811] [ 0. 0. 0. 1. ]] SLAMing on 291.063133365 meters 0.268005319458317 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99988458e-01 5.80760645e-04 4.76935670e-03 2.60607152e+00] [-5.59178279e-04 9.99989604e-01 -4.52530277e-03 2.98931014e-01] [-4.77193524e-03 4.52258362e-03 9.99978387e-01 7.86435764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.123133365 meters 0.2668395017410855 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99989287e-01 5.09108737e-04 4.60071589e-03 2.60639583e+00] [-4.87490449e-04 9.99988842e-01 -4.69879697e-03 2.99639262e-01] [-4.60305676e-03 4.69650383e-03 9.99978377e-01 7.88098683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.183133365 meters 0.265609482668315 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99988368e-01 3.95874562e-04 4.80699787e-03 2.60565971e+00] [-3.71716025e-04 9.99987303e-01 -5.02555536e-03 3.00991463e-01] [-4.80892632e-03 5.02371007e-03 9.99975818e-01 7.94052126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.243133365 meters 0.2664180942985013 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99988546e-01 2.81276020e-04 4.77793479e-03 2.60573963e+00] [-2.55677413e-04 9.99985616e-01 -5.35743826e-03 3.02312944e-01] [-4.77937298e-03 5.35615529e-03 9.99974234e-01 7.93642099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.303133365 meters 0.2654088881025143 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99989270e-01 1.56465168e-04 4.62975929e-03 2.60603601e+00] [-1.29920230e-04 9.99983556e-01 -5.73329143e-03 3.03784750e-01] [-4.63058021e-03 5.73262841e-03 9.99972847e-01 7.94196443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.363133365 meters 0.26469574432343285 Centerline is valid? [False, False] Translation: X:2.61, Y:0.30, Z:0.08 [[ 9.99988707e-01 1.07147707e-04 4.75126138e-03 2.60543598e+00] [-7.92537323e-05 9.99982764e-01 -5.87065635e-03 3.04341574e-01] [-4.75180851e-03 5.87021350e-03 9.99971480e-01 8.01666274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.423133365 meters 0.2659326278875609 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:0.08 [[ 9.99988255e-01 2.33949807e-05 4.84648203e-03 2.60515156e+00] [ 6.18606370e-06 9.99981373e-01 -6.10350678e-03 3.05290815e-01] [-4.84653455e-03 6.10346508e-03 9.99969629e-01 8.03139900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48313336499996 meters 0.26490500577326076 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:0.08 [[ 9.99988892e-01 -8.88318768e-05 4.71251984e-03 2.60564563e+00] [ 1.19119277e-04 9.99979339e-01 -6.42711618e-03 3.06606566e-01] [-4.71185154e-03 6.42760614e-03 9.99968242e-01 7.98323859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54313336499996 meters 0.2650667703522929 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:0.08 [[ 9.99989067e-01 -1.93607853e-04 4.67199866e-03 2.60567910e+00] [ 2.24980536e-04 9.99977426e-01 -6.71545442e-03 3.07763143e-01] [-4.67059302e-03 6.71643211e-03 9.99966537e-01 7.99658039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60313336499996 meters 0.26729022842217004 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:0.08 [[ 9.99993303e-01 1.55807501e-03 3.31146264e-03 2.61083391e+00] [-1.54063288e-03 9.99984962e-01 -5.26324075e-03 3.09695837e-01] [-3.31961337e-03 5.25810375e-03 9.99980666e-01 7.71433822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66313336499996 meters 0.2660515227346911 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:0.08 [[ 9.99993920e-01 -3.34500424e-03 9.85048613e-04 2.58930787e+00] [ 3.34676455e-03 9.99992796e-01 -1.79083438e-03 3.09722559e-01] [-9.79051169e-04 1.79412022e-03 9.99997911e-01 7.78010820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72313336499997 meters 0.2655151066986476 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:0.08 [[ 9.99993697e-01 -3.39057692e-03 1.05398245e-03 2.58901520e+00] [ 3.39258117e-03 9.99992429e-01 -1.90565644e-03 3.10200580e-01] [-1.04751320e-03 1.90922015e-03 9.99997629e-01 7.80816405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78313336499997 meters 0.26669057108394656 Centerline is valid? [False, False] Translation: X:2.61, Y:0.31, Z:0.08 [[ 9.99986046e-01 5.13410703e-03 1.24453593e-03 2.61090823e+00] [-5.13126556e-03 9.99984246e-01 -2.27569915e-03 3.08513268e-01] [-1.25620000e-03 2.26928135e-03 9.99996636e-01 7.81767726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84313336499997 meters 0.26541091184675814 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:0.08 [[ 9.99995857e-01 -2.78349554e-03 -7.32901085e-04 2.59101168e+00] [ 2.78256161e-03 9.99995319e-01 -1.27224097e-03 3.07902178e-01] [ 7.36438932e-04 1.27019636e-03 9.99998922e-01 7.76992868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.903133365 meters 0.26497172748045356 Centerline is valid? [False, False] Translation: X:2.59, Y:0.31, Z:0.08 [[ 9.99996302e-01 -2.54246305e-03 -9.64921504e-04 2.59146402e+00] [ 2.54183825e-03 9.99996559e-01 -6.48186108e-04 3.05310025e-01] [ 9.66566174e-04 6.45731037e-04 9.99999324e-01 7.79388409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.963133365 meters 0.2655973974408953 Centerline is valid? [False, False] Translation: X:2.59, Y:0.30, Z:0.08 [[ 9.99996691e-01 -2.31290927e-03 -1.12632517e-03 2.59213818e+00] [ 2.31284583e-03 9.99997324e-01 -5.76193759e-05 3.02805927e-01] [ 1.12645542e-03 5.50141688e-05 9.99999364e-01 7.73719475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.023133365 meters 0.2663782983947754 Centerline is valid? [False, False] Translation: X:2.59, Y:0.30, Z:0.08 [[ 9.99997869e-01 -1.77739356e-03 -1.04982381e-03 2.59144339e+00] [ 1.77872276e-03 9.99997616e-01 1.26653741e-03 2.96688944e-01] [ 1.04757017e-03 -1.26840206e-03 9.99998647e-01 7.82943206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.083133365 meters 0.26548804882199306 Centerline is valid? [False, False] Translation: X:2.59, Y:0.29, Z:0.08 [[ 9.99998510e-01 -1.38678773e-03 -1.02780603e-03 2.59124851e+00] [ 1.38899938e-03 9.99996715e-01 2.15423323e-03 2.92956943e-01] [ 1.02481519e-03 -2.15565764e-03 9.99997151e-01 7.86400664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.143133365 meters 0.26606935430392525 Centerline is valid? [False, False] Translation: X:2.59, Y:0.29, Z:0.08 [[ 9.99998873e-01 -1.03917854e-03 -1.08375205e-03 2.59172082e+00] [ 1.04235187e-03 9.99995159e-01 2.93165456e-03 2.89753706e-01] [ 1.08070029e-03 -2.93278091e-03 9.99995115e-01 7.80906447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.203133365 meters 0.26550814651726645 Centerline is valid? [False, False] Translation: X:2.59, Y:0.29, Z:0.08 [[ 9.99999302e-01 -6.43618295e-04 -9.90901475e-04 2.59123319e+00] [ 6.47415744e-04 9.99992430e-01 3.83677872e-03 2.86044735e-01] [ 9.88424553e-04 -3.83741757e-03 9.99992149e-01 7.86939393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.263133365 meters 0.2676763166890043 Centerline is valid? [False, False] Translation: X:2.59, Y:0.28, Z:0.08 [[ 9.99999454e-01 9.25759702e-05 -1.04075983e-03 2.59125043e+00] [-8.70277366e-05 9.99985793e-01 5.32972719e-03 2.79672547e-01] [ 1.04123845e-03 -5.32963371e-03 9.99985255e-01 7.90158862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.323133365 meters 0.26682788852220013 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 9.99992414e-01 -3.75419592e-03 -1.03792134e-03 2.59170229e+00] [ 3.75656517e-03 9.99990321e-01 2.29024369e-03 2.74670210e-01] [ 1.02931327e-03 -2.29412534e-03 9.99996839e-01 7.83616242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.383133365 meters 0.2671774857883713 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 9.99994755e-01 -3.08114792e-03 -9.98426225e-04 2.59155680e+00] [ 3.08487938e-03 9.99988182e-01 3.75760704e-03 2.68457187e-01] [ 9.86836683e-04 -3.76066735e-03 9.99992442e-01 7.86725348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.443133365 meters 0.26793816615391824 Centerline is valid? [False, False] Translation: X:2.59, Y:0.27, Z:0.08 [[ 9.99995549e-01 -2.79932274e-03 -1.03235649e-03 2.59153399e+00] [ 2.80381433e-03 9.99986497e-01 4.37533474e-03 2.65860996e-01] [ 1.02009457e-03 -4.37820980e-03 9.99989895e-01 7.89380831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.503133365 meters 0.2684439632200501 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99995862e-01 -2.59837432e-03 -1.23430264e-03 2.59227599e+00] [ 2.60432337e-03 9.99984882e-01 4.84286520e-03 2.63861462e-01] [ 1.22170041e-03 -4.84605969e-03 9.99987511e-01 7.84756598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.563133365 meters 0.26953175556140224 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99996092e-01 -2.47667096e-03 -1.29719628e-03 2.59287244e+00] [ 2.48332111e-03 9.99983654e-01 5.15028258e-03 2.62521619e-01] [ 1.28441952e-03 -5.15348381e-03 9.99985896e-01 7.75578253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.623133365 meters 0.26918090765742814 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99995936e-01 -2.50735886e-03 -1.35705113e-03 2.59301711e+00] [ 2.51422099e-03 9.99983942e-01 5.07878573e-03 2.62827668e-01] [ 1.34429500e-03 -5.08217701e-03 9.99986182e-01 7.75462814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.683133365 meters 0.26905484159185794 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99995715e-01 -2.55741165e-03 -1.42451534e-03 2.59318927e+00] [ 2.56444745e-03 9.99984414e-01 4.95934518e-03 2.63323778e-01] [ 1.41181005e-03 -4.96297703e-03 9.99986688e-01 7.75050446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.743133365 meters 0.2698688594647239 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99995329e-01 -2.62036630e-03 -1.57341515e-03 2.59359464e+00] [ 2.62790143e-03 9.99984997e-01 4.80621242e-03 2.63965337e-01] [ 1.56079751e-03 -4.81032475e-03 9.99987212e-01 7.73507344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.803133365 meters 0.26989441089103444 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:0.08 [[ 9.99986191e-01 5.17219556e-03 9.30720910e-04 2.61182392e+00] [-5.17556787e-03 9.99979916e-01 3.65814666e-03 2.62011739e-01] [-9.11781567e-04 -3.66291315e-03 9.99992876e-01 7.89770599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.863133365 meters 0.26816675461356315 Centerline is valid? [False, False] Translation: X:2.59, Y:0.26, Z:0.08 [[ 9.99991493e-01 -3.79128235e-03 1.62490008e-03 2.58865007e+00] [ 3.78464818e-03 9.99984569e-01 4.06662516e-03 2.62969076e-01] [-1.64029273e-03 -4.06044089e-03 9.99990411e-01 7.92885974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.923133365 meters 0.2683720923571056 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:0.08 [[ 9.99994164e-01 2.28220447e-03 2.54251657e-03 2.61006626e+00] [-2.28553183e-03 9.99996535e-01 1.30655504e-03 2.59827311e-01] [-2.53952593e-03 -1.31235841e-03 9.99995914e-01 7.95332893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98313336499996 meters 0.2678812056936244 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:0.08 [[ 9.99993904e-01 2.42425883e-03 2.51301762e-03 2.61020841e+00] [-2.42846412e-03 9.99995654e-01 1.67170403e-03 2.58310312e-01] [-2.50895406e-03 -1.67779662e-03 9.99995445e-01 7.93907321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04313336499996 meters 0.2677122097715978 Centerline is valid? [False, False] Translation: X:2.61, Y:0.26, Z:0.08 [[ 9.99993634e-01 2.56699603e-03 2.47822116e-03 2.61039719e+00] [-2.57204045e-03 9.99994623e-01 2.03446274e-03 2.56808590e-01] [-2.47298538e-03 -2.04082388e-03 9.99994860e-01 7.91940769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10313336499996 meters 0.2687397243229085 Centerline is valid? [False, False] Translation: X:2.63, Y:0.26, Z:0.08 [[ 9.99980195e-01 -5.97657385e-03 1.97236437e-03 2.63237323e+00] [ 5.97017019e-03 9.99976940e-01 3.23676780e-03 2.56318103e-01] [-1.99166367e-03 -3.22492835e-03 9.99992817e-01 7.93740201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16313336499996 meters 0.26823533300694835 Centerline is valid? [False, False] Translation: X:2.61, Y:0.25, Z:0.08 [[ 9.99997036e-01 -3.66855360e-04 2.40682262e-03 2.60941532e+00] [ 3.65773565e-04 9.99999832e-01 4.49894862e-04 2.49998531e-01] [-2.40698726e-03 -4.49013176e-04 9.99997002e-01 8.00884939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22313336499997 meters 0.26805726690089454 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:0.08 [[ 9.99996827e-01 -1.27242425e-06 2.51899469e-03 2.60916372e+00] [-3.36688504e-06 9.99998304e-01 1.84172538e-03 2.44569928e-01] [-2.51899276e-03 -1.84172802e-03 9.99995131e-01 8.01689916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28313336499997 meters 0.26709609362051456 Centerline is valid? [False, False] Translation: X:2.61, Y:0.24, Z:0.08 [[ 9.99997558e-01 3.52996189e-04 2.18176595e-03 2.61034287e+00] [-3.59376020e-04 9.99995659e-01 2.92445945e-03 2.40069663e-01] [-2.18072416e-03 -2.92523639e-03 9.99993344e-01 7.94044231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34313336499997 meters 0.268556561075064 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99997153e-01 9.98210180e-04 2.16722522e-03 2.60980625e+00] [-1.00845488e-03 9.99988299e-01 4.73117054e-03 2.32271351e-01] [-2.16247716e-03 -4.73334262e-03 9.99986459e-01 8.04419899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.403133365 meters 0.26704413635531027 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.08 [[ 9.99981264e-01 5.56542706e-03 2.54913667e-03 2.58783553e+00] [-5.56878967e-03 9.99983631e-01 1.31392373e-03 2.22835035e-01] [-2.54178239e-03 -1.32809471e-03 9.99995888e-01 8.02536310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.463133365 meters 0.2687529797189767 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:0.08 [[ 9.99990989e-01 -2.99359900e-03 3.00991420e-03 2.60952688e+00] [ 2.98593652e-03 9.99992298e-01 2.54702855e-03 2.20238113e-01] [-3.01751580e-03 -2.53801818e-03 9.99992227e-01 7.97770677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.523133365 meters 0.26925060936283257 Centerline is valid? [False, False] Translation: X:2.61, Y:0.22, Z:0.08 [[ 9.99991833e-01 -2.52563632e-03 3.15508975e-03 2.60879360e+00] [ 2.51436440e-03 9.99990461e-01 3.57148583e-03 2.15876589e-01] [-3.16407993e-03 -3.56352362e-03 9.99988645e-01 8.05773787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.583133365 meters 0.2692246577102049 Centerline is valid? [False, False] Translation: X:2.61, Y:0.21, Z:0.08 [[ 9.99992520e-01 -2.38065782e-03 3.04835370e-03 2.60888883e+00] [ 2.36873361e-03 9.99989553e-01 3.90934339e-03 2.14481205e-01] [-3.05762866e-03 -3.90209341e-03 9.99987712e-01 8.09340015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.643133365 meters 0.26868925672377364 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99978799e-01 5.99522679e-03 2.54156934e-03 2.58828316e+00] [-6.00457082e-03 9.99975183e-01 3.68493310e-03 2.09157567e-01] [-2.51941426e-03 -3.70011601e-03 9.99989981e-01 7.99086709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.703133365 meters 0.2712055346541217 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99994606e-01 2.04523708e-03 2.56987525e-03 2.58839620e+00] [-2.04633765e-03 9.99997816e-01 4.25699988e-04 2.05821477e-01] [-2.56899898e-03 -4.30956524e-04 9.99996607e-01 7.96314737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.763133365 meters 0.27028346878360376 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99994291e-01 2.01503740e-03 2.71238274e-03 2.58797416e+00] [-2.01596380e-03 9.99997911e-01 3.38851203e-04 2.06200664e-01] [-2.71169428e-03 -3.44317334e-04 9.99996264e-01 7.98477394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.823133365 meters 0.2703699150770627 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99993954e-01 1.90633806e-03 2.90819713e-03 2.58755747e+00] [-1.90627488e-03 9.99998183e-01 -2.44972641e-05 2.07667144e-01] [-2.90823855e-03 1.89532929e-05 9.99995771e-01 7.97509806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.883133365 meters 0.2715110964152155 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99994177e-01 1.72280061e-03 2.94586854e-03 2.58766224e+00] [-1.72118889e-03 9.99998368e-01 -5.49561755e-04 2.09806851e-01] [-2.94681051e-03 5.44488159e-04 9.99995510e-01 7.92897416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.943133365 meters 0.27285894337165717 Centerline is valid? [False, False] Translation: X:2.59, Y:0.21, Z:0.08 [[ 9.99994681e-01 1.46237206e-03 2.91548513e-03 2.58784194e+00] [-1.45849210e-03 9.99998049e-01 -1.33249233e-03 2.12973791e-01] [-2.91742804e-03 1.32823303e-03 9.99994862e-01 7.89898990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.003133365 meters 0.27260173789103276 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.08 [[ 9.99996113e-01 1.00890527e-03 2.59938976e-03 2.58870150e+00] [-1.00182233e-03 9.99995786e-01 -2.72471021e-03 2.18589201e-01] [-2.60212778e-03 2.72209549e-03 9.99992910e-01 7.86673815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.063133365 meters 0.27338576837441847 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.08 [[ 9.99995768e-01 6.42882683e-04 2.83738931e-03 2.58807214e+00] [-6.32713214e-04 9.99993379e-01 -3.58353705e-03 2.22291589e-01] [-2.83967431e-03 3.58172663e-03 9.99989554e-01 7.86664581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.123133365 meters 0.2731974781122972 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.08 [[ 9.99995465e-01 4.57829993e-04 2.97650136e-03 2.58724865e+00] [-4.45747561e-04 9.99991664e-01 -4.05867004e-03 2.24386946e-01] [-2.97833473e-03 4.05732486e-03 9.99987334e-01 7.97199582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.183133365 meters 0.27041722777604166 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:0.08 [[ 9.99980376e-01 -6.26465475e-03 -3.39808254e-05 2.56731702e+00] [ 6.26458158e-03 9.99978683e-01 -1.84103106e-03 2.25658616e-01] [ 4.55135250e-05 1.84078205e-03 9.99998305e-01 8.02794372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.243133365 meters 0.27053719289658995 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:0.08 [[ 9.99996809e-01 -2.39570439e-03 -8.01381898e-04 2.56921183e+00] [ 2.39703624e-03 9.99995741e-01 1.66513723e-03 2.27052909e-01] [ 7.97389308e-04 -1.66705286e-03 9.99998293e-01 7.98330850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.303133365 meters 0.27035292178923076 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:0.08 [[ 9.99997042e-01 -2.34389766e-03 -6.50041368e-04 2.56855126e+00] [ 2.34507806e-03 9.99995592e-01 1.82110638e-03 2.26511962e-01] [ 6.45770016e-04 -1.82262539e-03 9.99998131e-01 8.06214844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.363133365 meters 0.26856923011867306 Centerline is valid? [False, False] Translation: X:2.57, Y:0.23, Z:0.08 [[ 9.99996955e-01 -2.28239015e-03 -9.38079428e-04 2.56896991e+00] [ 2.28429333e-03 9.99995325e-01 2.03276815e-03 2.25647721e-01] [ 9.33435473e-04 -2.03490481e-03 9.99997494e-01 8.11182209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.423133365 meters 0.27068124670970006 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996915e-01 -2.47241468e-03 -2.37765186e-04 2.61366095e+00] [ 2.47276157e-03 9.99995862e-01 1.46989887e-03 2.28204229e-01] [ 2.34130003e-04 -1.47048227e-03 9.99998891e-01 8.02443391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48313336499996 meters 0.27095449770747726 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996526e-01 -2.63591117e-03 1.12213785e-05 2.61290797e+00] [ 2.63589820e-03 9.99995995e-01 1.03078655e-03 2.30094648e-01] [-1.39383953e-05 -1.03075339e-03 9.99999469e-01 8.05319811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54313336499996 meters 0.2705960863167576 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996361e-01 -2.69756401e-03 2.67837477e-05 2.61276627e+00] [ 2.69753951e-03 9.99995978e-01 8.76230167e-04 2.30735691e-01] [-2.91473269e-05 -8.76154728e-04 9.99999616e-01 8.07350571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60313336499996 meters 0.27101527767573363 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996000e-01 -2.82845649e-03 -1.18463536e-05 2.61275780e+00] [ 2.82846236e-03 9.99995860e-01 5.29221397e-04 2.32161389e-01] [ 1.03494249e-05 -5.29252787e-04 9.99999860e-01 8.09125156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66313336499996 meters 0.2717015777231182 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99995638e-01 -2.95018279e-03 1.43056066e-04 2.61240843e+00] [ 2.95015211e-03 9.99995625e-01 2.14168907e-04 2.33475898e-01] [-1.43687278e-04 -2.13745935e-04 9.99999967e-01 8.08493777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72313336499997 meters 0.27019175005553664 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99995587e-01 -2.95784104e-03 2.78731466e-04 2.61169391e+00] [ 2.95778844e-03 9.99995608e-01 1.88919503e-04 2.33633643e-01] [-2.79289036e-04 -1.88094241e-04 9.99999943e-01 8.17525657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78313336499997 meters 0.2704838833588066 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996042e-01 -2.80338390e-03 2.37150454e-04 2.61168138e+00] [ 2.80323950e-03 9.99995887e-01 6.07071757e-04 2.31942775e-01] [-2.38851334e-04 -6.06404565e-04 9.99999788e-01 8.20474897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84313336499997 meters 0.27012832168275763 Centerline is valid? [False, False] Translation: X:2.61, Y:0.23, Z:0.08 [[ 9.99996711e-01 -2.56481994e-03 1.85606845e-05 2.61213972e+00] [ 2.56479310e-03 9.99995833e-01 1.32484527e-03 2.29042536e-01] [-2.19585967e-05 -1.32479331e-03 9.99999122e-01 8.21813295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.903133365 meters 0.2696100411623072 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:0.08 [[ 9.99985025e-01 5.37908982e-03 -1.00762492e-03 2.59492352e+00] [-5.37796819e-03 9.99984920e-01 1.11256482e-03 2.17503045e-01] [ 1.01359431e-03 -1.10712919e-03 9.99998873e-01 8.07337272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.963133365 meters 0.2702280798482358 Centerline is valid? [False, False] Translation: X:2.62, Y:0.22, Z:0.08 [[ 9.99992887e-01 -3.21609872e-03 -1.97061470e-03 2.61708634e+00] [ 3.22004450e-03 9.99992811e-01 2.00241603e-03 2.17984289e-01] [ 1.96416057e-03 -2.00874725e-03 9.99996053e-01 8.08108663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.023133365 meters 0.2718700451728924 Centerline is valid? [False, False] Translation: X:2.62, Y:0.21, Z:0.08 [[ 9.99993750e-01 -2.85304819e-03 -2.08800635e-03 2.61739510e+00] [ 2.85887881e-03 9.99992008e-01 2.79479616e-03 2.14651705e-01] [ 2.08001597e-03 -2.80074805e-03 9.99993915e-01 8.08679180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.083133365 meters 0.2721831269432633 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.08 [[ 9.99995834e-01 2.67495775e-03 -1.08433728e-03 2.63861153e+00] [-2.67557740e-03 9.99996258e-01 -5.70404797e-04 2.09967099e-01] [ 1.08280741e-03 5.73303649e-04 9.99999249e-01 8.12151774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.143133365 meters 0.270605911758616 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.08 [[ 9.99994286e-01 3.18378331e-03 -1.13666733e-03 2.63880898e+00] [-3.18304014e-03 9.99994720e-01 6.55026436e-04 2.04941775e-01] [ 1.13874679e-03 -6.51404636e-04 9.99999139e-01 8.11274691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.203133365 meters 0.2701929007721386 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.08 [[ 9.99993556e-01 3.40561752e-03 -1.13537444e-03 2.63883561e+00] [-3.40428122e-03 9.99993513e-01 1.17682602e-03 2.02782006e-01] [ 1.13937489e-03 -1.17295330e-03 9.99998663e-01 8.11120135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.263133365 meters 0.2705243305846408 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.08 [[ 9.99993026e-01 3.57136154e-03 -1.09236736e-03 2.63875118e+00] [-3.56964130e-03 9.99992392e-01 1.57269446e-03 2.01133779e-01] [ 1.09797571e-03 -1.56878414e-03 9.99998167e-01 8.11062207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.323133365 meters 0.27066656118557525 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.08 [[ 9.99992009e-01 3.83644517e-03 -1.12390184e-03 2.63875269e+00] [-3.83393096e-03 9.99990162e-01 2.23071080e-03 1.98422572e-01] [ 1.13244878e-03 -2.22638402e-03 9.99996880e-01 8.13274727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.383133365 meters 0.27216784370253067 Centerline is valid? [False, False] Translation: X:2.64, Y:0.20, Z:0.08 [[ 9.99991335e-01 4.00501158e-03 -1.13593632e-03 2.63874429e+00] [-4.00195274e-03 9.99988394e-01 2.68239585e-03 1.96566638e-01] [ 1.14666616e-03 -2.67782664e-03 9.99995757e-01 8.14525345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.443133365 meters 0.2698923051875374 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99990769e-01 4.18689888e-03 -9.65508858e-04 2.63820402e+00] [-4.18379514e-03 9.99986145e-01 3.19453531e-03 1.94502075e-01] [ 9.78870678e-04 -3.19046633e-03 9.99994431e-01 8.18323475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.503133365 meters 0.2722044491969287 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99993264e-01 2.63202420e-03 -2.55809184e-03 2.64373626e+00] [-2.62699747e-03 9.99994616e-01 1.96640993e-03 1.93057148e-01] [ 2.56325370e-03 -1.95967658e-03 9.99994795e-01 7.90407855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.563133365 meters 0.2706860327090158 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99992332e-01 2.81031001e-03 -2.72714296e-03 2.64423663e+00] [-2.80365970e-03 9.99993095e-01 2.43933074e-03 1.91070017e-01] [ 2.73397940e-03 -2.43166606e-03 9.99993306e-01 7.88321260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.623133365 meters 0.2707234682499784 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99992078e-01 3.02908475e-03 -2.58231045e-03 2.64367070e+00] [-3.02133991e-03 9.99990942e-01 2.99783078e-03 1.88718796e-01] [ 2.59136774e-03 -2.99000499e-03 9.99992172e-01 7.93379765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.683133365 meters 0.2708183530816886 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99991619e-01 3.26129902e-03 -2.47495579e-03 2.64308313e+00] [-3.25243477e-03 9.99988313e-01 3.57719433e-03 1.86330212e-01] [ 2.48659316e-03 -3.56911472e-03 9.99990539e-01 8.00742666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.743133365 meters 0.2695110025048481 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99991212e-01 3.37508001e-03 -2.48683262e-03 2.64304725e+00] [-3.36548850e-03 9.99986921e-01 3.85105787e-03 1.85196226e-01] [ 2.49979772e-03 -3.84265462e-03 9.99989492e-01 8.02310780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.803133365 meters 0.2698476444388323 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99991100e-01 3.41154772e-03 -2.48215252e-03 2.64323713e+00] [-3.40171370e-03 9.99986392e-01 3.95538633e-03 1.84789881e-01] [ 2.49561273e-03 -3.94690756e-03 9.99989097e-01 7.98145869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.863133365 meters 0.2710881385666844 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99990822e-01 3.46156877e-03 -2.52455837e-03 2.64357318e+00] [-3.45124604e-03 9.99985713e-01 4.08188188e-03 1.84228713e-01] [ 2.53865202e-03 -4.07313155e-03 9.99988482e-01 7.93157768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.923133365 meters 0.27159417601521185 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99990249e-01 3.57226354e-03 -2.59613770e-03 2.64388883e+00] [-3.56093654e-03 9.99984178e-01 4.35462624e-03 1.83066957e-01] [ 2.61165250e-03 -4.34533910e-03 9.99987149e-01 7.90437573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98313336499996 meters 0.27160484103478777 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99989904e-01 3.64255892e-03 -2.63138552e-03 2.64387741e+00] [-3.63063253e-03 9.99983180e-01 4.52301042e-03 1.82376143e-01] [ 2.64781660e-03 -4.51341116e-03 9.99986309e-01 7.92479424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04313336499996 meters 0.27223238044876596 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99990132e-01 3.61259093e-03 -2.58560001e-03 2.64403107e+00] [-3.60104389e-03 9.99983585e-01 4.45671147e-03 1.82686928e-01] [ 2.60165785e-03 -4.44735663e-03 9.99986726e-01 7.86959499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10313336499996 meters 0.27409829040273503 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99990568e-01 3.54192587e-03 -2.51371225e-03 2.64408596e+00] [-3.53116111e-03 9.99984632e-01 4.27401224e-03 1.83459575e-01] [ 2.52881185e-03 -4.26509560e-03 9.99987707e-01 7.82224099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16313336499996 meters 0.2730256647089849 Centerline is valid? [False, False] Translation: X:2.64, Y:0.18, Z:0.08 [[ 9.99991006e-01 3.40646271e-03 -2.52649489e-03 2.64413631e+00] [-3.39648503e-03 9.99986458e-01 3.94305181e-03 1.84853460e-01] [ 2.53989253e-03 -3.93443515e-03 9.99989035e-01 7.81532999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22313336499997 meters 0.27294713584571817 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99991796e-01 3.25345015e-03 -2.41317033e-03 2.64374536e+00] [-3.24479965e-03 9.99988327e-01 3.57999857e-03 1.86446769e-01] [ 2.42478951e-03 -3.57213894e-03 9.99990680e-01 7.83532503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28313336499997 meters 0.2714551194416867 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99993333e-01 2.88642585e-03 -2.23655392e-03 2.64349402e+00] [-2.88062280e-03 9.99992488e-01 2.59353385e-03 1.90588664e-01] [ 2.24402316e-03 -2.58707389e-03 9.99994136e-01 7.79577789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34313336499997 meters 0.2735811901052179 Centerline is valid? [False, False] Translation: X:2.64, Y:0.19, Z:0.08 [[ 9.99994501e-01 2.57521616e-03 -2.08951308e-03 2.64308369e+00] [-2.57171064e-03 9.99995284e-01 1.67863087e-03 1.94422187e-01] [ 2.09382606e-03 -1.67324802e-03 9.99996408e-01 7.80433769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.403133365 meters 0.2718972277301615 Centerline is valid? [False, False] Translation: X:2.62, Y:0.20, Z:0.08 [[ 9.99988554e-01 -4.24944246e-03 -2.19845892e-03 2.61977278e+00] [ 4.25853223e-03 9.99982335e-01 4.14658192e-03 1.96092182e-01] [ 2.18079942e-03 -4.15589667e-03 9.99988986e-01 7.86115077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.463133365 meters 0.2719661167661858 Centerline is valid? [False, False] Translation: X:2.62, Y:0.20, Z:0.08 [[ 9.99986878e-01 -4.71823622e-03 -1.99537485e-03 2.61969520e+00] [ 4.72337575e-03 9.99985519e-01 2.57889953e-03 2.02140701e-01] [ 1.98317810e-03 -2.58829059e-03 9.99994684e-01 7.77558163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.523133365 meters 0.2724432186820302 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.08 [[ 9.99988094e-01 4.83689530e-03 -6.45855865e-04 2.64129343e+00] [-4.83571263e-03 9.99986651e-01 1.82033824e-03 2.09311363e-01] [ 6.54652029e-04 -1.81719340e-03 9.99998135e-01 7.75364546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.583133365 meters 0.27335628406999957 Centerline is valid? [False, False] Translation: X:2.64, Y:0.21, Z:0.08 [[ 9.99990115e-01 4.41461038e-03 -5.30670121e-04 2.64095238e+00] [-4.41417842e-03 9.99989927e-01 8.12424820e-04 2.13563414e-01] [ 5.34251315e-04 -8.10074317e-04 9.99999529e-01 7.75751325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.643133365 meters 0.2739963478835757 Centerline is valid? [False, False] Translation: X:2.64, Y:0.22, Z:0.08 [[ 9.99992860e-01 3.75710263e-03 -4.04022265e-04 2.64035542e+00] [-3.75734730e-03 9.99992757e-01 -6.06537882e-04 2.20035393e-01] [ 4.01740514e-04 6.08051603e-04 9.99999734e-01 7.78968766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.703133365 meters 0.2713950930515487 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.08 [[ 9.99994734e-01 3.24207261e-03 -1.45894729e-04 2.63943748e+00] [-3.24232336e-03 9.99993208e-01 -1.75257447e-03 2.25004515e-01] [ 1.40211765e-04 1.75303827e-03 9.99998454e-01 7.83069125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.763133365 meters 0.27114314687180713 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.08 [[ 9.99995098e-01 3.12850400e-03 -1.26084164e-04 2.63935589e+00] [-3.12875347e-03 9.99993046e-01 -2.02948321e-03 2.26198916e-01] [ 1.19734041e-04 2.02986775e-03 9.99997933e-01 7.83633451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.823133365 meters 0.2709537600032605 Centerline is valid? [False, False] Translation: X:2.66, Y:0.23, Z:0.08 [[ 9.99985511e-01 -5.33183191e-03 -7.41150143e-04 2.66103080e+00] [ 5.33077630e-03 9.99984784e-01 -1.41903746e-03 2.29952262e-01] [ 7.48704935e-04 1.41506599e-03 9.99998719e-01 7.89243832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.883133365 meters 0.26893511662329567 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.08 [[ 9.99993732e-01 3.42853544e-03 -8.83618983e-04 2.64128356e+00] [-3.43022369e-03 9.99992281e-01 -1.91623515e-03 2.26583736e-01] [ 8.77042282e-04 1.91925415e-03 9.99997774e-01 7.79793504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.943133365 meters 0.2691860995705856 Centerline is valid? [False, False] Translation: X:2.66, Y:0.22, Z:0.08 [[ 9.99983562e-01 -5.55566055e-03 1.41795732e-03 2.66044768e+00] [ 5.55715043e-03 9.99984009e-01 -1.04896100e-03 2.22309622e-01] [-1.41210697e-03 1.05682355e-03 9.99998445e-01 7.86683774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.003133365 meters 0.2674063065487738 Centerline is valid? [False, False] Translation: X:2.66, Y:0.22, Z:0.08 [[ 9.99984894e-01 -5.31530445e-03 1.39956929e-03 2.66063364e+00] [ 5.31592775e-03 9.99985773e-01 -4.42009938e-04 2.19719402e-01] [-1.39719996e-03 4.49443271e-04 9.99998923e-01 7.83869950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.063133365 meters 0.2705785230097295 Centerline is valid? [False, False] Translation: X:2.69, Y:0.22, Z:0.08 [[ 9.99997714e-01 2.12432760e-03 -2.41349023e-04 2.68590114e+00] [-2.12481502e-03 9.99995667e-01 -2.03758101e-03 2.15745167e-01] [ 2.37019487e-04 2.03808917e-03 9.99997895e-01 7.66722849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.123133365 meters 0.27117999763496053 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.08 [[ 9.99997393e-01 2.26980166e-03 -2.47595232e-04 2.68603559e+00] [-2.27021820e-03 9.99995986e-01 -1.69523134e-03 2.14277585e-01] [ 2.43746399e-04 1.69578902e-03 9.99998532e-01 7.64655412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.183133365 meters 0.2699562936823175 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.08 [[ 9.99996959e-01 2.46419391e-03 -9.57466235e-05 2.68550663e+00] [-2.46431112e-03 9.99996190e-01 -1.24396896e-03 2.12330021e-01] [ 9.26808780e-05 1.24420112e-03 9.99999222e-01 7.68135622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.243133365 meters 0.2697093642743434 Centerline is valid? [False, False] Translation: X:2.68, Y:0.21, Z:0.08 [[ 9.99996488e-01 2.64939666e-03 6.92694711e-05 2.68480709e+00] [-2.64934120e-03 9.99996179e-01 -7.88926353e-04 2.10313100e-01] [-7.13593853e-05 7.88740064e-04 9.99999686e-01 7.75084111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.303133365 meters 0.2684970953390095 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.08 [[ 9.99996797e-01 2.52908033e-03 -1.01713041e-04 2.68544433e+00] [-2.52919463e-03 9.99996152e-01 -1.13977673e-03 2.11697081e-01] [ 9.88300630e-05 1.14003033e-03 9.99999345e-01 7.68707389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.363133365 meters 0.2705786958778787 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.08 [[ 9.99997118e-01 2.39484493e-03 -1.67966398e-04 2.68606760e+00] [-2.39511297e-03 9.99995829e-01 -1.61416168e-03 2.13715149e-01] [ 1.64100031e-04 1.61455933e-03 9.99998683e-01 7.58264028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.423133365 meters 0.26808765073126506 Centerline is valid? [False, False] Translation: X:2.66, Y:0.22, Z:0.08 [[ 9.99992538e-01 -3.86152675e-03 -1.09859462e-04 2.66252444e+00] [ 3.86163088e-03 9.99992079e-01 9.63964786e-04 2.17730428e-01] [ 1.06136216e-04 -9.64381830e-04 9.99999529e-01 7.66320407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48313336499996 meters 0.268291020300984 Centerline is valid? [False, False] Translation: X:2.66, Y:0.22, Z:0.08 [[ 9.99999912e-01 3.52857868e-04 -2.26093083e-04 2.66253471e+00] [-3.51737252e-04 9.99987749e-01 4.93745193e-03 2.18834713e-01] [ 2.27832532e-04 -4.93737197e-03 9.99987785e-01 7.71262743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54313336499996 meters 0.26687244418637823 Centerline is valid? [False, False] Translation: X:2.66, Y:0.22, Z:0.08 [[ 9.99999750e-01 4.69909549e-04 5.28461996e-04 2.66075297e+00] [-4.72786435e-04 9.99984999e-01 5.45700025e-03 2.16603912e-01] [-5.25889772e-04 -5.45724874e-03 9.99984971e-01 7.77929388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60313336499996 meters 0.26923158957016013 Centerline is valid? [False, False] Translation: X:2.68, Y:0.21, Z:0.08 [[ 9.99979222e-01 6.38977386e-03 8.52093028e-04 2.68432452e+00] [-6.39176778e-03 9.99976792e-01 2.35820243e-03 2.13715773e-01] [-8.37004872e-04 -2.36359981e-03 9.99996856e-01 7.62993985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66313336499996 meters 0.2681266111497839 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99986967e-01 -3.48399981e-03 -3.73191657e-03 2.67150654e+00] [ 3.49258235e-03 9.99991266e-01 2.29572448e-03 2.11705325e-01] [ 3.72388567e-03 -2.30872859e-03 9.99990401e-01 7.29915087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72313336499997 meters 0.2690226751708787 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99987667e-01 -3.33981366e-03 -3.67586451e-03 2.67133892e+00] [ 3.34951696e-03 9.99990914e-01 2.63674972e-03 2.10267630e-01] [ 3.66702486e-03 -2.64902957e-03 9.99989768e-01 7.31022889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78313336499997 meters 0.26730288129279306 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 0.99998788 -0.00327622 -0.00367608 2.67136718] [ 0.00328645 0.99999074 0.00277945 0.20962558] [ 0.00366694 -0.00279149 0.99998938 0.07306282] [ 0. 0. 0. 1. ]] SLAMing on 297.84313336499997 meters 0.26860501157688615 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.07 [[ 9.99973338e-01 6.90496710e-03 -2.37580790e-03 2.69288869e+00] [-6.89753146e-03 9.99971333e-01 3.12381606e-03 2.11268345e-01] [ 2.39730963e-03 -3.10734557e-03 9.99992299e-01 7.23592650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.903133365 meters 0.2669350198337527 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99995124e-01 -2.36588950e-03 -2.03845261e-03 2.67206274e+00] [ 2.37322545e-03 9.99990690e-01 3.60390847e-03 2.13846373e-01] [ 2.02990719e-03 -3.60872860e-03 9.99991428e-01 7.15842501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.963133365 meters 0.2674169339243121 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99995048e-01 -2.37978172e-03 -2.05925182e-03 2.67214977e+00] [ 2.38713248e-03 9.99990762e-01 3.57456067e-03 2.13981979e-01] [ 2.05072612e-03 -3.57945867e-03 9.99991491e-01 7.15052835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.023133365 meters 0.2681015351331519 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99994928e-01 -2.28527149e-03 -2.21857374e-03 2.67274095e+00] [ 2.29377244e-03 9.99990009e-01 3.83676639e-03 2.12827254e-01] [ 2.20978352e-03 -3.84183583e-03 9.99990179e-01 7.10788443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.083133365 meters 0.26865771036633657 Centerline is valid? [False, False] Translation: X:2.69, Y:0.21, Z:0.07 [[ 9.99992287e-01 3.75511879e-03 -1.15113065e-03 2.69453773e+00] [-3.75434785e-03 9.99992727e-01 6.71155273e-04 2.10941830e-01] [ 1.15364254e-03 -6.66828351e-04 9.99999112e-01 7.09976951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.143133365 meters 0.26724571834203775 Centerline is valid? [False, False] Translation: X:2.68, Y:0.21, Z:0.07 [[ 9.99986738e-01 -4.32318689e-03 -2.79898196e-03 2.67602027e+00] [ 4.32968901e-03 9.99987933e-01 2.32115415e-03 2.11563176e-01] [ 2.78891340e-03 -2.33324209e-03 9.99993389e-01 6.92347331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.203133365 meters 0.26847604524984847 Centerline is valid? [False, False] Translation: X:2.70, Y:0.21, Z:0.07 [[ 9.99988447e-01 4.32677948e-03 -2.09385501e-03 2.69643780e+00] [-4.32425576e-03 9.99989920e-01 1.20833033e-03 2.11119818e-01] [ 2.09906208e-03 -1.19926201e-03 9.99997078e-01 6.98668244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.263133365 meters 0.26708652731423194 Centerline is valid? [False, False] Translation: X:2.70, Y:0.21, Z:0.07 [[ 9.99988332e-01 4.28119660e-03 -2.23781397e-03 2.69667598e+00] [-4.27871393e-03 9.99990227e-01 1.11303364e-03 2.11581563e-01] [ 2.24255722e-03 -1.10344569e-03 9.99996877e-01 7.00608349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.323133365 meters 0.26693843208607493 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:0.07 [[ 9.99987359e-01 2.54808759e-03 -4.33458137e-03 2.65435853e+00] [-2.54724907e-03 9.99996736e-01 1.98960002e-04 2.08210701e-01] [ 4.33507419e-03 -1.87916228e-04 9.99990586e-01 7.00468825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.383133365 meters 0.2673039385783025 Centerline is valid? [False, False] Translation: X:2.67, Y:0.21, Z:0.07 [[ 9.99983142e-01 -4.97314143e-03 -2.99727377e-03 2.67365822e+00] [ 4.97855617e-03 9.99985984e-01 1.80180986e-03 2.09172306e-01] [ 2.98827111e-03 -1.81670158e-03 9.99993885e-01 7.18813592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.443133365 meters 0.2671033425199513 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.07 [[ 9.99991699e-01 3.74248747e-03 -1.61133244e-03 2.69244195e+00] [-3.74022280e-03 9.99992017e-01 1.40619563e-03 2.02702500e-01] [ 1.61658225e-03 -1.40015721e-03 9.99997713e-01 7.27601470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.503133365 meters 0.26838666747612455 Centerline is valid? [False, False] Translation: X:2.69, Y:0.20, Z:0.07 [[ 9.99989195e-01 4.15631405e-03 -2.08188558e-03 2.69352292e+00] [-4.15020996e-03 9.99987102e-01 2.92779032e-03 1.96373076e-01] [ 2.09402754e-03 -2.91911843e-03 9.99993547e-01 7.27673889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.563133365 meters 0.26719410545585565 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:0.07 [[ 9.99997471e-01 2.72211507e-04 -2.23262567e-03 2.69373650e+00] [-2.72895457e-04 9.99999916e-01 -3.06044353e-04 1.91820286e-01] [ 2.23254217e-03 3.06652852e-04 9.99997461e-01 7.29386603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.623133365 meters 0.2687692246256787 Centerline is valid? [False, False] Translation: X:2.69, Y:0.19, Z:0.07 [[ 9.99991276e-01 -3.57721179e-03 -2.15653995e-03 2.69400266e+00] [ 3.56975607e-03 9.99987673e-01 -3.45125552e-03 1.86897819e-01] [ 2.16885924e-03 3.44352709e-03 9.99991719e-01 7.23146037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.683133365 meters 0.2668417168789112 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.07 [[ 9.99989521e-01 4.44728961e-03 -1.08636457e-03 2.67381080e+00] [-4.45037592e-03 9.99986021e-01 -2.85524886e-03 1.73537073e-01] [ 1.07365127e-03 2.86005367e-03 9.99995334e-01 7.06345296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.743133365 meters 0.267527632021851 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.07 [[ 9.99988234e-01 4.71306284e-03 -1.14867950e-03 2.67406714e+00] [-4.71564887e-03 9.99986329e-01 -2.25909548e-03 1.70940775e-01] [ 1.13801654e-03 2.26448566e-03 9.99996789e-01 7.04663669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.803133365 meters 0.27002771408233567 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.07 [[ 9.99989893e-01 -3.98967505e-03 -2.07287470e-03 2.69671890e+00] [ 3.98602219e-03 9.99990501e-01 -1.76337345e-03 1.72152562e-01] [ 2.07989030e-03 1.75509310e-03 9.99996297e-01 6.98287562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.863133365 meters 0.2696217544997411 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.07 [[ 9.99990453e-01 -3.92681616e-03 -1.91697092e-03 2.69647638e+00] [ 3.92372795e-03 9.99991003e-01 -1.61209081e-03 1.71470928e-01] [ 1.92328406e-03 1.60455374e-03 9.99996863e-01 6.96009220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.923133365 meters 0.2706188930975165 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.07 [[ 9.99990393e-01 -3.95336128e-03 -1.89349556e-03 2.69637509e+00] [ 3.95019093e-03 9.99990795e-01 -1.67516378e-03 1.71766975e-01] [ 1.90010065e-03 1.66766802e-03 9.99996804e-01 6.96800853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98313336499996 meters 0.2703733394391323 Centerline is valid? [False, False] Translation: X:2.70, Y:0.17, Z:0.07 [[ 9.99989317e-01 -4.09897399e-03 -2.13621221e-03 2.69724791e+00] [ 4.09439751e-03 9.99989323e-01 -2.14231848e-03 1.73688361e-01] [ 2.14497071e-03 2.13354909e-03 9.99995424e-01 6.88786049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04313336499996 meters 0.2708904275405999 Centerline is valid? [False, False] Translation: X:2.70, Y:0.18, Z:0.07 [[ 9.99997706e-01 -1.55648587e-05 -2.14201334e-03 2.69680400e+00] [ 1.88749192e-05 9.99998806e-01 1.54529187e-03 1.76424705e-01] [ 2.14198673e-03 -1.54532876e-03 9.99996512e-01 6.96499663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10313336499996 meters 0.2696967008037292 Centerline is valid? [False, False] Translation: X:2.70, Y:0.18, Z:0.07 [[ 9.99998241e-01 -3.24336861e-04 -1.84727296e-03 2.69618066e+00] [ 3.25456593e-04 9.99999763e-01 6.05885653e-04 1.80444147e-01] [ 1.84707602e-03 -6.06485794e-04 9.99998110e-01 6.94040174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16313336499996 meters 0.27043243501673997 Centerline is valid? [False, False] Translation: X:2.70, Y:0.18, Z:0.07 [[ 9.99991814e-01 3.60640687e-03 -1.83439282e-03 2.69639127e+00] [-3.59906837e-03 9.99985570e-01 3.98819746e-03 1.84488185e-01] [ 1.84874941e-03 -3.98156271e-03 9.99990365e-01 6.88996861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22313336499997 meters 0.26801799189522024 Centerline is valid? [False, False] Translation: X:2.66, Y:0.19, Z:0.07 [[ 0.9999794 0.00446465 -0.00461244 2.65500562] [-0.00444115 0.99997716 0.00509398 0.194108 ] [ 0.00463507 -0.00507339 0.99997639 0.06873912] [ 0. 0. 0. 1. ]] SLAMing on 299.28313336499997 meters 0.2714586764576306 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:0.07 [[ 0.99998128 0.00396523 -0.00466011 2.6549893 ] [-0.00394672 0.99998431 0.00397537 0.19900903] [ 0.0046758 -0.00395691 0.99998124 0.06882605] [ 0. 0. 0. 1. ]] SLAMing on 299.34313336499997 meters 0.2711061858264279 Centerline is valid? [False, False] Translation: X:2.67, Y:0.22, Z:0.07 [[ 0.99997385 -0.00402645 -0.00600738 2.67409006] [ 0.00404641 0.99998632 0.00331412 0.21717502] [ 0.00599395 -0.00333835 0.99997646 0.07000528] [ 0. 0. 0. 1. ]] SLAMing on 299.403133365 meters 0.270572975396859 Centerline is valid? [False, False] Translation: X:2.65, Y:0.22, Z:0.07 [[ 9.99979005e-01 2.28269015e-03 -6.06451604e-03 2.65161119e+00] [-2.28114366e-03 9.99997364e-01 2.61912276e-04 2.18291137e-01] [ 6.06509792e-03 -2.48072745e-04 9.99981576e-01 7.04489656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.463133365 meters 0.26917359668269386 Centerline is valid? [False, False] Translation: X:2.65, Y:0.22, Z:0.07 [[ 9.99975829e-01 2.14286054e-03 -6.61429603e-03 2.65288414e+00] [-2.14341822e-03 9.99997700e-01 -7.72263985e-05 2.19392173e-01] [ 6.61411534e-03 9.14017345e-05 9.99978122e-01 7.02981258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.523133365 meters 0.26788922865399867 Centerline is valid? [False, False] Translation: X:2.65, Y:0.22, Z:0.07 [[ 9.99977028e-01 2.21795935e-03 -6.40507249e-03 2.65220833e+00] [-2.21684847e-03 9.99997526e-01 1.80530829e-04 2.18337238e-01] [ 6.40545705e-03 -1.66327607e-04 9.99979471e-01 7.08676082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.583133365 meters 0.2659692384286186 Centerline is valid? [False, False] Translation: X:2.65, Y:0.22, Z:0.07 [[ 9.99976325e-01 2.35720680e-03 -6.46478880e-03 2.65216836e+00] [-2.35258265e-03 9.99996971e-01 7.22793664e-04 2.16130799e-01] [ 6.46647300e-03 -7.07567601e-04 9.99978842e-01 7.12822990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.643133365 meters 0.2657876631392625 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:0.07 [[ 9.99976029e-01 2.72106553e-03 -6.36683017e-03 2.65177682e+00] [-2.70707941e-03 9.99993906e-01 2.20430368e-03 2.10129427e-01] [ 6.37278942e-03 -2.18701533e-03 9.99977302e-01 7.17429905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.703133365 meters 0.2661511667971763 Centerline is valid? [False, False] Translation: X:2.65, Y:0.21, Z:0.07 [[ 0.99997449 0.00315474 -0.00640907 2.65150741] [-0.00313292 0.99998927 0.00341113 0.20507206] [ 0.00641976 -0.00339097 0.99997364 0.07244162] [ 0. 0. 0. 1. ]] SLAMing on 299.763133365 meters 0.2668067238885938 Centerline is valid? [False, False] Translation: X:2.65, Y:0.20, Z:0.07 [[ 9.99978925e-01 -4.53109195e-04 -6.47649007e-03 2.65154709e+00] [ 4.57608626e-04 9.99999655e-01 6.93268094e-04 1.98295380e-01] [ 6.47617370e-03 -6.96217181e-04 9.99978787e-01 7.26847509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.823133365 meters 0.2670931158610712 Centerline is valid? [False, False] Translation: X:2.65, Y:0.19, Z:0.07 [[ 9.99979260e-01 1.17634060e-04 -6.43935829e-03 2.65132176e+00] [-1.04951940e-04 9.99998054e-01 1.96977214e-03 1.92626754e-01] [ 6.43957748e-03 -1.96905546e-03 9.99977327e-01 7.29798262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.883133365 meters 0.26868566335076577 Centerline is valid? [False, False] Translation: X:2.65, Y:0.19, Z:0.07 [[ 9.99977781e-01 5.84617270e-04 -6.64051736e-03 2.65195688e+00] [-5.64702133e-04 9.99995339e-01 3.00051302e-03 1.88094219e-01] [ 6.64224056e-03 -2.99669643e-03 9.99973450e-01 7.27792849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.943133365 meters 0.2666631281780496 Centerline is valid? [False, False] Translation: X:2.63, Y:0.18, Z:0.07 [[ 9.99953498e-01 5.27391856e-03 -8.07389099e-03 2.63084911e+00] [-5.27210351e-03 9.99986072e-01 2.46072262e-04 1.77505751e-01] [ 8.07507630e-03 -2.03494430e-04 9.99967375e-01 7.25773025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.003133365 meters 0.2675393415298233 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:0.07 [[ 9.99981140e-01 -2.28738486e-03 -5.69979577e-03 2.65049301e+00] [ 2.29938824e-03 9.99995151e-01 2.10026960e-03 1.71652217e-01] [ 5.69496400e-03 -2.11333603e-03 9.99981550e-01 7.34013899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.063133365 meters 0.2672940293742166 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:0.07 [[ 9.99982408e-01 -1.85424243e-03 -5.63438653e-03 2.65005419e+00] [ 1.87426471e-03 9.99991941e-01 3.55038537e-03 1.65710047e-01] [ 5.62775784e-03 -3.56088325e-03 9.99977824e-01 7.40595650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.123133365 meters 0.2688971484815147 Centerline is valid? [False, False] Translation: X:2.65, Y:0.16, Z:0.07 [[ 9.99982633e-01 -1.37641027e-03 -5.73048077e-03 2.65026911e+00] [ 1.40809404e-03 9.99983726e-01 5.52863032e-03 1.57000512e-01] [ 5.72277785e-03 -5.53660336e-03 9.99968297e-01 7.41754280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.183133365 meters 0.2673765727680696 Centerline is valid? [False, False] Translation: X:2.65, Y:0.15, Z:0.07 [[ 9.99983554e-01 -1.01078746e-03 -5.64539559e-03 2.64998093e+00] [ 1.04723109e-03 9.99978610e-01 6.45624030e-03 1.53101750e-01] [ 5.63874895e-03 -6.46204616e-03 9.99963223e-01 7.43665474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.243133365 meters 0.26741720698387766 Centerline is valid? [False, False] Translation: X:2.65, Y:0.15, Z:0.07 [[ 9.99983305e-01 -8.88534927e-04 -5.70957671e-03 2.65014098e+00] [ 9.27050745e-04 9.99976811e-01 6.74672530e-03 1.51859947e-01] [ 5.70344961e-03 -6.75190574e-03 9.99960940e-01 7.43653627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.303133365 meters 0.2661901740413849 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.07 [[ 0.99996374 0.00377861 -0.00763101 2.62898327] [-0.00375405 0.99998774 0.00322976 0.14942163] [ 0.00764312 -0.00320099 0.99996567 0.07441237] [ 0. 0. 0. 1. ]] SLAMing on 300.363133365 meters 0.2667415365107412 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.07 [[ 0.99996409 0.00385306 -0.00754788 2.62875097] [-0.00382743 0.99998687 0.00340701 0.14865025] [ 0.00756091 -0.003378 0.99996571 0.07449975] [ 0. 0. 0. 1. ]] SLAMing on 300.423133365 meters 0.26870056693576555 Centerline is valid? [False, False] Translation: X:2.63, Y:0.15, Z:0.07 [[ 0.99996207 0.00385256 -0.00781188 2.62973704] [-0.00382581 0.99998678 0.0034365 0.14845349] [ 0.00782502 -0.00340648 0.99996358 0.07363273] [ 0. 0. 0. 1. ]] SLAMing on 300.48313336499996 meters 0.2650823319274302 Centerline is valid? [False, False] Translation: X:2.59, Y:0.15, Z:0.07 [[ 9.99950273e-01 1.15599901e-03 -9.90526467e-03 2.58755863e+00] [-1.13200985e-03 9.99996414e-01 2.42712443e-03 1.46170156e-01] [ 9.90803490e-03 -2.41579088e-03 9.99947996e-01 7.35665204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54313336499996 meters 0.2668004386220567 Centerline is valid? [False, False] Translation: X:2.61, Y:0.15, Z:0.07 [[ 0.99993837 -0.00709185 -0.0085419 2.60779476] [ 0.00711899 0.99996969 0.00315148 0.14611677] [ 0.00851929 -0.0032121 0.99995855 0.07469026] [ 0. 0. 0. 1. ]] SLAMing on 300.60313336499996 meters 0.2658757563676036 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:0.07 [[ 0.99993983 -0.00700494 -0.00844149 2.6076316 ] [ 0.0070345 0.99996921 0.00347686 0.14482214] [ 0.00841688 -0.00353603 0.99995833 0.07458823] [ 0. 0. 0. 1. ]] SLAMing on 300.66313336499996 meters 0.26754017597727464 Centerline is valid? [False, False] Translation: X:2.61, Y:0.14, Z:0.07 [[ 9.99938780e-01 8.79480162e-03 -6.71475551e-03 2.60810419e+00] [-8.78297318e-03 9.99959829e-01 1.78901979e-03 1.36548780e-01] [ 6.73021984e-03 -1.72993475e-03 9.99975855e-01 7.39509798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72313336499997 meters 0.2675106968450439 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:0.07 [[ 9.99967830e-01 4.71903178e-03 -6.48614481e-03 2.60786139e+00] [-4.73099846e-03 9.99987133e-01 -1.83085577e-03 1.33840381e-01] [ 6.47742148e-03 1.86148281e-03 9.99977289e-01 7.33960282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78313336499997 meters 0.26588462472849317 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:0.07 [[ 9.99966971e-01 4.95429478e-03 -6.44303373e-03 2.60776782e+00] [-4.96171241e-03 9.99987046e-01 -1.13578938e-03 1.30926484e-01] [ 6.43732323e-03 1.16772035e-03 9.99978598e-01 7.33260672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84313336499997 meters 0.2673694443136478 Centerline is valid? [False, False] Translation: X:2.63, Y:0.13, Z:0.08 [[ 9.99989272e-01 -2.19918655e-03 -4.07673856e-03 2.62655699e+00] [ 2.20120614e-03 9.99997457e-01 4.90973187e-04 1.29297332e-01] [ 4.07564845e-03 -4.99941661e-04 9.99991570e-01 7.50069398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.903133365 meters 0.2661510221799366 Centerline is valid? [False, False] Translation: X:2.61, Y:0.12, Z:0.07 [[ 9.99974289e-01 5.03194143e-03 -5.10893974e-03 2.60790010e+00] [-5.03569304e-03 9.99987060e-01 -7.21724946e-04 1.24944885e-01] [ 5.10524195e-03 7.47433442e-04 9.99986689e-01 7.29569454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.963133365 meters 0.2674354705494518 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:0.07 [[ 9.99974781e-01 4.94205463e-03 -5.10031636e-03 2.60802193e+00] [-4.94693628e-03 9.99987317e-01 -9.44955999e-04 1.25934190e-01] [ 5.09558165e-03 9.70163109e-04 9.99986547e-01 7.26777537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.023133365 meters 0.26792832461907 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:0.07 [[ 9.99975482e-01 4.76497094e-03 -5.13131845e-03 2.60815081e+00] [-4.77212092e-03 9.99987658e-01 -1.38205975e-03 1.27808818e-01] [ 5.12466965e-03 1.40651313e-03 9.99985880e-01 7.25841775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.083133365 meters 0.26601756355235323 Centerline is valid? [False, False] Translation: X:2.59, Y:0.13, Z:0.07 [[ 9.99974680e-01 -2.02942449e-03 -6.82058904e-03 2.58692851e+00] [ 2.03921239e-03 9.99996901e-01 1.42840425e-03 1.29335750e-01] [ 6.81766907e-03 -1.44227671e-03 9.99975719e-01 7.33678737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.143133365 meters 0.2651527705823511 Centerline is valid? [False, False] Translation: X:2.61, Y:0.13, Z:0.07 [[ 9.99965884e-01 6.71925106e-03 -4.80446267e-03 2.60509542e+00] [-6.71838945e-03 9.99977412e-01 1.95452612e-04 1.27759644e-01] [ 4.80566745e-03 -1.63167692e-04 9.99988439e-01 7.41941929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.203133365 meters 0.2688367522702333 Centerline is valid? [False, False] Translation: X:2.63, Y:0.13, Z:0.08 [[ 9.99987749e-01 -1.91804899e-03 -4.56312375e-03 2.62617312e+00] [ 1.92001250e-03 9.99998066e-01 4.25955740e-04 1.29788028e-01] [ 4.56229792e-03 -4.34711776e-04 9.99989498e-01 7.50757716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.263133365 meters 0.2664950310122143 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.08 [[ 9.99974895e-01 3.48309429e-03 -6.17073735e-03 2.60304958e+00] [-3.49720323e-03 9.99991292e-01 -2.27711307e-03 1.30863374e-01] [ 6.16275222e-03 2.29863623e-03 9.99978368e-01 7.60769623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.323133365 meters 0.2667389727507284 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.08 [[ 9.99975559e-01 3.50350406e-03 -6.05035221e-03 2.60275755e+00] [-3.51700331e-03 9.99991347e-01 -2.22195452e-03 1.30621888e-01] [ 6.04251523e-03 2.24317933e-03 9.99979228e-01 7.61290297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.383133365 meters 0.2678420625242544 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.08 [[ 9.99976109e-01 3.49549226e-03 -5.96338753e-03 2.60282719e+00] [-3.50892916e-03 9.99991325e-01 -2.24425966e-03 1.30690827e-01] [ 5.95549101e-03 2.26513115e-03 9.99979700e-01 7.55808888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.443133365 meters 0.26834784103850234 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.08 [[ 9.99976401e-01 3.37169357e-03 -5.98575621e-03 2.60290742e+00] [-3.38698221e-03 9.99991023e-01 -2.54587387e-03 1.31981574e-01] [ 5.97711857e-03 2.56608744e-03 9.99978844e-01 7.55530115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.503133365 meters 0.2685801332224273 Centerline is valid? [False, False] Translation: X:2.60, Y:0.13, Z:0.08 [[ 0.99997706 0.00315418 -0.00599419 2.60311219] [-0.00317366 0.99998971 -0.00324243 0.13474235] [ 0.0059839 0.00326138 0.99997678 0.07520261] [ 0. 0. 0. 1. ]] SLAMing on 301.563133365 meters 0.26835679163904064 Centerline is valid? [False, False] Translation: X:2.60, Y:0.14, Z:0.08 [[ 0.99997815 0.00295385 -0.00591422 2.6030002 ] [-0.00297645 0.99998829 -0.00381645 0.13707344] [ 0.00590288 0.00383397 0.99997523 0.07507577] [ 0. 0. 0. 1. ]] SLAMing on 301.623133365 meters 0.2677625318161706 Centerline is valid? [False, False] Translation: X:2.60, Y:0.14, Z:0.07 [[ 9.99976429e-01 2.58274982e-03 -6.36165176e-03 2.60442483e+00] [-2.61497307e-03 9.99983768e-01 -5.06213534e-03 1.42171500e-01] [ 6.34847427e-03 5.07865157e-03 9.99966952e-01 7.43319794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.683133365 meters 0.2675849995194007 Centerline is valid? [False, False] Translation: X:2.60, Y:0.15, Z:0.07 [[ 9.99976661e-01 2.16356458e-03 -6.48041975e-03 2.60494743e+00] [-2.20322624e-03 9.99978849e-01 -6.11935672e-03 1.46668570e-01] [ 6.46704306e-03 6.13349173e-03 9.99960278e-01 7.39517931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.743133365 meters 0.2649311773740208 Centerline is valid? [False, False] Translation: X:2.58, Y:0.16, Z:0.07 [[ 0.99998246 -0.00398478 -0.00438221 2.5812326 ] [ 0.00396684 0.99998375 -0.00409546 0.15878617] [ 0.00439846 0.00407801 0.99998201 0.07457095] [ 0. 0. 0. 1. ]] SLAMing on 301.803133365 meters 0.2666762588559886 Centerline is valid? [False, False] Translation: X:2.58, Y:0.16, Z:0.07 [[ 9.99990850e-01 -1.50113147e-05 -4.27779716e-03 2.58115693e+00] [ 1.12914578e-05 9.99999622e-01 -8.69595827e-04 1.62703966e-01] [ 4.27780860e-03 8.69539568e-04 9.99990472e-01 7.43514271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.863133365 meters 0.2651155076973494 Centerline is valid? [False, False] Translation: X:2.58, Y:0.17, Z:0.07 [[ 9.99990833e-01 -2.54101828e-04 -4.27421619e-03 2.58141656e+00] [ 2.47880929e-04 9.99998909e-01 -1.45591462e-03 1.65117168e-01] [ 4.27458148e-03 1.45484178e-03 9.99989806e-01 7.38292925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.923133365 meters 0.2670729417541632 Centerline is valid? [False, False] Translation: X:2.60, Y:0.17, Z:0.07 [[ 9.99968278e-01 -6.95575430e-03 -3.88071933e-03 2.60472662e+00] [ 6.95651689e-03 9.99975786e-01 1.83042909e-04 1.70044878e-01] [ 3.87935216e-03 -2.10033392e-04 9.99992453e-01 7.22957188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98313336499996 meters 0.2652042937311142 Centerline is valid? [False, False] Translation: X:2.58, Y:0.17, Z:0.07 [[ 9.99989947e-01 1.54283693e-03 -4.21028814e-03 2.58348998e+00] [-1.54634885e-03 9.99998459e-01 -8.31000703e-04 1.72327312e-01] [ 4.20899955e-03 8.37502923e-04 9.99990791e-01 7.13736525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04313336499996 meters 0.2656938997423853 Centerline is valid? [False, False] Translation: X:2.58, Y:0.18, Z:0.07 [[ 9.99991019e-01 1.23470813e-03 -4.05426966e-03 2.58309825e+00] [-1.24175106e-03 9.99997724e-01 -1.73510707e-03 1.76047539e-01] [ 4.05211808e-03 1.74012588e-03 9.99990276e-01 7.14479192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10313336499996 meters 0.2668528154587682 Centerline is valid? [False, False] Translation: X:2.58, Y:0.18, Z:0.07 [[ 9.99990152e-01 8.17377535e-04 -4.36218006e-03 2.58444517e+00] [-8.31235888e-04 9.99994611e-01 -3.17606594e-03 1.81792778e-01] [ 4.35956051e-03 3.17966066e-03 9.99985442e-01 7.01741154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16313336499996 meters 0.2662437311710848 Centerline is valid? [False, False] Translation: X:2.58, Y:0.18, Z:0.07 [[ 9.99990411e-01 6.47403342e-04 -4.33114528e-03 2.58439977e+00] [-6.62979448e-04 9.99993315e-01 -3.59583328e-03 1.83541309e-01] [ 4.32878837e-03 3.59867026e-03 9.99984155e-01 7.01419282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22313336499997 meters 0.2670895968080164 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:0.07 [[ 9.99990436e-01 2.81204087e-04 -4.36439238e-03 2.58446116e+00] [-3.00308105e-04 9.99990375e-01 -4.37720788e-03 1.86902299e-01] [ 4.36311948e-03 4.37847668e-03 9.99980896e-01 7.02408825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28313336499997 meters 0.2666005216483872 Centerline is valid? [False, False] Translation: X:2.59, Y:0.19, Z:0.07 [[ 9.99989205e-01 1.17770580e-04 -4.64496706e-03 2.58532846e+00] [-1.40032229e-04 9.99988506e-01 -4.79260485e-03 1.88619126e-01] [ 4.64434924e-03 4.79320356e-03 9.99977727e-01 6.97474599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34313336499997 meters 0.2684024203188404 Centerline is valid? [False, False] Translation: X:2.61, Y:0.19, Z:0.07 [[ 9.99979166e-01 -5.87201930e-03 -2.68099185e-03 2.60622028e+00] [ 5.86648256e-03 9.99980653e-01 -2.06840083e-03 1.90845471e-01] [ 2.69308567e-03 2.05262975e-03 9.99994267e-01 6.92082457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.403133365 meters 0.267389590813543 Centerline is valid? [False, False] Translation: X:2.58, Y:0.19, Z:0.07 [[ 9.99995284e-01 3.07067259e-03 -4.46107063e-05 2.58152900e+00] [-3.07079803e-03 9.99990310e-01 -3.15427906e-03 1.93653279e-01] [ 3.49245157e-05 3.15440118e-03 9.99995024e-01 6.96366701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.463133365 meters 0.2663869917184015 Centerline is valid? [False, False] Translation: X:2.58, Y:0.20, Z:0.07 [[ 9.99995824e-01 2.88916640e-03 -7.00741002e-05 2.58171295e+00] [-2.88939923e-03 9.99989389e-01 -3.58793525e-03 1.95483717e-01] [ 5.97072147e-05 3.58812274e-03 9.99993561e-01 6.94357020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.523133365 meters 0.2698081344372327 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99991295e-01 -3.56415343e-03 2.16963987e-03 2.60340546e+00] [ 3.56706724e-03 9.99992739e-01 -1.34060939e-03 1.95955386e-01] [-2.16484598e-03 1.34833697e-03 9.99996748e-01 6.82278504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.583133365 meters 0.26915034265641025 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99997041e-01 2.55723952e-04 2.41940254e-03 2.60330328e+00] [-2.60053051e-04 9.99998366e-01 1.78918050e-03 1.99233649e-01] [-2.41894105e-03 -1.78980438e-03 9.99995473e-01 6.75520801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.643133365 meters 0.2684087774175834 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99996969e-01 2.54339615e-04 2.44899658e-03 2.60338564e+00] [-2.58729456e-04 9.99998360e-01 1.79235606e-03 1.99264605e-01] [-2.44853670e-03 -1.79298426e-03 9.99995395e-01 6.72081984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.703133365 meters 0.2691098136142025 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99997842e-01 1.62764140e-04 2.07109444e-03 2.60432399e+00] [-1.65969064e-04 9.99998789e-01 1.54737689e-03 2.00376045e-01] [-2.07084007e-03 -1.54771729e-03 9.99996658e-01 6.70487880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.763133365 meters 0.269812905682555 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99998247e-01 5.09766012e-05 1.87176759e-03 2.60493400e+00] [-5.33136733e-05 9.99999219e-01 1.24856228e-03 2.01653031e-01] [-1.87170248e-03 -1.24865989e-03 9.99997469e-01 6.67579715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.823133365 meters 0.26856632460037044 Centerline is valid? [False, False] Translation: X:2.60, Y:0.20, Z:0.07 [[ 9.99998357e-01 -2.42797002e-05 1.81273895e-03 2.60496124e+00] [ 2.23636735e-05 9.99999441e-01 1.05699164e-03 2.02448254e-01] [-1.81276360e-03 -1.05694937e-03 9.99997798e-01 6.70061694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.883133365 meters 0.26682813079909096 Centerline is valid? [False, False] Translation: X:2.58, Y:0.21, Z:0.07 [[ 9.99977414e-01 6.71110460e-03 3.63834375e-04 2.58100197e+00] [-6.71054353e-03 9.99976326e-01 -1.52198451e-03 2.08100185e-01] [-3.74039959e-04 1.51950861e-03 9.99998776e-01 6.99687301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.943133365 meters 0.26727387163726585 Centerline is valid? [False, False] Translation: X:2.60, Y:0.21, Z:0.07 [[ 9.99998162e-01 -1.89508956e-03 -2.92612984e-04 2.60146178e+00] [ 1.89474192e-03 9.99997504e-01 -1.18378968e-03 2.13029989e-01] [ 2.94855642e-04 1.18323308e-03 9.99999257e-01 7.14403791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.003133365 meters 0.26840234588341366 Centerline is valid? [False, False] Translation: X:2.65, Y:0.22, Z:0.07 [[ 9.99999508e-01 3.73650495e-04 9.19145934e-04 2.64566602e+00] [-3.73781852e-04 9.99999920e-01 1.42744742e-04 2.17496495e-01] [-9.19092524e-04 -1.43088232e-04 9.99999567e-01 7.05941182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.063133365 meters 0.26872085025110876 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.07 [[ 9.99994746e-01 2.83904186e-03 1.56476638e-03 2.64232931e+00] [-2.84120197e-03 9.99995012e-01 1.37997770e-03 2.25657795e-01] [-1.56084076e-03 -1.38441627e-03 9.99997824e-01 7.34059647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.123133365 meters 0.2681949635320985 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.07 [[ 9.99996287e-01 2.35210539e-03 1.37592682e-03 2.64255882e+00] [-2.35252955e-03 9.99997186e-01 3.06730743e-04 2.30254519e-01] [-1.37520148e-03 -3.09966512e-04 9.99999006e-01 7.39032776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.183133365 meters 0.26633218565664624 Centerline is valid? [False, False] Translation: X:2.64, Y:0.23, Z:0.07 [[ 9.99997086e-01 1.98097795e-03 1.38009715e-03 2.64261366e+00] [-1.98024759e-03 9.99997899e-01 -5.30374998e-04 2.33811454e-01] [-1.38114491e-03 5.27640518e-04 9.99998907e-01 7.38780194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.243133365 meters 0.26758326879546274 Centerline is valid? [False, False] Translation: X:2.64, Y:0.24, Z:0.07 [[ 9.99997918e-01 1.62960690e-03 1.22814725e-03 2.64299911e+00] [-1.62802529e-03 9.99997846e-01 -1.28770375e-03 2.37071911e-01] [-1.23024306e-03 1.28570162e-03 9.99998417e-01 7.39121853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.303133365 meters 0.2673934767423545 Centerline is valid? [False, False] Translation: X:2.64, Y:0.25, Z:0.08 [[ 9.99990414e-01 3.64374716e-03 2.42797944e-03 2.63852658e+00] [-3.64247086e-03 9.99993226e-01 -5.29876560e-04 2.46249569e-01] [-2.42989373e-03 5.21027636e-04 9.99996912e-01 7.66317398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.363133365 meters 0.2680655623530882 Centerline is valid? [False, False] Translation: X:2.66, Y:0.26, Z:0.08 [[ 9.99988701e-01 -4.16804633e-03 2.28592070e-03 2.65709177e+00] [ 4.16751959e-03 9.99991288e-01 2.35140645e-04 2.55698735e-01] [-2.28688086e-03 -2.25611369e-04 9.99997360e-01 7.92240344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.423133365 meters 0.2678304498220276 Centerline is valid? [False, False] Translation: X:2.66, Y:0.26, Z:0.08 [[ 9.99997812e-01 -2.02918577e-03 5.08984762e-04 2.66256094e+00] [ 2.02849672e-03 9.99997030e-01 1.35065425e-03 2.64037065e-01] [-5.11723979e-04 -1.34961882e-03 9.99998958e-01 7.71854742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48313336499996 meters 0.2704249089631665 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:0.08 [[ 9.99997405e-01 -2.25263491e-03 3.39042837e-04 2.66293753e+00] [ 2.25236497e-03 9.99997148e-01 7.94455176e-04 2.66349885e-01] [-3.40831488e-04 -7.93689466e-04 9.99999627e-01 7.72678763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54313336499996 meters 0.2691023994547913 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:0.08 [[ 9.99996876e-01 -2.47720663e-03 3.34996449e-04 2.66257937e+00] [ 2.47712662e-03 9.99996903e-01 2.39041112e-04 2.68737051e-01] [-3.35587566e-04 -2.38210537e-04 9.99999915e-01 7.80130979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60313336499996 meters 0.2692902329561448 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:0.08 [[ 9.99996116e-01 -2.76417469e-03 3.57515235e-04 2.66228969e+00] [ 2.76436303e-03 9.99996040e-01 -5.27391814e-04 2.71839641e-01] [-3.56056016e-04 5.28378067e-04 9.99999797e-01 7.85749773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66313336499996 meters 0.268475352707713 Centerline is valid? [False, False] Translation: X:2.64, Y:0.27, Z:0.08 [[ 9.99984515e-01 5.08157511e-03 -2.26862774e-03 2.64405673e+00] [-5.08603874e-03 9.99985133e-01 -1.96613417e-03 2.71996844e-01] [ 2.25860295e-03 1.97764205e-03 9.99995494e-01 7.72247429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72313336499997 meters 0.2695344088724732 Centerline is valid? [False, False] Translation: X:2.64, Y:0.27, Z:0.08 [[ 9.99984129e-01 5.08671088e-03 -2.42220057e-03 2.64449338e+00] [-5.09145508e-03 9.99985124e-01 -1.95651018e-03 2.71973598e-01] [ 2.41221234e-03 1.96881165e-03 9.99995152e-01 7.70431909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78313336499997 meters 0.2698236064983728 Centerline is valid? [False, False] Translation: X:2.66, Y:0.27, Z:0.08 [[ 9.99994331e-01 -3.01858145e-03 -1.49199242e-03 2.66398532e+00] [ 3.01746826e-03 9.99995168e-01 -7.47800476e-04 2.73933339e-01] [ 1.49424251e-03 7.43294197e-04 9.99998607e-01 7.90144637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84313336499997 meters 0.2698845704301241 Centerline is valid? [False, False] Translation: X:2.64, Y:0.28, Z:0.08 [[ 9.99979721e-01 6.07611235e-03 -1.90727665e-03 2.64187067e+00] [-6.07878377e-03 9.99980547e-01 -1.39798760e-03 2.76412479e-01] [ 1.89874521e-03 1.40955318e-03 9.99997204e-01 7.91074922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.903133365 meters 0.2692966426750201 Centerline is valid? [False, False] Translation: X:2.66, Y:0.28, Z:0.08 [[ 9.99999616e-01 -5.35896612e-04 -6.92814615e-04 2.66461216e+00] [ 5.36123498e-04 9.99999803e-01 3.27339792e-04 2.80589087e-01] [ 6.92639058e-04 -3.27711101e-04 9.99999706e-01 7.84529952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.963133365 meters 0.2688320736314861 Centerline is valid? [False, False] Translation: X:2.66, Y:0.28, Z:0.08 [[ 9.99999440e-01 -7.70581980e-04 -7.25213743e-04 2.66454030e+00] [ 7.70301357e-04 9.99999628e-01 -3.87152198e-04 2.83462167e-01] [ 7.25511806e-04 3.86593349e-04 9.99999662e-01 7.87951516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.023133365 meters 0.26835798196987737 Centerline is valid? [False, False] Translation: X:2.66, Y:0.29, Z:0.08 [[ 9.99999283e-01 -9.15394632e-04 -7.71870072e-04 2.66473024e+00] [ 9.14801156e-04 9.99999286e-01 -7.68884046e-04 2.85028065e-01] [ 7.72573353e-04 7.68177387e-04 9.99999407e-01 7.86480516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.083133365 meters 0.2713565936780492 Centerline is valid? [False, False] Translation: X:2.67, Y:0.29, Z:0.07 [[ 9.99997635e-01 1.10441792e-03 -1.87355020e-03 2.67023207e+00] [-1.10295964e-03 9.99999088e-01 7.79205519e-04 2.88871914e-01] [ 1.87440907e-03 -7.77137226e-04 9.99997941e-01 7.47573050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.143133365 meters 0.26876663589229266 Centerline is valid? [False, False] Translation: X:2.65, Y:0.30, Z:0.08 [[ 9.99988405e-01 -4.23183853e-03 -2.29828447e-03 2.64665878e+00] [ 4.23953166e-03 9.99985392e-01 3.35284253e-03 2.96603816e-01] [ 2.28406221e-03 -3.36254731e-03 9.99991738e-01 7.59873696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.203133365 meters 0.2695564426141 Centerline is valid? [False, False] Translation: X:2.65, Y:0.30, Z:0.08 [[ 9.99987820e-01 -4.41567570e-03 -2.20496524e-03 2.64638874e+00] [ 4.42202832e-03 9.99986062e-01 2.88453592e-03 2.98513378e-01] [ 2.19219733e-03 -2.89425121e-03 9.99993409e-01 7.61384884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.263133365 meters 0.26901736691822226 Centerline is valid? [False, False] Translation: X:2.65, Y:0.30, Z:0.08 [[ 9.99986877e-01 -4.64439569e-03 -2.16234196e-03 2.64625852e+00] [ 4.64943980e-03 9.99986469e-01 2.33355234e-03 3.00794088e-01] [ 2.15147476e-03 -2.34357539e-03 9.99994939e-01 7.62405091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.323133365 meters 0.27081139328375325 Centerline is valid? [False, False] Translation: X:2.65, Y:0.30, Z:0.08 [[ 9.99986214e-01 -4.74099793e-03 -2.25713686e-03 2.64671432e+00] [ 4.74569733e-03 9.99986573e-01 2.08123770e-03 3.01886343e-01] [ 2.24723941e-03 -2.09192070e-03 9.99995287e-01 7.56978134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.383133365 meters 0.2723104662149479 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99996818e-01 9.14647695e-04 -2.35106993e-03 2.67133919e+00] [-9.16882065e-04 9.99999129e-01 -9.49460826e-04 3.00573905e-01] [ 2.35019945e-03 9.51613459e-04 9.99996785e-01 7.38157746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.443133365 meters 0.2696077425898808 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99997225e-01 8.83253189e-04 -2.18388832e-03 2.67063989e+00] [-8.85491595e-04 9.99999083e-01 -1.02420912e-03 3.00845907e-01] [ 2.18298169e-03 1.02614010e-03 9.99997091e-01 7.45216794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.503133365 meters 0.2716830359963305 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99997359e-01 9.48470322e-04 -2.09353011e-03 2.67047859e+00] [-9.50253313e-04 9.99999187e-01 -8.50837156e-04 3.00117590e-01] [ 2.09272141e-03 8.52824293e-04 9.99997447e-01 7.44059379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.563133365 meters 0.27116748962934745 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99997594e-01 1.12384942e-03 -1.88393634e-03 2.66998536e+00] [-1.12456437e-03 9.99999296e-01 -3.78482374e-04 2.98168577e-01] [ 1.88350965e-03 3.80600071e-04 9.99998154e-01 7.43602977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.623133365 meters 0.2683563341384675 Centerline is valid? [False, False] Translation: X:2.63, Y:0.30, Z:0.07 [[ 9.99997296e-01 2.10547692e-03 9.87580010e-04 2.62980098e+00] [-2.10504952e-03 9.99997690e-01 -4.33614085e-04 3.01075595e-01] [-9.88490694e-04 4.31534008e-04 9.99999418e-01 7.15525782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.683133365 meters 0.2707386767447935 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99993563e-01 2.90398933e-03 2.10718489e-03 2.67361112e+00] [-2.90551706e-03 9.99995518e-01 7.22308752e-04 3.00837439e-01] [-2.10507787e-03 -7.28426565e-04 9.99997519e-01 7.13541192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.743133365 meters 0.2706868404706726 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99994186e-01 2.72998695e-03 2.04315311e-03 2.67377163e+00] [-2.73052820e-03 9.99996238e-01 2.62164814e-04 3.02739476e-01] [-2.04242971e-03 -2.67742177e-04 9.99997878e-01 7.13758161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.803133365 meters 0.2708475999014897 Centerline is valid? [False, False] Translation: X:2.67, Y:0.30, Z:0.07 [[ 9.99994377e-01 2.63012367e-03 2.08025415e-03 2.67373785e+00] [-2.63017462e-03 9.99996541e-01 2.17585168e-05 3.03759128e-01] [-2.08018973e-03 -2.72298261e-05 9.99997836e-01 7.12796724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.863133365 meters 0.2711863380048105 Centerline is valid? [False, False] Translation: X:2.70, Y:0.31, Z:0.07 [[ 9.99979865e-01 -6.33115609e-03 4.31855515e-04 2.69585581e+00] [ 6.33103545e-03 9.99979920e-01 2.80157481e-04 3.09032117e-01] [-4.33620564e-04 -2.77417747e-04 9.99999868e-01 7.18331759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.923133365 meters 0.2693213306281608 Centerline is valid? [False, False] Translation: X:2.67, Y:0.31, Z:0.07 [[ 9.99996688e-01 2.56791569e-03 -1.74932791e-04 2.67465704e+00] [-2.56809699e-03 9.99996157e-01 -1.04415560e-03 3.12307881e-01] [ 1.72250815e-04 1.04460139e-03 9.99999440e-01 7.16065518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98313336499996 meters 0.2707288226445941 Centerline is valid? [False, False] Translation: X:2.70, Y:0.32, Z:0.07 [[ 9.99993582e-01 -3.47878864e-03 8.56630211e-04 2.69595618e+00] [ 3.47749713e-03 9.99992822e-01 1.50456053e-03 3.18327623e-01] [-8.61858110e-04 -1.50157195e-03 9.99998501e-01 7.18931527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04313336499996 meters 0.2678941679999531 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 9.99985523e-01 5.38022790e-03 8.55950317e-05 2.67468501e+00] [-5.38023294e-03 9.99985525e-01 5.87399042e-05 3.23289036e-01] [-8.52777586e-05 -5.91995750e-05 9.99999995e-01 7.14072997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10313336499996 meters 0.2705098402918116 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:0.07 [[ 9.99999104e-01 -9.35166798e-04 9.57724502e-04 2.69695556e+00] [ 9.32644022e-04 9.99996103e-01 2.63120287e-03 3.27672153e-01] [-9.60181384e-04 -2.63030730e-03 9.99996080e-01 7.08988890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16313336499996 meters 0.26840044470255775 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:0.07 [[ 9.99998721e-01 -1.37609496e-03 8.14751076e-04 2.69770623e+00] [ 1.37465431e-03 9.99997496e-01 1.76614134e-03 3.31942829e-01] [-8.17179414e-04 -1.76501908e-03 9.99998108e-01 7.04061566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22313336499997 meters 0.26847733735308565 Centerline is valid? [False, False] Translation: X:2.68, Y:0.34, Z:0.07 [[ 9.99990618e-01 4.28640982e-03 -6.25362340e-04 2.67521285e+00] [-4.28784072e-03 9.99988151e-01 -2.30500042e-03 3.36986232e-01] [ 6.15474754e-04 2.30766025e-03 9.99997148e-01 7.13368236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28313336499997 meters 0.27112603247363487 Centerline is valid? [False, False] Translation: X:2.70, Y:0.34, Z:0.07 [[ 9.99985806e-01 -5.30920817e-03 4.46700068e-04 2.69590283e+00] [ 5.31020811e-03 9.99983329e-01 -2.26791823e-03 3.38656737e-01] [-4.34651771e-04 2.27025811e-03 9.99997328e-01 7.16649531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34313336499997 meters 0.2721383561510549 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.07 [[ 9.99997540e-01 -1.94489386e-03 1.06665897e-03 2.69446837e+00] [ 1.94466357e-03 9.99998086e-01 2.16892446e-04 3.42627774e-01] [-1.06707876e-03 -2.14817619e-04 9.99999408e-01 7.18660392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.403133365 meters 0.2692254012176051 Centerline is valid? [False, False] Translation: X:2.67, Y:0.34, Z:0.07 [[ 9.99968926e-01 7.63820506e-03 1.95060514e-03 2.67292957e+00] [-7.63785642e-03 9.99970814e-01 -1.86124473e-04 3.40346148e-01] [-1.95196987e-03 1.71220248e-04 9.99998080e-01 7.16848514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.463133365 meters 0.27053712010471276 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.07 [[ 9.99996771e-01 -1.55068465e-03 2.01323317e-03 2.69434342e+00] [ 1.54902802e-03 9.99998461e-01 8.24165745e-04 3.38786593e-01] [-2.01450810e-03 -8.21044529e-04 9.99997634e-01 7.20346122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.523133365 meters 0.2723883077864586 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.07 [[ 9.99997038e-01 -1.39222257e-03 1.99637154e-03 2.69437779e+00] [ 1.38982892e-03 9.99998314e-01 1.19988676e-03 3.37198608e-01] [-1.99803868e-03 -1.19710859e-03 9.99997287e-01 7.20125175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.583133365 meters 0.2691287484600344 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.07 [[ 9.99997172e-01 -1.24284449e-03 2.02770729e-03 2.69417834e+00] [ 1.23966672e-03 9.99998003e-01 1.56767956e-03 3.35648008e-01] [-2.02965162e-03 -1.56516144e-03 9.99996715e-01 7.22480127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.643133365 meters 0.27008932883106795 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99997678e-01 -1.08219336e-03 1.86376233e-03 2.69462533e+00] [ 1.07855360e-03 9.99997512e-01 1.95280869e-03 3.34083103e-01] [-1.86587101e-03 -1.95079399e-03 9.99996356e-01 7.20705877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.703133365 meters 0.27124964243964406 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:0.07 [[ 9.99998122e-01 -9.75925105e-04 1.67454170e-03 2.69506351e+00] [ 9.72227647e-04 9.99997091e-01 2.20743687e-03 3.33033037e-01] [-1.67669112e-03 -2.20580469e-03 9.99996162e-01 7.20476813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.763133365 meters 0.2692489253863105 Centerline is valid? [False, False] Translation: X:2.67, Y:0.33, Z:0.07 [[ 9.99967635e-01 7.89573915e-03 1.54463383e-03 2.67388059e+00] [-7.89830786e-03 9.99967423e-01 1.66402321e-03 3.29946323e-01] [-1.53144482e-03 -1.67616935e-03 9.99997423e-01 7.13536292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.823133365 meters 0.27081635939415716 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99995809e-01 -1.73346631e-03 2.31883337e-03 2.69413480e+00] [ 1.72835184e-03 9.99996074e-01 2.20581190e-03 3.28910418e-01] [-2.32264797e-03 -2.20179489e-03 9.99994879e-01 7.15747599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.883133365 meters 0.26675079214061065 Centerline is valid? [False, False] Translation: X:2.65, Y:0.33, Z:0.07 [[ 9.99998411e-01 -5.57726298e-04 1.69347312e-03 2.64870868e+00] [ 5.53549199e-04 9.99996806e-01 2.46605498e-03 3.29798717e-01] [-1.69484310e-03 -2.46511364e-03 9.99995525e-01 7.34226469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.943133365 meters 0.2689151007828175 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:0.07 [[ 9.99991661e-01 -6.13629286e-04 4.03750713e-03 2.69071959e+00] [ 6.00207228e-04 9.99994293e-01 3.32471526e-03 3.23632998e-01] [-4.03952423e-03 -3.32226420e-03 9.99986322e-01 7.34403279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.003133365 meters 0.26797484106325103 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:0.07 [[ 9.99991570e-01 -5.25971143e-04 4.07234556e-03 2.69073882e+00] [ 5.11520151e-04 9.99993572e-01 3.54879573e-03 3.22714484e-01] [-4.07418594e-03 -3.54668273e-03 9.99985411e-01 7.32150769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.063133365 meters 0.26815133808441016 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:0.07 [[ 9.99991815e-01 -4.85867173e-04 4.01664735e-03 2.69081201e+00] [ 4.71125177e-04 9.99993153e-01 3.67035592e-03 3.22251482e-01] [-4.01840316e-03 -3.66843353e-03 9.99985197e-01 7.33235390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.123133365 meters 0.2678253369751594 Centerline is valid? [False, False] Translation: X:2.69, Y:0.32, Z:0.07 [[ 9.99989728e-01 -4.95679411e-04 4.50530665e-03 2.68949988e+00] [ 4.79181741e-04 9.99993179e-01 3.66217286e-03 3.22138843e-01] [-4.50709118e-03 -3.65997639e-03 9.99983145e-01 7.38968839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.183133365 meters 0.2663470856561061 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 0.99995763 0.00832922 0.00392027 2.66866461] [-0.00834092 0.99996078 0.00297879 0.32070957] [-0.00389531 -0.00301136 0.99998788 0.07301412] [ 0. 0. 0. 1. ]] SLAMing on 306.243133365 meters 0.2652946190550353 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 9.99985171e-01 4.16559108e-03 3.50794303e-03 2.66972347e+00] [-4.16230802e-03 9.99990893e-01 -9.42674515e-04 3.19615979e-01] [-3.51183788e-03 9.28059397e-04 9.99993403e-01 7.25818586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.303133365 meters 0.26541136182082775 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 9.99985059e-01 4.29541556e-03 3.38086887e-03 2.67015116e+00] [-4.29333613e-03 9.99990590e-01 -6.22076064e-04 3.18321318e-01] [-3.38350913e-03 6.07551564e-04 9.99994091e-01 7.22811235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.363133365 meters 0.26534098952256535 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 9.99985510e-01 4.25280672e-03 3.30062103e-03 2.67032545e+00] [-4.25030939e-03 9.99990676e-01 -7.63270463e-04 3.18909567e-01] [-3.30383630e-03 7.49230743e-04 9.99994262e-01 7.22966811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.423133365 meters 0.268084837162191 Centerline is valid? [False, False] Translation: X:2.67, Y:0.32, Z:0.07 [[ 9.99986462e-01 4.21592371e-03 3.04986722e-03 2.67098048e+00] [-4.21319003e-03 9.99990717e-01 -9.02196880e-04 3.19461547e-01] [-3.05364250e-03 8.89334995e-04 9.99994942e-01 7.20418818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48313336499996 meters 0.26476261338827334 Centerline is valid? [False, False] Translation: X:2.65, Y:0.32, Z:0.07 [[ 9.99996650e-01 -1.50208594e-03 2.10812412e-03 2.64898092e+00] [ 1.49818117e-03 9.99997162e-01 1.85261063e-03 3.23077092e-01] [-2.11090092e-03 -1.84944607e-03 9.99996062e-01 7.26540963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54313336499996 meters 0.264963356046703 Centerline is valid? [False, False] Translation: X:2.67, Y:0.33, Z:0.07 [[ 9.99975734e-01 4.96805375e-03 4.88372031e-03 2.66845827e+00] [-4.96252431e-03 9.99987033e-01 -1.14368533e-03 3.27657936e-01] [-4.88933887e-03 1.11942199e-03 9.99987421e-01 7.29814515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60313336499996 meters 0.26415812624797297 Centerline is valid? [False, False] Translation: X:2.67, Y:0.33, Z:0.07 [[ 9.99975868e-01 4.79816352e-03 5.02403294e-03 2.66790532e+00] [-4.79017601e-03 9.99987246e-01 -1.60068704e-03 3.29661829e-01] [-5.03164922e-03 1.57658241e-03 9.99986098e-01 7.34364832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66313336499996 meters 0.26530027093358527 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99979023e-01 -4.48837952e-03 4.66991544e-03 2.68848064e+00] [ 4.49567036e-03 9.99988690e-01 -1.55191253e-03 3.34790407e-01] [-4.66289705e-03 1.57287437e-03 9.99987892e-01 7.37528572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72313336499997 meters 0.2666071163731512 Centerline is valid? [False, False] Translation: X:2.69, Y:0.34, Z:0.07 [[ 9.99978940e-01 -4.53141179e-03 4.64601870e-03 2.68850790e+00] [ 4.53920227e-03 9.99988307e-01 -1.66763746e-03 3.35258568e-01] [-4.63840762e-03 1.68869156e-03 9.99987817e-01 7.38105927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78313336499997 meters 0.265744749387339 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99978796e-01 -4.45956229e-03 4.74558907e-03 2.68821073e+00] [ 4.46667818e-03 9.99988914e-01 -1.48993404e-03 3.34492300e-01] [-4.73889201e-03 1.51109947e-03 9.99987630e-01 7.39538858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84313336499997 meters 0.2659688343966775 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99980297e-01 -4.36219580e-03 4.51411511e-03 2.68894131e+00] [ 4.36778370e-03 9.99989706e-01 -1.22875684e-03 3.33429491e-01] [-4.50870856e-03 1.24844931e-03 9.99989056e-01 7.34826290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.903133365 meters 0.2656590166660216 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99979096e-01 -4.30737244e-03 4.82232483e-03 2.68813278e+00] [ 4.31267425e-03 9.99990107e-01 -1.08957125e-03 3.32815845e-01] [-4.81758393e-03 1.11034559e-03 9.99987779e-01 7.37666834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.963133365 meters 0.26480239997311994 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99978056e-01 -4.28191664e-03 5.05505504e-03 2.68752686e+00] [ 4.28713660e-03 9.99990288e-01 -1.02223783e-03 3.32524180e-01] [-5.05062881e-03 1.04388711e-03 9.99986701e-01 7.39575803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.023133365 meters 0.2663301247568354 Centerline is valid? [False, False] Translation: X:2.69, Y:0.33, Z:0.07 [[ 9.99990393e-01 -2.62707626e-03 3.50900152e-03 2.69310218e+00] [ 2.62471770e-03 9.99996327e-01 6.76583773e-04 3.31303393e-01] [-3.51076607e-03 -6.67367135e-04 9.99993615e-01 7.06767359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.083133365 meters 0.2673590769510807 Centerline is valid? [False, False] Translation: X:2.72, Y:0.33, Z:0.07 [[ 9.99980538e-01 3.53065715e-03 5.14382298e-03 2.71523781e+00] [-3.51967042e-03 9.99991509e-01 -2.14339552e-03 3.31663494e-01] [-5.15134690e-03 2.12524924e-03 9.99984473e-01 6.91832607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.143133365 meters 0.26769311970877224 Centerline is valid? [False, False] Translation: X:2.70, Y:0.33, Z:0.07 [[ 9.99983785e-01 -4.26486404e-03 3.77376830e-03 2.69561735e+00] [ 4.26702980e-03 9.99990736e-01 -5.66031966e-04 3.30838371e-01] [-3.77131929e-03 5.82125570e-04 9.99992719e-01 6.82954029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.203133365 meters 0.26576189578777204 Centerline is valid? [False, False] Translation: X:2.68, Y:0.33, Z:0.07 [[ 9.99993978e-01 2.69078599e-03 2.19162829e-03 2.67595712e+00] [-2.68522382e-03 9.99993177e-01 -2.53691734e-03 3.25054650e-01] [-2.19843964e-03 2.53101705e-03 9.99994380e-01 6.85373343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.263133365 meters 0.26530482099527875 Centerline is valid? [False, False] Translation: X:2.68, Y:0.32, Z:0.07 [[ 9.99993402e-01 2.92320878e-03 2.15667297e-03 2.67610195e+00] [-2.91909187e-03 9.99993916e-01 -1.90960177e-03 3.22509295e-01] [-2.16224202e-03 1.90329364e-03 9.99995851e-01 6.84086243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.323133365 meters 0.2653878225493664 Centerline is valid? [False, False] Translation: X:2.68, Y:0.32, Z:0.07 [[ 9.99992016e-01 3.34287618e-03 2.18933065e-03 2.67603284e+00] [-3.34110795e-03 9.99994090e-01 -8.10817160e-04 3.18078911e-01] [-2.19202817e-03 8.03495897e-04 9.99997275e-01 6.83922043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.383133365 meters 0.26721129457635573 Centerline is valid? [False, False] Translation: X:2.68, Y:0.31, Z:0.07 [[ 9.99999323e-01 9.40171678e-04 6.86147207e-04 2.68089419e+00] [-9.38710952e-04 9.99997299e-01 -2.12610744e-03 3.09826495e-01] [-6.88144260e-04 2.12546191e-03 9.99997504e-01 6.61689952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.443133365 meters 0.26767931352162605 Centerline is valid? [False, False] Translation: X:2.68, Y:0.31, Z:0.07 [[ 9.99998893e-01 1.32525943e-03 6.77108683e-04 2.68113567e+00] [-1.32440076e-03 9.99998320e-01 -1.26701608e-03 3.06210371e-01] [-6.78786670e-04 1.26611792e-03 9.99998968e-01 6.57890986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.503133365 meters 0.26638124576505956 Centerline is valid? [False, False] Translation: X:2.68, Y:0.30, Z:0.07 [[ 9.99998216e-01 1.71874985e-03 7.83680275e-04 2.68059346e+00] [-1.71844780e-03 9.99998449e-01 -3.85930527e-04 3.02438984e-01] [-7.84342377e-04 3.84583125e-04 9.99999618e-01 6.63695757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.563133365 meters 0.2650099674778833 Centerline is valid? [False, False] Translation: X:2.68, Y:0.29, Z:0.07 [[ 9.99997575e-01 -5.92202334e-04 2.12114990e-03 2.67606847e+00] [ 5.95387331e-04 9.99998696e-01 -1.50122623e-03 2.94232202e-01] [-2.12025811e-03 1.50248550e-03 9.99996624e-01 6.85576138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.623133365 meters 0.2670601732119801 Centerline is valid? [False, False] Translation: X:2.68, Y:0.29, Z:0.07 [[ 9.99997737e-01 -2.28599428e-04 2.11518229e-03 2.67636057e+00] [ 2.29988742e-04 9.99999758e-01 -6.56609637e-04 2.90660933e-01] [-2.11503168e-03 6.57094619e-04 9.99997547e-01 6.80688291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.683133365 meters 0.2664822825312627 Centerline is valid? [False, False] Translation: X:2.68, Y:0.28, Z:0.07 [[ 9.99997827e-01 4.28187226e-04 2.04040002e-03 2.67644781e+00] [-4.29947294e-04 9.99999536e-01 8.62248788e-04 2.84157979e-01] [-2.04002987e-03 -8.63124178e-04 9.99997547e-01 6.83767700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.743133365 meters 0.26455238649287527 Centerline is valid? [False, False] Translation: X:2.68, Y:0.28, Z:0.07 [[ 9.99997432e-01 8.36194798e-04 2.10636177e-03 2.67617015e+00] [-8.40191164e-04 9.99997848e-01 1.89711438e-03 2.79924219e-01] [-2.10477088e-03 -1.89887925e-03 9.99995982e-01 6.86784191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.803133365 meters 0.2665940713647565 Centerline is valid? [False, False] Translation: X:2.68, Y:0.28, Z:0.07 [[ 9.99997212e-01 1.24154239e-03 2.00858607e-03 2.67645386e+00] [-1.24729032e-03 9.99995124e-01 2.86296573e-03 2.75945604e-01] [-2.00502178e-03 -2.86546304e-03 9.99993884e-01 6.86648715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.863133365 meters 0.2673532489916634 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:0.07 [[ 9.99999287e-01 -8.33378841e-04 8.55722719e-04 2.68144564e+00] [ 8.32061807e-04 9.99998471e-01 1.53829368e-03 2.69844578e-01] [-8.57003392e-04 -1.53758057e-03 9.99998451e-01 6.56297958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.923133365 meters 0.2662107561986433 Centerline is valid? [False, False] Translation: X:2.68, Y:0.27, Z:0.07 [[ 9.99999564e-01 -4.36806208e-04 8.25237647e-04 2.68140876e+00] [ 4.34810890e-04 9.99996986e-01 2.41650431e-03 2.66232664e-01] [-8.26290704e-04 -2.41614444e-03 9.99996740e-01 6.58820655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98313336499996 meters 0.2681109509989782 Centerline is valid? [False, False] Translation: X:2.69, Y:0.26, Z:0.06 [[ 9.99996331e-01 -2.66896129e-03 -4.63223882e-04 2.68575492e+00] [ 2.66959070e-03 9.99995507e-01 1.36349809e-03 2.57661206e-01] [ 4.59582678e-04 -1.36472971e-03 9.99998963e-01 6.40583973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04313336499996 meters 0.26693734009147135 Centerline is valid? [False, False] Translation: X:2.66, Y:0.25, Z:0.06 [[ 9.99994463e-01 2.75147169e-03 -1.87179632e-03 2.66400645e+00] [-2.75439343e-03 9.99994990e-01 -1.56014430e-03 2.52678266e-01] [ 1.86749425e-03 1.56529132e-03 9.99997031e-01 6.45025836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10313336499996 meters 0.26659972203174 Centerline is valid? [False, False] Translation: X:2.66, Y:0.25, Z:0.06 [[ 9.99993701e-01 2.96296365e-03 -1.95423819e-03 2.66430320e+00] [-2.96504088e-03 9.99995042e-01 -1.06089288e-03 2.50604919e-01] [ 1.95108512e-03 1.06668059e-03 9.99997528e-01 6.43322143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16313336499996 meters 0.26817932311363707 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:0.07 [[ 9.99978837e-01 -5.71582122e-03 -3.10731941e-03 2.68641531e+00] [ 5.71549474e-03 9.99983660e-01 -1.13938134e-04 2.50330450e-01] [ 3.10791989e-03 9.61758546e-05 9.99995166e-01 6.50027292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22313336499997 meters 0.2674268639530372 Centerline is valid? [False, False] Translation: X:2.69, Y:0.25, Z:0.07 [[ 9.99980812e-01 -5.42302184e-03 -2.99435822e-03 2.68612699e+00] [ 5.42488258e-03 9.99985097e-01 6.13641780e-04 2.47308854e-01] [ 2.99098581e-03 -6.29874048e-04 9.99995329e-01 6.51412867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28313336499997 meters 0.26668667082798536 Centerline is valid? [False, False] Translation: X:2.69, Y:0.24, Z:0.07 [[ 9.99982787e-01 -5.11702347e-03 -2.87095457e-03 2.68570894e+00] [ 5.12122367e-03 9.99985824e-01 1.45755753e-03 2.43859530e-01] [ 2.86345552e-03 -1.47223524e-03 9.99994817e-01 6.54729907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34313336499997 meters 0.2658445783464299 Centerline is valid? [False, False] Translation: X:2.67, Y:0.23, Z:0.06 [[ 9.99992061e-01 2.48798895e-03 -3.11245148e-03 2.66860163e+00] [-2.48455389e-03 9.99996301e-01 1.10702943e-03 2.31075998e-01] [ 3.11519424e-03 -1.09928759e-03 9.99994544e-01 6.33951804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.403133365 meters 0.2676716194020611 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 9.99976697e-01 -6.05378731e-03 -3.15558535e-03 2.69113829e+00] [ 6.05974743e-03 9.99979867e-01 1.88262597e-03 2.29526013e-01] [ 3.14412480e-03 -1.90170415e-03 9.99993249e-01 6.31589928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.463133365 meters 0.26613240457744647 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 0.9999785 -0.00570899 -0.00322741 2.69155574] [ 0.00571783 0.99997991 0.0027364 0.22593447] [ 0.00321172 -0.0027548 0.99999105 0.06274452] [ 0. 0. 0. 1. ]] SLAMing on 308.523133365 meters 0.2672374199428193 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 0.99997861 -0.00562339 -0.00333876 2.69207355] [ 0.00563325 0.99997978 0.00295072 0.22500957] [ 0.0033221 -0.00296947 0.99999007 0.06220467] [ 0. 0. 0. 1. ]] SLAMing on 308.583133365 meters 0.268169528810739 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 0.99997867 -0.00563333 -0.00330413 2.69209187] [ 0.00564299 0.99997981 0.00292075 0.22509957] [ 0.00328761 -0.00293934 0.99999028 0.06198328] [ 0. 0. 0. 1. ]] SLAMing on 308.643133365 meters 0.2666114117548225 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 9.99979181e-01 -5.73256480e-03 -2.96216273e-03 2.69095282e+00] [ 5.74031290e-03 9.99980108e-01 2.61384110e-03 2.26455967e-01] [ 2.94711979e-03 -2.63079043e-03 9.99992197e-01 6.28389917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.703133365 meters 0.2667853019678793 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 9.99977971e-01 -5.86196624e-03 -3.11372834e-03 2.69132837e+00] [ 5.86913634e-03 9.99980135e-01 2.29861574e-03 2.27775859e-01] [ 3.10019208e-03 -2.31684000e-03 9.99992511e-01 6.27540079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.763133365 meters 0.26632524329915347 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 9.99977713e-01 -5.79938281e-03 -3.30753917e-03 2.69169720e+00] [ 5.80758165e-03 9.99980074e-01 2.47463958e-03 2.27042789e-01] [ 3.29312189e-03 -2.49379323e-03 9.99991468e-01 6.29458799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.823133365 meters 0.2655467772366697 Centerline is valid? [False, False] Translation: X:2.69, Y:0.23, Z:0.06 [[ 0.99997867 -0.00568006 -0.00322454 2.69114409] [ 0.00568933 0.99997969 0.00287103 0.2255209 ] [ 0.00320817 -0.00288932 0.99999068 0.06389796] [ 0. 0. 0. 1. ]] SLAMing on 308.883133365 meters 0.2651778431797506 Centerline is valid? [False, False] Translation: X:2.69, Y:0.22, Z:0.06 [[ 0.99998038 -0.00548582 -0.00302384 2.69031647] [ 0.00549648 0.99997867 0.0035281 0.22299205] [ 0.00300442 -0.00354465 0.9999892 0.06486466] [ 0. 0. 0. 1. ]] SLAMing on 308.943133365 meters 0.2675472149948096 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99998061e-01 4.65354874e-04 -1.91338559e-03 2.71274734e+00] [-4.63427983e-04 9.99999385e-01 1.00737860e-03 2.16656200e-01] [ 1.91385320e-03 -1.00648993e-03 9.99997662e-01 6.44481631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.003133365 meters 0.266487992490988 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99991764e-01 -3.44404842e-03 -2.14721992e-03 2.71334737e+00] [ 3.43960681e-03 9.99991945e-01 -2.06880825e-03 2.12310127e-01] [ 2.15432770e-03 2.06140562e-03 9.99995555e-01 6.42256372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.063133365 meters 0.26858100112807054 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99992185e-01 -3.31493628e-03 -2.15417614e-03 2.71337996e+00] [ 3.31117988e-03 9.99992995e-01 -1.74500840e-03 2.10952527e-01] [ 2.15994564e-03 1.73786190e-03 9.99996157e-01 6.42242635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.123133365 meters 0.267744011629531 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99992315e-01 -3.21919327e-03 -2.23752039e-03 2.71375226e+00] [ 3.21578447e-03 9.99993666e-01 -1.52540214e-03 2.09967778e-01] [ 2.24241679e-03 1.51819504e-03 9.99996333e-01 6.38968320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.183133365 meters 0.2686708917882655 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99993074e-01 -3.17638460e-03 -1.93962259e-03 2.71299807e+00] [ 3.17364263e-03 9.99993963e-01 -1.41510748e-03 2.09572606e-01] [ 1.94410581e-03 1.40894201e-03 9.99997118e-01 6.40727948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.243133365 meters 0.2700385070575819 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99993292e-01 -3.15241287e-03 -1.86502611e-03 2.71281826e+00] [ 3.14987979e-03 9.99994115e-01 -1.35958509e-03 2.09346280e-01] [ 1.86930110e-03 1.35370136e-03 9.99997337e-01 6.40786487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.303133365 meters 0.2702007736426442 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99993239e-01 -3.15857987e-03 -1.88278001e-03 2.71300894e+00] [ 3.15599331e-03 9.99994074e-01 -1.37518613e-03 2.09388668e-01] [ 1.88711249e-03 1.36923479e-03 9.99997282e-01 6.37665079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.363133365 meters 0.2674574795125735 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99993377e-01 -3.14336345e-03 -1.83448375e-03 2.71269835e+00] [ 3.14090077e-03 9.99994164e-01 -1.34377942e-03 2.09268618e-01] [ 1.83869703e-03 1.33800859e-03 9.99997414e-01 6.41803691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.423133365 meters 0.26668581525687746 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.06 [[ 9.99993096e-01 -3.18033359e-03 -1.92172107e-03 2.71302309e+00] [ 3.17758290e-03 9.99993925e-01 -1.43272785e-03 2.09609860e-01] [ 1.92626595e-03 1.42661153e-03 9.99997127e-01 6.39167116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48313336499996 meters 0.2687157822636247 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:0.06 [[ 9.99977083e-01 6.39961982e-03 -2.20866530e-03 2.73528811e+00] [-6.40369044e-03 9.99977802e-01 -1.84090059e-03 2.09153846e-01] [ 2.19683521e-03 1.85500202e-03 9.99995866e-01 6.36661506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54313336499996 meters 0.2672494757140769 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99993568e-01 -3.12037243e-03 -1.76813831e-03 2.71310173e+00] [ 3.11652861e-03 9.99992784e-01 -2.17253792e-03 2.15298634e-01] [ 1.77490468e-03 2.16701349e-03 9.99996077e-01 6.39295549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60313336499996 meters 0.26796647050406514 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:0.06 [[ 9.99986646e-01 5.13041574e-03 6.22063035e-04 2.73202652e+00] [-5.12804688e-03 9.99979814e-01 -3.75167215e-03 2.17692727e-01] [-6.41298116e-04 3.74843208e-03 9.99992769e-01 6.46567666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66313336499996 meters 0.26735665897590416 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99994025e-01 -3.45500988e-03 1.16481638e-04 2.71210642e+00] [ 3.45534640e-03 9.99989456e-01 -3.02453805e-03 2.22626480e-01] [-1.06030601e-04 3.02492246e-03 9.99995419e-01 6.35691387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72313336499997 meters 0.2651806307934957 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999730e-01 7.08967582e-04 1.93691643e-04 2.71145728e+00] [-7.09119298e-04 9.99999441e-01 7.84340991e-04 2.24350663e-01] [-1.93135462e-04 -7.84478129e-04 9.99999674e-01 6.44514484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78313336499997 meters 0.26550385160925416 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999735e-01 6.91875355e-04 2.27854298e-04 2.71129517e+00] [-6.92043885e-04 9.99999486e-01 7.40394162e-04 2.24549515e-01] [-2.27341920e-04 -7.40551651e-04 9.99999700e-01 6.46285848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84313336499997 meters 0.2653142673955786 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999699e-01 7.31640636e-04 2.59649370e-04 2.71114622e+00] [-7.31858537e-04 9.99999379e-01 8.40111889e-04 2.24150179e-01] [-2.59034549e-04 -8.40301663e-04 9.99999613e-01 6.47900650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.903133365 meters 0.2655498505351758 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999610e-01 8.80148980e-04 7.87281356e-05 2.71175234e+00] [-8.80245021e-04 9.99998858e-01 1.22831228e-03 2.22498950e-01] [-7.76469480e-05 -1.22838110e-03 9.99999243e-01 6.43942270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.963133365 meters 0.26722140978921877 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999548e-01 9.45399987e-04 -1.00200212e-04 2.71230000e+00] [-9.45259987e-04 9.99998590e-01 1.38815759e-03 2.21790111e-01] [ 1.01512435e-04 -1.38806225e-03 9.99999031e-01 6.41522304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.023133365 meters 0.26871293455487116 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.06 [[ 9.99999520e-01 9.71404385e-04 -1.24366366e-04 2.71221504e+00] [-9.71222393e-04 9.99998470e-01 1.45515080e-03 2.21534505e-01] [ 1.25779715e-04 -1.45502932e-03 9.99998934e-01 6.44578319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.083133365 meters 0.2666391868485996 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.07 [[ 9.99998599e-01 -9.44744716e-04 1.38193796e-03 2.70694410e+00] [ 9.44842380e-04 9.99999551e-01 -7.00208869e-05 2.19508317e-01] [-1.38187118e-03 7.13265023e-05 9.99999043e-01 6.70678488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.143133365 meters 0.26565034186829317 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:0.07 [[ 9.99999198e-01 -7.00017575e-04 1.05561896e-03 2.70760575e+00] [ 6.99260752e-04 9.99999498e-01 7.17145917e-04 2.16357381e-01] [-1.05612044e-03 -7.16407189e-04 9.99999186e-01 6.72719976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.203133365 meters 0.2671685717901978 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99999687e-01 -3.07946220e-04 7.29114912e-04 2.70817717e+00] [ 3.06389108e-04 9.99997674e-01 2.13476920e-03 2.10907572e-01] [-7.29770610e-04 -2.13454514e-03 9.99997456e-01 6.75782589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.263133365 meters 0.26744410608054403 Centerline is valid? [False, False] Translation: X:2.73, Y:0.21, Z:0.07 [[ 9.99978232e-01 6.22643598e-03 2.18328739e-03 2.73010932e+00] [-6.22544689e-03 9.99980516e-01 -4.59529774e-04 2.07790127e-01] [-2.18610608e-03 4.45927831e-04 9.99997511e-01 6.66100262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.323133365 meters 0.26525140072552916 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99995434e-01 -2.71558874e-03 1.32552146e-03 2.71043924e+00] [ 2.71451745e-03 9.99995988e-01 8.09334096e-04 2.07836211e-01] [-1.32771396e-03 -8.05732250e-04 9.99998794e-01 6.60830365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.383133365 meters 0.2660607326202125 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99995215e-01 -2.70879592e-03 1.49411146e-03 2.70995358e+00] [ 2.70756345e-03 9.99995993e-01 8.26292553e-04 2.07781131e-01] [-1.49634373e-03 -8.22243197e-04 9.99998542e-01 6.63360606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.443133365 meters 0.2663336614783517 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99995006e-01 -2.73090173e-03 1.59070981e-03 2.70964151e+00] [ 2.72968574e-03 9.99995981e-01 7.66101402e-04 2.08036885e-01] [-1.59279556e-03 -7.61755438e-04 9.99998441e-01 6.65226216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.503133365 meters 0.26623701519954773 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99994866e-01 -2.77290623e-03 1.60577418e-03 2.70967546e+00] [ 2.77185587e-03 9.99995943e-01 6.55966988e-04 2.08468202e-01] [-1.60758660e-03 -6.51512646e-04 9.99998496e-01 6.63607527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.563133365 meters 0.2674640411365179 Centerline is valid? [False, False] Translation: X:2.73, Y:0.21, Z:0.07 [[ 9.99978278e-01 5.90012498e-03 2.93791521e-03 2.72841569e+00] [-5.89788653e-03 9.99982311e-01 -7.69999172e-04 2.07971880e-01] [-2.94240634e-03 7.52654956e-04 9.99995388e-01 6.75880270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.623133365 meters 0.2669521900699456 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99996060e-01 -2.40026231e-03 1.45544460e-03 2.70947050e+00] [ 2.39919419e-03 9.99996852e-01 7.35182332e-04 2.09402681e-01] [-1.45720465e-03 -7.31687541e-04 9.99998671e-01 6.64875496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.683133365 meters 0.26527411095562176 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99996350e-01 -2.33665406e-03 1.35615370e-03 2.70965569e+00] [ 2.33541343e-03 9.99996854e-01 9.15682200e-04 2.08672625e-01] [-1.35828907e-03 -9.12511678e-04 9.99998661e-01 6.65984101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.743133365 meters 0.26532079246289464 Centerline is valid? [False, False] Translation: X:2.71, Y:0.21, Z:0.07 [[ 9.99996827e-01 -2.10053232e-03 1.39087612e-03 2.70952343e+00] [ 2.09815388e-03 9.99996338e-01 1.70928977e-03 2.05629596e-01] [-1.39446145e-03 -1.70636607e-03 9.99997572e-01 6.68028088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.803133365 meters 0.2669223288053534 Centerline is valid? [False, False] Translation: X:2.71, Y:0.20, Z:0.07 [[ 9.99997103e-01 -1.79408834e-03 1.60480730e-03 2.70858311e+00] [ 1.78978951e-03 9.99994817e-01 2.67615741e-03 2.01740111e-01] [-1.60960025e-03 -2.67327738e-03 9.99995131e-01 6.78370128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.863133365 meters 0.26945427717095216 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:0.07 [[ 9.99987883e-01 4.62894583e-03 1.67523851e-03 2.73176877e+00] [-4.62932348e-03 9.99989260e-01 2.21620450e-04 1.95370364e-01] [-1.67419465e-03 -2.29372986e-04 9.99998572e-01 6.70794597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.923133365 meters 0.26659708707088886 Centerline is valid? [False, False] Translation: X:2.71, Y:0.19, Z:0.07 [[ 9.99993147e-01 -2.99478146e-03 -2.17667240e-03 2.71387189e+00] [ 3.00049410e-03 9.99992051e-01 2.62597267e-03 1.85538653e-01] [ 2.16879088e-03 -2.63248576e-03 9.99994183e-01 6.65001059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98313336499996 meters 0.2668880160256283 Centerline is valid? [False, False] Translation: X:2.71, Y:0.18, Z:0.07 [[ 9.99994320e-01 -2.49656598e-03 -2.26424300e-03 2.71379182e+00] [ 2.50501726e-03 9.99989878e-01 3.73737608e-03 1.80988440e-01] [ 2.25488947e-03 -3.74302682e-03 9.99990453e-01 6.70738084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04313336499996 meters 0.2676113611578624 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:0.07 [[ 9.99990610e-01 3.60224303e-03 -2.40900990e-03 2.73584707e+00] [-3.59967519e-03 9.99992949e-01 1.06941670e-03 1.70853495e-01] [ 2.41284521e-03 -1.06073501e-03 9.99996527e-01 6.70562401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10313336499996 meters 0.26959439598720736 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:0.07 [[ 9.99990000e-01 3.73861047e-03 -2.45420420e-03 2.73611642e+00] [-3.73517006e-03 9.99992037e-01 1.40493381e-03 1.69488726e-01] [ 2.45943716e-03 -1.39575289e-03 9.99996002e-01 6.67640271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16313336499996 meters 0.2685144592512831 Centerline is valid? [False, False] Translation: X:2.74, Y:0.17, Z:0.07 [[ 9.99990383e-01 3.72726765e-03 -2.31104014e-03 2.73585357e+00] [-3.72410881e-03 9.99992128e-01 1.36964873e-03 1.69625882e-01] [ 2.31612700e-03 -1.36102899e-03 9.99996392e-01 6.66300464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22313336499997 meters 0.268022995677872 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:0.07 [[ 9.99991425e-01 3.57907674e-03 -2.08340686e-03 2.73498400e+00] [-3.57710539e-03 9.99993152e-01 9.49175142e-04 1.71438958e-01] [ 2.08678977e-03 -9.41714436e-04 9.99997379e-01 6.73889470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28313336499997 meters 0.2685615589763273 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:0.07 [[ 9.99991841e-01 3.47519940e-03 -2.05958036e-03 2.73482078e+00] [-3.47377649e-03 9.99993726e-01 6.94049717e-04 1.72527218e-01] [ 2.06197940e-03 -6.86889532e-04 9.99997638e-01 6.75968798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34313336499997 meters 0.26838488020911777 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:0.07 [[ 9.99991688e-01 3.52949117e-03 -2.04146770e-03 2.73457075e+00] [-3.52776392e-03 9.99993417e-01 8.49066288e-04 1.71995259e-01] [ 2.04445103e-03 -8.41857414e-04 9.99997556e-01 6.80464411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.403133365 meters 0.2675686138059951 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:0.07 [[ 9.99991599e-01 3.62617171e-03 -1.91129753e-03 2.73401931e+00] [-3.62403328e-03 9.99992805e-01 1.12111662e-03 1.70974418e-01] [ 1.91534914e-03 -1.11418060e-03 9.99997545e-01 6.86660825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.463133365 meters 0.2665428314807991 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:0.07 [[ 9.99990996e-01 3.74050674e-03 -2.00424274e-03 2.73426975e+00] [-3.73764053e-03 9.99991990e-01 1.43191256e-03 1.69696504e-01] [ 2.00958276e-03 -1.42440853e-03 9.99996966e-01 6.85917366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.523133365 meters 0.2691797499340966 Centerline is valid? [False, False] Translation: X:2.76, Y:0.17, Z:0.07 [[ 9.99988420e-01 -4.18196488e-03 -2.38122826e-03 2.75644903e+00] [ 4.18807942e-03 9.99987931e-01 2.56864103e-03 1.68804184e-01] [ 2.37045755e-03 -2.57858406e-03 9.99993866e-01 6.86300768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.583133365 meters 0.2676478557723017 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99992397e-01 2.90819666e-03 -2.59792485e-03 2.73832856e+00] [-2.90422771e-03 9.99994612e-01 1.53020600e-03 1.60810405e-01] [ 2.60236099e-03 -1.52264940e-03 9.99995455e-01 6.67435338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.643133365 meters 0.26885417604562206 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99992117e-01 2.98649716e-03 -2.61647327e-03 2.73836452e+00] [-2.98201544e-03 9.99994083e-01 1.71511589e-03 1.60037961e-01] [ 2.62157998e-03 -1.70730001e-03 9.99995106e-01 6.67753099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.703133365 meters 0.26794203306263187 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99991570e-01 3.19192041e-03 -2.58291429e-03 2.73836260e+00] [-3.18619640e-03 9.99992466e-01 2.21719288e-03 1.58004909e-01] [ 2.58997193e-03 -2.20894452e-03 9.99994206e-01 6.66626024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.763133365 meters 0.26956476856358497 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99990937e-01 3.23717288e-03 -2.76516144e-03 2.73896799e+00] [-3.23074345e-03 9.99992075e-01 2.32646861e-03 1.57494375e-01] [ 2.77267071e-03 -2.31751400e-03 9.99993471e-01 6.63003960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.823133365 meters 0.2696349234226106 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99991050e-01 3.20709081e-03 -2.75949671e-03 2.73894928e+00] [-3.20087562e-03 9.99992337e-01 2.25376861e-03 1.57798216e-01] [ 2.76670360e-03 -2.24491563e-03 9.99993653e-01 6.63017038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.883133365 meters 0.26868175883065387 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99991541e-01 3.16294370e-03 -2.62926084e-03 2.73854045e+00] [-3.15731812e-03 9.99992724e-01 2.14100866e-03 1.58313013e-01] [ 2.63601360e-03 -2.13268914e-03 9.99994252e-01 6.65252093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.943133365 meters 0.269052365631369 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99991905e-01 3.16804381e-03 -2.48041064e-03 2.73805870e+00] [-3.16270079e-03 9.99992677e-01 2.15505046e-03 1.58326917e-01] [ 2.48721977e-03 -2.14718822e-03 9.99994602e-01 6.67984206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.003133365 meters 0.2701421047083325 Centerline is valid? [False, False] Translation: X:2.74, Y:0.16, Z:0.07 [[ 9.99990260e-01 3.18834229e-03 -3.05182971e-03 2.73955729e+00] [-3.18108831e-03 9.99992111e-01 2.37883824e-03 1.57057401e-01] [ 3.05939018e-03 -2.36910693e-03 9.99992514e-01 6.63950033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.063133365 meters 0.2695800458823193 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:0.07 [[ 0.99998897 0.00340353 -0.00323698 2.73978696] [-0.00339355 0.99998949 0.00308224 0.15434193] [ 0.00324743 -0.00307122 0.99999001 0.06679403] [ 0. 0. 0. 1. ]] SLAMing on 312.123133365 meters 0.26897346708383296 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:0.07 [[ 0.99998832 0.00380565 -0.00297907 2.73875136] [-0.00379183 0.9999821 0.0046277 0.14806763] [ 0.00299662 -0.00461635 0.99998485 0.06783422] [ 0. 0. 0. 1. ]] SLAMing on 312.183133365 meters 0.26815037023563065 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 0.99998699 0.00414491 -0.00297341 2.73835334] [-0.00412858 0.99997647 0.00547784 0.14461026] [ 0.00299604 -0.00546549 0.99998058 0.06853982] [ 0. 0. 0. 1. ]] SLAMing on 312.243133365 meters 0.2688863886321508 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 9.99995672e-01 1.79167026e-04 -2.93664735e-03 2.73843012e+00] [-1.73002708e-04 9.99997782e-01 2.09922022e-03 1.42022834e-01] [ 2.93701695e-03 -2.09870309e-03 9.99993485e-01 6.82758309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.303133365 meters 0.2706722444185253 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 9.99989035e-01 -3.74413514e-03 -2.81278123e-03 2.73807489e+00] [ 3.74098911e-03 9.99992372e-01 -1.12290566e-03 1.38539975e-01] [ 2.81696408e-03 1.11237076e-03 9.99995414e-01 6.84954535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.363133365 meters 0.26983039972183875 Centerline is valid? [False, False] Translation: X:2.72, Y:0.13, Z:0.07 [[ 9.99988209e-01 4.01525614e-03 -2.73129296e-03 2.71678234e+00] [-4.01905247e-03 9.99990963e-01 -1.38587423e-03 1.33945073e-01] [ 2.72570364e-03 1.39683510e-03 9.99995310e-01 6.79622748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.423133365 meters 0.26943548796735944 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 9.99993627e-01 -3.34393701e-03 -1.25093303e-03 2.73634216e+00] [ 3.34342194e-03 9.99994325e-01 -4.13615619e-04 1.36670777e-01] [ 1.25230903e-03 4.09430586e-04 9.99999132e-01 6.86067597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48313336499996 meters 0.26882487647785447 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:0.07 [[ 9.99998478e-01 1.51038913e-03 -8.73342433e-04 2.71165965e+00] [-1.51320712e-03 9.99993622e-01 -3.23506757e-03 1.32995536e-01] [ 8.68450652e-04 3.23638420e-03 9.99994386e-01 7.04315262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54313336499996 meters 0.2698557132718721 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:0.07 [[ 9.99998099e-01 1.61533679e-03 -1.09223374e-03 2.71243352e+00] [-1.61853831e-03 9.99994378e-01 -2.93667113e-03 1.31654922e-01] [ 1.08748389e-03 2.93843336e-03 9.99995091e-01 6.97783735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60313336499996 meters 0.2672694942011654 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:0.07 [[ 9.99998027e-01 1.67989035e-03 -1.05998925e-03 2.71239955e+00] [-1.68282939e-03 9.99994726e-01 -2.77793423e-03 1.30985774e-01] [ 1.05531703e-03 2.77971253e-03 9.99995580e-01 6.96886069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66313336499996 meters 0.27036190631230317 Centerline is valid? [False, False] Translation: X:2.74, Y:0.13, Z:0.07 [[ 9.99995753e-01 -2.90561374e-03 2.28566912e-04 2.73508908e+00] [ 2.90544368e-03 9.99995505e-01 7.40901848e-04 1.30906756e-01] [-2.30718659e-04 -7.40234613e-04 9.99999699e-01 6.84176275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72313336499997 meters 0.26850313494206673 Centerline is valid? [False, False] Translation: X:2.72, Y:0.13, Z:0.07 [[ 9.99990929e-01 4.12475600e-03 -1.06182459e-03 2.71633584e+00] [-4.12540067e-03 9.99991307e-01 -6.05666658e-04 1.28746639e-01] [ 1.05931714e-03 6.10041616e-04 9.99999253e-01 6.62698805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78313336499997 meters 0.271289838409412 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 9.99990450e-01 -3.99909274e-03 -1.76280793e-03 2.73749169e+00] [ 3.99752440e-03 9.99991612e-01 -8.92307679e-04 1.35420518e-01] [ 1.76636156e-03 8.85252289e-04 9.99998048e-01 6.63029950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84313336499997 meters 0.2697017898559532 Centerline is valid? [False, False] Translation: X:2.74, Y:0.14, Z:0.07 [[ 9.99989835e-01 -4.23322362e-03 -1.55254360e-03 2.73689895e+00] [ 4.23082036e-03 9.99989852e-01 -1.54798130e-03 1.38152429e-01] [ 1.55908080e-03 1.54139703e-03 9.99997597e-01 6.64676402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.903133365 meters 0.2708102106179641 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.07 [[ 9.99978317e-01 6.47130655e-03 1.21986483e-03 2.75595367e+00] [-6.46937533e-03 9.99977824e-01 -1.58049757e-03 1.45019064e-01] [-1.23006566e-03 1.57257154e-03 9.99998007e-01 6.62623739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.963133365 meters 0.26853250658231986 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:0.07 [[ 9.99995114e-01 -3.12272614e-03 1.42051939e-04 2.73555688e+00] [ 3.12293266e-03 9.99994032e-01 -1.47765720e-03 1.48706785e-01] [-1.37436772e-04 1.47809360e-03 9.99998898e-01 6.61291253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.023133365 meters 0.26971585830675454 Centerline is valid? [False, False] Translation: X:2.74, Y:0.15, Z:0.07 [[ 9.99994572e-01 -3.27241933e-03 3.82942438e-04 2.73512118e+00] [ 3.27310419e-03 9.99993020e-01 -1.80166671e-03 1.50076174e-01] [-3.77043956e-04 1.80291035e-03 9.99998304e-01 6.58354364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.083133365 meters 0.2682278935356951 Centerline is valid? [False, False] Translation: X:2.73, Y:0.15, Z:0.07 [[ 9.99994138e-01 -3.37854043e-03 5.55876880e-04 2.73479913e+00] [ 3.37967769e-03 9.99992172e-01 -2.05781634e-03 1.51125079e-01] [-5.48920113e-04 2.05968296e-03 9.99997728e-01 6.56435816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.143133365 meters 0.2716192566398711 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.06 [[ 9.99978225e-01 6.35140367e-03 -1.79155863e-03 2.75889686e+00] [-6.35652523e-03 9.99975685e-01 -2.86766145e-03 1.51013948e-01] [ 1.77330139e-03 2.87898709e-03 9.99994283e-01 6.48092532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.203133365 meters 0.26975397600287204 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.07 [[ 9.99979140e-01 6.24767654e-03 -1.63868193e-03 2.75842602e+00] [-6.25279141e-03 9.99975537e-01 -3.13500505e-03 1.52171962e-01] [ 1.61905534e-03 3.14518599e-03 9.99993743e-01 6.50387463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.263133365 meters 0.2714623857439584 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:0.07 [[ 9.99979660e-01 6.21689003e-03 -1.42463301e-03 2.75762999e+00] [-6.22145688e-03 9.99975450e-01 -3.22394182e-03 1.52602072e-01] [ 1.40455515e-03 3.23273954e-03 9.99993788e-01 6.57415130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.323133365 meters 0.26962606519198357 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:0.07 [[ 9.99995736e-01 -1.95700456e-03 -2.16761140e-03 2.78049353e+00] [ 1.95083365e-03 9.99994049e-01 -2.84533341e-03 1.53731677e-01] [ 2.17316683e-03 2.84109263e-03 9.99993603e-01 6.57762084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.383133365 meters 0.27075179421768114 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:0.07 [[ 9.99994847e-01 -1.79673586e-03 -2.66029201e-03 2.78176561e+00] [ 1.79054374e-03 9.99995687e-01 -2.32816187e-03 1.51456108e-01] [ 2.66446362e-03 2.32338651e-03 9.99993751e-01 6.54242860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.443133365 meters 0.26958777392791605 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.07 [[ 9.99983240e-01 5.67701279e-03 -1.13637858e-03 2.76074341e+00] [-5.67988200e-03 9.99980649e-01 -2.53777229e-03 1.41915905e-01] [ 1.12194962e-03 2.54418425e-03 9.99996134e-01 6.56551685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.503133365 meters 0.26930963115883977 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.07 [[ 9.99981913e-01 5.92495588e-03 -1.03380111e-03 2.76021257e+00] [-5.92692583e-03 9.99980606e-01 -1.91299829e-03 1.39336267e-01] [ 1.02244663e-03 1.91909095e-03 9.99997636e-01 6.62553417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.563133365 meters 0.27102141907566146 Centerline is valid? [False, False] Translation: X:2.76, Y:0.14, Z:0.07 [[ 9.99981257e-01 6.03594181e-03 -1.02633439e-03 2.76026738e+00] [-6.03762427e-03 9.99980422e-01 -1.64417051e-03 1.38210611e-01] [ 1.01639018e-03 1.65033631e-03 9.99998122e-01 6.60997288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.623133365 meters 0.26929944384965726 Centerline is valid? [False, False] Translation: X:2.77, Y:0.13, Z:0.06 [[ 9.99988862e-01 4.12123361e-03 -2.30044500e-03 2.76538799e+00] [-4.12794016e-03 9.99987222e-01 -2.91823645e-03 1.33047635e-01] [ 2.28838887e-03 2.92770005e-03 9.99993096e-01 6.31395229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.683133365 meters 0.2705788452793131 Centerline is valid? [False, False] Translation: X:2.78, Y:0.13, Z:0.06 [[ 9.99994050e-01 -3.41921141e-03 -4.57549640e-04 2.78414759e+00] [ 3.41841828e-03 9.99992673e-01 -1.72312216e-03 1.33516503e-01] [ 4.63438006e-04 1.72154781e-03 9.99998411e-01 6.40156687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.743133365 meters 0.2707043709461106 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.06 [[ 9.99992500e-01 3.76275054e-03 -9.17673707e-04 2.76529776e+00] [-3.76484885e-03 9.99990278e-01 -2.29565100e-03 1.24874057e-01] [ 9.09026823e-04 2.29908868e-03 9.99996944e-01 6.19310321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.803133365 meters 0.2701709991617833 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.06 [[ 9.99991776e-01 3.92544771e-03 -1.01908191e-03 2.76569237e+00] [-3.92738280e-03 9.99990475e-01 -1.90385119e-03 1.23186080e-01] [ 1.01159873e-03 1.90783785e-03 9.99997668e-01 6.16266161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.863133365 meters 0.2701145692992071 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.06 [[ 9.99990878e-01 4.16500489e-03 -9.47371471e-04 2.76506363e+00] [-4.16624866e-03 9.99990457e-01 -1.31470060e-03 1.20767720e-01] [ 9.41886695e-04 1.31863559e-03 9.99998687e-01 6.25928908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.923133365 meters 0.27136433897752044 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.06 [[ 9.99990287e-01 4.26551538e-03 -1.11005914e-03 2.76549482e+00] [-4.26668967e-03 9.99990338e-01 -1.05764759e-03 1.19671202e-01] [ 1.10553701e-03 1.06237360e-03 9.99998825e-01 6.24823122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98313336499996 meters 0.2703977896500213 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:0.06 [[ 9.99989794e-01 4.32767093e-03 -1.29716757e-03 2.76601991e+00] [-4.32882773e-03 9.99990234e-01 -8.90309930e-04 1.18933918e-01] [ 1.29330194e-03 8.95916058e-04 9.99998762e-01 6.22975442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04313336499996 meters 0.2708167344728144 Centerline is valid? [False, False] Translation: X:2.78, Y:0.12, Z:0.07 [[ 9.99992652e-01 -2.85467135e-03 2.55850972e-03 2.78127207e+00] [ 2.85280553e-03 9.99995662e-01 7.32611239e-04 1.17125573e-01] [-2.56058999e-03 -7.25306926e-04 9.99996459e-01 6.57565968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10313336499996 meters 0.2680284516519025 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99988304e-01 2.08621196e-03 4.36348032e-03 2.75811455e+00] [-2.07806141e-03 9.99996089e-01 -1.87160123e-03 1.09400830e-01] [-4.36736782e-03 1.86251176e-03 9.99988729e-01 6.67753864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16313336499996 meters 0.2699417030076793 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99988605e-01 2.12461548e-03 4.27506523e-03 2.75843605e+00] [-2.11706119e-03 9.99996191e-01 -1.77080791e-03 1.08953213e-01] [-4.27881123e-03 1.76173715e-03 9.99989294e-01 6.65187245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22313336499997 meters 0.2705959912678647 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99989094e-01 2.15292341e-03 4.14460421e-03 2.75910267e+00] [-2.14592970e-03 9.99996268e-01 -1.69113412e-03 1.08564087e-01] [-4.14822962e-03 1.68222165e-03 9.99989981e-01 6.56853137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28313336499997 meters 0.2686388842676588 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:0.07 [[ 9.99967084e-01 -7.81850106e-03 2.16844613e-03 2.73940682e+00] [ 7.82192715e-03 9.99968166e-01 -1.57602048e-03 1.09227639e-01] [-2.15605498e-03 1.59293003e-03 9.99996407e-01 6.66286789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34313336499997 meters 0.2696985251339714 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99993766e-01 1.91565101e-03 2.96609176e-03 2.75966554e+00] [-1.90936206e-03 9.99995926e-01 -2.12166128e-03 1.07919408e-01] [-2.97014404e-03 2.11598471e-03 9.99993350e-01 6.67544336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.403133365 meters 0.2679866007840591 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99993767e-01 1.84024648e-03 3.01314075e-03 2.75968962e+00] [-1.83327755e-03 9.99995642e-01 -2.31397715e-03 1.08690547e-01] [-3.01738591e-03 2.30843880e-03 9.99992783e-01 6.64578761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.463133365 meters 0.27309761991564924 Centerline is valid? [False, False] Translation: X:2.78, Y:0.11, Z:0.07 [[ 9.99989171e-01 -2.36984618e-03 4.00514638e-03 2.78302413e+00] [ 2.36507280e-03 9.99996488e-01 1.19612849e-03 1.10193707e-01] [-4.00796695e-03 -1.18664307e-03 9.99991264e-01 6.54744924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.523133365 meters 0.2686020602549356 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99995419e-01 2.28101089e-03 1.98966141e-03 2.76061003e+00] [-2.27717010e-03 9.99995544e-01 -1.93050494e-03 1.09497297e-01] [-1.99405605e-03 1.92596530e-03 9.99996157e-01 6.71258639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.583133365 meters 0.2686571665828596 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99994890e-01 2.39675682e-03 2.11577945e-03 2.75988623e+00] [-2.39330420e-03 9.99995803e-01 -1.63287131e-03 1.08282673e-01] [-2.11968416e-03 1.62779927e-03 9.99996429e-01 6.81169697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.643133365 meters 0.2676641211388003 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99994391e-01 2.47495870e-03 2.25669538e-03 2.75934002e+00] [-2.47172359e-03 9.99995915e-01 -1.43522606e-03 1.07533866e-01] [-2.26023829e-03 1.42964009e-03 9.99996424e-01 6.85970089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.703133365 meters 0.26735223593314844 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99994044e-01 2.55240760e-03 2.32311040e-03 2.75915346e+00] [-2.54951828e-03 9.99995974e-01 -1.24584141e-03 1.06766398e-01] [-2.32628095e-03 1.23991118e-03 9.99996526e-01 6.86628699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.763133365 meters 0.2684920540355068 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:0.07 [[ 9.99994121e-01 2.67579682e-03 2.14436807e-03 2.75957924e+00] [-2.67379124e-03 9.99995986e-01 -9.37598922e-04 1.05474187e-01] [-2.14686828e-03 9.31859817e-04 9.99997261e-01 6.86300709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.823133365 meters 0.2701016007577286 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:0.07 [[ 9.99991896e-01 -2.48064997e-03 3.17073104e-03 2.78272179e+00] [ 2.47378672e-03 9.99994593e-01 2.16665621e-03 1.04019563e-01] [-3.17608861e-03 -2.15879494e-03 9.99992626e-01 6.69868542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.883133365 meters 0.26991392784284163 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:0.07 [[ 9.99991690e-01 -2.40519779e-03 3.29159760e-03 2.78229907e+00] [ 2.39749165e-03 9.99994381e-01 2.34310158e-03 1.03286389e-01] [-3.29721473e-03 -2.33519053e-03 9.99991838e-01 6.72873533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.943133365 meters 0.2727244816632773 Centerline is valid? [False, False] Translation: X:2.83, Y:0.11, Z:0.07 [[ 9.99990081e-01 -8.23408630e-04 4.37727237e-03 2.82653250e+00] [ 8.16520701e-04 9.99998426e-01 1.57512069e-03 1.05844528e-01] [-4.37856245e-03 -1.57153093e-03 9.99989179e-01 6.56746524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.003133365 meters 0.2715631036544139 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.07 [[ 9.99994225e-01 3.26038081e-03 9.59069548e-04 2.80667275e+00] [-3.25846636e-03 9.99992709e-01 -1.99099220e-03 1.06214317e-01] [-9.65553948e-04 1.98785560e-03 9.99997558e-01 6.56850991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.063133365 meters 0.2711436743850325 Centerline is valid? [False, False] Translation: X:2.83, Y:0.11, Z:0.07 [[ 9.99990910e-01 -4.19720598e-03 7.50119873e-04 2.82746273e+00] [ 4.19812450e-03 9.99990435e-01 -1.22714049e-03 1.09662746e-01] [-7.44962136e-04 1.23027843e-03 9.99998966e-01 6.62401947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.123133365 meters 0.26837328571218827 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.07 [[ 9.99997432e-01 1.04025040e-03 -2.01344390e-03 2.80706797e+00] [-1.04795057e-03 9.99992127e-01 -3.82710815e-03 1.07913201e-01] [ 2.00944689e-03 3.82920831e-03 9.99990650e-01 6.68642614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.183133365 meters 0.2703003498731733 Centerline is valid? [False, False] Translation: X:2.83, Y:0.11, Z:0.07 [[ 9.99995356e-01 -2.96877397e-03 6.88153955e-04 2.82822359e+00] [ 2.96879805e-03 9.99995593e-01 -3.39761737e-05 1.06401828e-01] [-6.88050055e-04 3.60190061e-05 9.99999763e-01 6.62922001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.243133365 meters 0.27007135522828474 Centerline is valid? [False, False] Translation: X:2.83, Y:0.11, Z:0.07 [[ 9.99995669e-01 -2.83887942e-03 7.76013242e-04 2.82796444e+00] [ 2.83865971e-03 9.99995931e-01 2.84085813e-04 1.05094667e-01] [-7.76816570e-04 -2.81881745e-04 9.99999659e-01 6.64272970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.303133365 meters 0.2712784903264442 Centerline is valid? [False, False] Translation: X:2.83, Y:0.10, Z:0.07 [[ 9.99996577e-01 -2.53817258e-03 6.35981616e-04 2.82824990e+00] [ 2.53747994e-03 9.99996189e-01 1.08752702e-03 1.01721261e-01] [-6.38739523e-04 -1.08590951e-03 9.99999206e-01 6.65994669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.363133365 meters 0.26993927178322663 Centerline is valid? [False, False] Translation: X:2.83, Y:0.10, Z:0.07 [[ 9.99997138e-01 -2.28559561e-03 7.06508443e-04 2.82772879e+00] [ 2.28433657e-03 9.99995811e-01 1.77775563e-03 9.89533198e-02] [-7.10568713e-04 -1.77613664e-03 9.99998170e-01 6.73900096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.423133365 meters 0.2688758627857521 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:0.07 [[ 9.99997715e-01 -1.95026303e-03 8.75703048e-04 2.82691246e+00] [ 1.94772839e-03 9.99993939e-01 2.88599077e-03 9.48001682e-02] [-8.81326182e-04 -2.88427855e-03 9.99995452e-01 6.84017231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48313336499996 meters 0.2684891345240138 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:0.07 [[ 9.99998043e-01 -1.82701758e-03 7.58718201e-04 2.82721450e+00] [ 1.82456921e-03 9.99993167e-01 3.21523733e-03 9.34188683e-02] [-7.64587312e-04 -3.21384671e-03 9.99994543e-01 6.83468020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54313336499996 meters 0.2689715770313518 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:0.07 [[ 9.99998490e-01 -1.63212300e-03 5.96829043e-04 2.82758361e+00] [ 1.62985999e-03 9.99991555e-01 3.77275842e-03 9.11390473e-02] [-6.02981609e-04 -3.77177998e-03 9.99992705e-01 6.83469484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60313336499996 meters 0.26762618182534165 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:0.07 [[ 9.99998748e-01 -1.42674179e-03 6.84393527e-04 2.82719070e+00] [ 1.42379515e-03 9.99989798e-01 4.28680560e-03 8.90436717e-02] [-6.90502709e-04 -4.28582580e-03 9.99990577e-01 6.87424643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66313336499996 meters 0.2689470159963905 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:0.07 [[ 9.99981999e-01 5.94243447e-03 8.30552832e-04 2.84913494e+00] [-5.94351076e-03 9.99981493e-01 1.29945827e-03 8.79084770e-02] [-8.22815516e-04 -1.30437127e-03 9.99998811e-01 6.75380841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72313336499997 meters 0.2708031136657875 Centerline is valid? [False, False] Translation: X:2.87, Y:0.09, Z:0.07 [[ 9.99996761e-01 -1.88115743e-03 -1.71416735e-03 2.87184230e+00] [ 1.88368934e-03 9.99997136e-01 1.47663253e-03 9.14520810e-02] [ 1.71138466e-03 -1.47985671e-03 9.99997441e-01 6.73341807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78313336499997 meters 0.2692777636397576 Centerline is valid? [False, False] Translation: X:2.87, Y:0.09, Z:0.07 [[ 9.99997210e-01 -1.73039705e-03 -1.60788305e-03 2.87125842e+00] [ 1.73335709e-03 9.99996802e-01 1.84138878e-03 9.00019623e-02] [ 1.60469158e-03 -1.84417068e-03 9.99997012e-01 6.80474711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84313336499997 meters 0.2698413656846487 Centerline is valid? [False, False] Translation: X:2.87, Y:0.09, Z:0.07 [[ 9.99997454e-01 -1.60779382e-03 -1.58344477e-03 2.87125203e+00] [ 1.61118642e-03 9.99996405e-01 2.14359922e-03 8.87147613e-02] [ 1.57999261e-03 -2.14614498e-03 9.99996449e-01 6.79505920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.903133365 meters 0.26934742852663934 Centerline is valid? [False, False] Translation: X:2.87, Y:0.09, Z:0.07 [[ 9.99997946e-01 -1.33752341e-03 -1.52285006e-03 2.87102544e+00] [ 1.34188879e-03 9.99994984e-01 2.86918112e-03 8.57326563e-02] [ 1.51900483e-03 -2.87121872e-03 9.99994724e-01 6.81545984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.963133365 meters 0.27046361137537905 Centerline is valid? [False, False] Translation: X:2.87, Y:0.08, Z:0.07 [[ 9.99998313e-01 -1.05206080e-03 -1.50603514e-03 2.87042730e+00] [ 1.05744701e-03 9.99993032e-01 3.58009833e-03 8.28031044e-02] [ 1.50225816e-03 -3.58168484e-03 9.99992457e-01 6.92981574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.023133365 meters 0.2693093130366384 Centerline is valid? [False, False] Translation: X:2.87, Y:0.08, Z:0.07 [[ 9.99998583e-01 -7.69298305e-04 -1.49719990e-03 2.87019290e+00] [ 7.75638854e-04 9.99990715e-01 4.23897553e-03 8.01316715e-02] [ 1.49392496e-03 -4.24013082e-03 9.99989895e-01 6.97088104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.083133365 meters 0.2720074575563508 Centerline is valid? [False, False] Translation: X:2.87, Y:0.08, Z:0.07 [[ 9.99998858e-01 -4.64764053e-04 -1.43771339e-03 2.86995340e+00] [ 4.71852499e-04 9.99987717e-01 4.93395736e-03 7.72861806e-02] [ 1.43540260e-03 -4.93463011e-03 9.99986794e-01 6.99541104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.143133365 meters 0.2690766717616738 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99983168e-01 4.34181298e-03 -3.84855993e-03 2.84934351e+00] [-4.33373959e-03 9.99988397e-01 2.10363098e-03 7.37753656e-02] [ 3.85764885e-03 -2.08691692e-03 9.99990382e-01 7.05908222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.203133365 meters 0.2685734475224902 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99982711e-01 4.47589156e-03 -3.81369287e-03 2.84914903e+00] [-4.46668094e-03 9.99987095e-01 2.42024931e-03 7.24552694e-02] [ 3.82447643e-03 -2.40317292e-03 9.99989799e-01 7.08305905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.263133365 meters 0.26876372858978825 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 0.99998173 0.00466064 -0.00384955 2.84920261] [-0.00464941 0.99998493 0.00292072 0.07039664] [ 0.0038631 -0.00290277 0.99998833 0.07090075] [ 0. 0. 0. 1. ]] SLAMing on 316.323133365 meters 0.27009017649272304 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 9.99983148e-01 2.88860956e-03 -5.03575069e-03 2.85442796e+00] [-2.87869269e-03 9.99993905e-01 1.97543058e-03 6.49828475e-02] [ 5.04142625e-03 -1.96090092e-03 9.99985369e-01 6.72388749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.383133365 meters 0.2684824775692256 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 9.99981736e-01 3.05592593e-03 -5.21437220e-03 2.85472975e+00] [-3.04297552e-03 9.99992271e-01 2.48972684e-03 6.29542031e-02] [ 5.22194032e-03 -2.47381416e-03 9.99983306e-01 6.74325027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.443133365 meters 0.27017724037436414 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 0.99998121 0.00321922 -0.00521661 2.85442392] [-0.0032038 0.99999048 0.00296219 0.06110974] [ 0.00522609 -0.00294542 0.99998201 0.0680881 ] [ 0. 0. 0. 1. ]] SLAMing on 316.503133365 meters 0.26902626889222175 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 0.99998275 0.00333721 -0.00483429 2.85340794] [-0.00332133 0.99998908 0.00328844 0.05977763] [ 0.00484521 -0.00327233 0.99998291 0.06846299] [ 0. 0. 0. 1. ]] SLAMing on 316.563133365 meters 0.2681857280541335 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 0.99998356 0.00332344 -0.00467368 2.85280068] [-0.00330827 0.99998925 0.00324931 0.06001464] [ 0.00468443 -0.0032338 0.9999838 0.06896497] [ 0. 0. 0. 1. ]] SLAMing on 316.623133365 meters 0.26830318898257993 Centerline is valid? [False, False] Translation: X:2.85, Y:0.06, Z:0.07 [[ 9.99983868e-01 3.14091425e-03 -4.73277781e-03 2.85310058e+00] [-3.12760467e-03 9.99991141e-01 2.81699422e-03 6.18224214e-02] [ 4.74158383e-03 -2.80214651e-03 9.99984833e-01 6.86384188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.683133365 meters 0.26858501937190915 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 0.99998434 -0.00401851 -0.00389575 2.87280039] [ 0.0040315 0.99998632 0.00333206 0.06693371] [ 0.00388231 -0.00334771 0.99998686 0.06948757] [ 0. 0. 0. 1. ]] SLAMing on 316.743133365 meters 0.2676090527222975 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 0.99998467 -0.00414949 -0.00366697 2.87217543] [ 0.00416048 0.99998686 0.00299641 0.06842551] [ 0.00365449 -0.00301162 0.99998879 0.06964549] [ 0. 0. 0. 1. ]] SLAMing on 316.803133365 meters 0.26791244373269063 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99983825e-01 -4.37171544e-03 -3.63843965e-03 2.87243854e+00] [ 4.38039829e-03 9.99987569e-01 2.38188427e-03 7.08162001e-02] [ 3.62798150e-03 -2.39778356e-03 9.99990544e-01 6.89554403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.863133365 meters 0.26851958665815356 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99982379e-01 -4.55142960e-03 -3.81130426e-03 2.87321034e+00] [ 4.55871655e-03 9.99987794e-01 1.90543077e-03 7.26870069e-02] [ 3.80258530e-03 -1.92277185e-03 9.99990922e-01 6.81380596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.923133365 meters 0.2681519787115662 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99988674e-01 2.83348391e-03 -3.82405024e-03 2.85192898e+00] [-2.82941686e-03 9.99995426e-01 1.06853613e-03 7.22614714e-02] [ 3.82706043e-03 -1.05770419e-03 9.99992117e-01 6.71568865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98313336499996 meters 0.2666034294451677 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99989370e-01 2.57158317e-03 -3.82715314e-03 2.85201571e+00] [-2.56989305e-03 9.99996598e-01 4.46464598e-04 7.49265185e-02] [ 3.82828824e-03 -4.36624477e-04 9.99992577e-01 6.69992429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04313336499996 meters 0.2678099862688533 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:0.07 [[ 9.99989662e-01 2.42399096e-03 -3.84697540e-03 2.85224417e+00] [-2.42361944e-03 9.99997058e-01 1.01234296e-04 7.63890644e-02] [ 3.84720947e-03 -9.19096456e-05 9.99992595e-01 6.66401227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10313336499996 meters 0.26826010017902363 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:0.07 [[ 9.99989847e-01 2.36486223e-03 -3.83569087e-03 2.85214577e+00] [-2.36506992e-03 9.99997202e-01 -4.96118717e-05 7.70595659e-02] [ 3.83556281e-03 5.86830452e-05 9.99992642e-01 6.67936679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16313336499996 meters 0.2678023893488501 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:0.07 [[ 9.99989505e-01 2.38817697e-03 -3.90987200e-03 2.85226147e+00] [-2.38813585e-03 9.99997148e-01 1.51856335e-05 7.67912900e-02] [ 3.90989712e-03 -5.84816866e-06 9.99992356e-01 6.69024200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22313336499997 meters 0.26734745681553185 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:0.07 [[ 9.99988994e-01 2.46810942e-03 -3.98996245e-03 2.85246417e+00] [-2.46711739e-03 9.99996925e-01 2.53533466e-04 7.58152233e-02] [ 3.99057592e-03 -2.43686970e-04 9.99992008e-01 6.68518319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28313336499997 meters 0.26536058565270393 Centerline is valid? [False, False] Translation: X:2.83, Y:0.07, Z:0.07 [[ 9.99947729e-01 -9.10057329e-03 -4.66037846e-03 2.83112320e+00] [ 9.09969724e-03 9.99958575e-01 -2.09149049e-04 7.19935101e-02] [ 4.66208878e-03 1.66730084e-04 9.99989119e-01 6.74915903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34313336499997 meters 0.2672359107606123 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99997046e-01 3.53741383e-04 -2.40469374e-03 2.84767250e+00] [-3.55970110e-04 9.99999507e-01 -9.26458651e-04 6.79328833e-02] [ 2.40436482e-03 9.27311913e-04 9.99996680e-01 6.88141184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.403133365 meters 0.2652611623991338 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:0.07 [[ 9.99997276e-01 3.81393842e-04 -2.30287407e-03 2.84735142e+00] [-3.83370905e-04 9.99999558e-01 -8.58139549e-04 6.76705749e-02] [ 2.30254576e-03 8.59020066e-04 9.99996980e-01 6.89914397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.463133365 meters 0.2662985706937454 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99990994e-01 -4.16436583e-03 -8.18303396e-04 2.87040951e+00] [ 4.16621385e-03 9.99988745e-01 2.26978737e-03 6.75173282e-02] [ 8.08841961e-04 -2.27317616e-03 9.99997089e-01 6.72632617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.523133365 meters 0.2664656362040987 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99990486e-01 -4.28023671e-03 -8.41293653e-04 2.87055694e+00] [ 4.28189753e-03 9.99988868e-01 1.98234343e-03 6.87132257e-02] [ 8.32799388e-04 -1.98592691e-03 9.99997681e-01 6.70699714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.583133365 meters 0.2652064661604325 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99990235e-01 -4.35987612e-03 -7.21637196e-04 2.87029824e+00] [ 4.36116252e-03 9.99988887e-01 1.79075245e-03 6.95516501e-02] [ 7.13821717e-04 -1.79388214e-03 9.99998136e-01 6.70312141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.643133365 meters 0.26629974695880976 Centerline is valid? [False, False] Translation: X:2.87, Y:0.07, Z:0.07 [[ 9.99990118e-01 -4.36658006e-03 -8.34773097e-04 2.87088683e+00] [ 4.36805646e-03 9.99988885e-01 1.77505571e-03 6.95393328e-02] [ 8.27012895e-04 -1.77868450e-03 9.99998076e-01 6.63002559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.703133365 meters 0.2680247850807023 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:0.07 [[ 9.99994171e-01 3.28622903e-03 -9.26770285e-04 2.89303510e+00] [-3.28711994e-03 9.99994135e-01 -9.61436094e-04 6.78866504e-02] [ 9.23605351e-04 9.64476895e-04 9.99999108e-01 6.50082459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.763133365 meters 0.267827559537746 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99982368e-01 -5.49598993e-03 -2.24914040e-03 2.87559360e+00] [ 5.49800205e-03 9.99984490e-01 8.89416184e-04 7.00281993e-02] [ 2.24421730e-03 -9.01766280e-04 9.99997075e-01 6.31840109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.823133365 meters 0.26708785880755387 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99981747e-01 -5.48051484e-03 -2.54370698e-03 2.87648410e+00] [ 5.48290126e-03 9.99984534e-01 9.32141312e-04 6.97579217e-02] [ 2.53855902e-03 -9.46071191e-04 9.99996330e-01 6.26740871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.883133365 meters 0.2688910688792978 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99981499e-01 -5.51006856e-03 -2.57700416e-03 2.87649517e+00] [ 5.51228680e-03 9.99984442e-01 8.54475692e-04 7.00794584e-02] [ 2.57225585e-03 -8.68665069e-04 9.99996314e-01 6.28060149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.943133365 meters 0.2672484932565134 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99981009e-01 -5.61220004e-03 -2.54666364e-03 2.87640053e+00] [ 5.61366024e-03 9.99984083e-01 5.66594584e-04 7.12581860e-02] [ 2.54344326e-03 -5.80879928e-04 9.99996597e-01 6.28515312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.003133365 meters 0.2665291475321588 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99981222e-01 -5.67849896e-03 -2.30428633e-03 2.87573642e+00] [ 5.67909803e-03 9.99983842e-01 2.53523340e-04 7.26796110e-02] [ 2.30280947e-03 -2.66604848e-04 9.99997313e-01 6.31437052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.063133365 meters 0.2659898445805443 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99980753e-01 -5.82364811e-03 -2.13995796e-03 2.87538130e+00] [ 5.82327260e-03 9.99983028e-01 -1.81665830e-04 7.44250462e-02] [ 2.14097959e-03 1.69200775e-04 9.99997694e-01 6.31206424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.123133365 meters 0.26625453321393633 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99991166e-01 -3.24405022e-03 -2.67299290e-03 2.87703197e+00] [ 3.25030859e-03 9.99991979e-01 2.34032504e-03 7.17176235e-02] [ 2.66537932e-03 -2.34899242e-03 9.99993689e-01 6.24973586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.183133365 meters 0.26644006432495054 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99990888e-01 -3.34663587e-03 -2.65021869e-03 2.87684373e+00] [ 3.35216577e-03 9.99992208e-01 2.08489639e-03 7.28346322e-02] [ 2.64322065e-03 -2.09376137e-03 9.99994315e-01 6.27806687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.243133365 meters 0.2665817273486536 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99990918e-01 -3.41740298e-03 -2.54670572e-03 2.87652962e+00] [ 3.42225136e-03 9.99992336e-01 1.90186468e-03 7.36266273e-02] [ 2.54018676e-03 -1.91056288e-03 9.99994949e-01 6.29239519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.303133365 meters 0.2677131591616179 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99990900e-01 -3.46881976e-03 -2.48325175e-03 2.87653979e+00] [ 3.47321347e-03 9.99992407e-01 1.76721471e-03 7.41510687e-02] [ 2.47710275e-03 -1.77582349e-03 9.99995355e-01 6.25878271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.363133365 meters 0.2657486711141324 Centerline is valid? [False, False] Translation: X:2.86, Y:0.07, Z:0.06 [[ 9.99984165e-01 1.62014383e-03 -5.38928648e-03 2.85668480e+00] [-1.62554739e-03 9.99998180e-01 -9.98418906e-04 7.36771621e-02] [ 5.38765910e-03 1.00716364e-03 9.99984979e-01 6.29376965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.423133365 meters 0.2671193515131099 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:0.06 [[ 9.99980424e-01 -2.56969417e-03 -5.70504703e-03 2.88107535e+00] [ 2.58500997e-03 9.99993071e-01 2.67885777e-03 7.42059266e-02] [ 5.69812366e-03 -2.69355293e-03 9.99980138e-01 6.20050231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48313336499996 meters 0.26622659151960293 Centerline is valid? [False, False] Translation: X:2.86, Y:0.07, Z:0.06 [[ 9.99961125e-01 3.79013415e-03 -7.96141915e-03 2.86462439e+00] [-3.78240289e-03 9.99992361e-01 9.85924026e-04 7.00513643e-02] [ 7.96509511e-03 -9.55772403e-04 9.99967821e-01 5.91139525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54313336499996 meters 0.267186371651854 Centerline is valid? [False, False] Translation: X:2.86, Y:0.07, Z:0.06 [[ 9.99961119e-01 3.84157548e-03 -7.93739381e-03 2.86450602e+00] [-3.83285538e-03 9.99992035e-01 1.11352952e-03 6.95456360e-02] [ 7.94160829e-03 -1.08306334e-03 9.99967878e-01 5.92413847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60313336499996 meters 0.2661915790067322 Centerline is valid? [False, False] Translation: X:2.86, Y:0.07, Z:0.06 [[ 9.99960246e-01 4.03566824e-03 -7.95104537e-03 2.86450231e+00] [-4.02320827e-03 9.99990655e-01 1.58245823e-03 6.75913653e-02] [ 7.95735734e-03 -1.55040661e-03 9.99967138e-01 5.93121268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66313336499996 meters 0.2682439477727408 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:0.06 [[ 9.99968081e-01 -3.42867091e-03 -7.21667515e-03 2.88590064e+00] [ 3.44625763e-03 9.99991119e-01 2.42593285e-03 6.67001401e-02] [ 7.20829333e-03 -2.45072593e-03 9.99971017e-01 5.96683003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72313336499997 meters 0.26799596203061893 Centerline is valid? [False, False] Translation: X:2.91, Y:0.06, Z:0.06 [[ 9.99979012e-01 3.43090785e-03 -5.49583591e-03 2.90618524e+00] [-3.43114855e-03 9.99994113e-01 -3.43680141e-05 5.94066933e-02] [ 5.49568564e-03 5.32243222e-05 9.99984897e-01 5.97376490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78313336499997 meters 0.26621652821166597 Centerline is valid? [False, False] Translation: X:2.89, Y:0.05, Z:0.06 [[ 9.99950707e-01 -5.77054008e-03 -8.07991576e-03 2.88825419e+00] [ 5.78500675e-03 9.99981703e-01 1.76822239e-03 5.42967252e-02] [ 8.06956433e-03 -1.81487760e-03 9.99965794e-01 5.96691573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84313336499997 meters 0.2670963096017286 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:0.06 [[ 9.99973214e-01 1.56977056e-03 -7.14894254e-03 2.90922811e+00] [-1.57371035e-03 9.99998613e-01 -5.45509934e-04 4.72889266e-02] [ 7.14807630e-03 5.56745687e-04 9.99974297e-01 5.93536565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.903133365 meters 0.2680772257967765 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:0.06 [[ 9.99972974e-01 2.10731187e-03 -7.04347173e-03 2.90866636e+00] [-2.10346038e-03 9.99997634e-01 5.54179368e-04 4.28653154e-02] [ 7.04462290e-03 -5.39348727e-04 9.99975041e-01 5.98264710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.963133365 meters 0.2668422471299679 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:0.06 [[ 9.99932442e-01 -6.92911948e-03 -9.33272264e-03 2.89161117e+00] [ 6.95427996e-03 9.99972264e-01 2.66619361e-03 4.01254188e-02] [ 9.31398942e-03 -2.73091585e-03 9.99952895e-01 5.90544683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.023133365 meters 0.268424143500698 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:0.06 [[ 9.99967605e-01 7.74289329e-04 -8.01185689e-03 2.91262086e+00] [-7.71368186e-04 9.99999635e-01 3.67686232e-04 3.61842508e-02] [ 8.01213866e-03 -3.61494229e-04 9.99967837e-01 5.82709580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.083133365 meters 0.2666012748896036 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:0.06 [[ 9.99982528e-01 -1.24084786e-03 -5.77967667e-03 2.87538122e+00] [ 1.25752499e-03 9.99995054e-01 2.88273684e-03 2.38163051e-02] [ 5.77607105e-03 -2.88995456e-03 9.99979142e-01 5.57910558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.143133365 meters 0.2668099276953847 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:0.06 [[ 9.99982502e-01 -9.24041323e-04 -5.84318442e-03 2.87530124e+00] [ 9.45535579e-04 9.99992793e-01 3.67682543e-03 2.06448168e-02] [ 5.83974477e-03 -3.68228603e-03 9.99976169e-01 5.62419449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.203133365 meters 0.26826263419409707 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:0.06 [[ 9.99962643e-01 6.67577211e-03 -5.49050869e-03 2.89690745e+00] [-6.66942378e-03 9.99977070e-01 1.17373670e-03 1.60274516e-02] [ 5.49821840e-03 -1.13707433e-03 9.99984238e-01 5.57338711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.263133365 meters 0.26802803680794807 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:0.05 [[ 9.99973090e-01 -2.62104346e-03 -6.85195073e-03 2.87902893e+00] [ 2.64388037e-03 9.99990974e-01 3.32597454e-03 1.31258488e-02] [ 6.84317136e-03 -3.34400078e-03 9.99970994e-01 5.48220405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.323133365 meters 0.26907244622596743 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:0.05 [[ 9.99975004e-01 5.11061775e-03 -4.88599303e-03 2.89853297e+00] [-5.10601987e-03 9.99986510e-01 9.53045168e-04 9.07435803e-03] [ 4.89079777e-03 -9.28073368e-04 9.99987609e-01 5.46282506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.383133365 meters 0.26922889077372986 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.05 [[ 9.99986918e-01 1.19926596e-03 -4.97251028e-03 2.89855768e+00] [-1.21088822e-03 9.99996541e-01 -2.33495260e-03 4.86280861e-03] [ 4.96969285e-03 2.34094321e-03 9.99984911e-01 5.48673684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.443133365 meters 0.26803757074189105 Centerline is valid? [False, False] Translation: X:2.90, Y:0.00, Z:0.05 [[ 9.99986428e-01 1.49078479e-03 -4.99216279e-03 2.89857970e+00] [-1.49891975e-03 9.99997554e-01 -1.62620079e-03 1.95435717e-03] [ 4.98972626e-03 1.63366157e-03 9.99986217e-01 5.49225599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.503133365 meters 0.2678678472333633 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.06 [[ 9.99985726e-01 1.78928002e-03 -5.03443172e-03 2.89844445e+00] [-1.79378524e-03 9.99997995e-01 -8.90508739e-04 -9.97630082e-04] [ 5.03282826e-03 8.99526717e-04 9.99986931e-01 5.53530738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.563133365 meters 0.267741941537752 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:0.06 [[ 9.99984885e-01 2.13362596e-03 -5.06719086e-03 2.89834500e+00] [-2.13408706e-03 9.99997719e-01 -8.55928032e-05 -4.29894660e-03] [ 5.06699668e-03 9.64053360e-05 9.99987158e-01 5.56988562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.623133365 meters 0.26707098508859717 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.06 [[ 9.99984422e-01 2.24425721e-03 -5.11075473e-03 2.89864543e+00] [-2.24331818e-03 9.99997466e-01 1.89461446e-04 -5.48912096e-03] [ 5.11116698e-03 -1.77993446e-04 9.99986922e-01 5.52623605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.683133365 meters 0.26865705365313164 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.06 [[ 9.99984097e-01 2.35648855e-03 -5.12383284e-03 2.89877675e+00] [-2.35418527e-03 9.99997125e-01 4.55506362e-04 -6.63530872e-03] [ 5.12489150e-03 -4.43436666e-04 9.99986769e-01 5.50594897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.743133365 meters 0.2665452605204843 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.06 [[ 9.99984463e-01 2.58691214e-03 -4.93769878e-03 2.89791519e+00] [-2.58162693e-03 9.99996088e-01 1.07645245e-03 -8.98645298e-03] [ 4.94046416e-03 -1.06368843e-03 9.99987230e-01 5.60439194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.803133365 meters 0.26766515994143464 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:0.06 [[ 9.99984071e-01 2.80016479e-03 -4.90062855e-03 2.89787645e+00] [-2.79220851e-03 9.99994774e-01 1.62961233e-03 -1.12562880e-02] [ 4.90516612e-03 -1.61590280e-03 9.99986664e-01 5.59586014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.863133365 meters 0.266539734802011 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.06 [[ 9.99982734e-01 3.16932115e-03 -4.94836931e-03 2.89765018e+00] [-3.15621035e-03 9.99991494e-01 2.65508466e-03 -1.52470122e-02] [ 4.95674203e-03 -2.63942073e-03 9.99984232e-01 5.65827859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.923133365 meters 0.26700509504706366 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.06 [[ 0.99998197 0.00350151 -0.00487811 2.89724711] [-0.00348452 0.99998785 0.00348673 -0.01859225] [ 0.00489026 -0.00346967 0.99998202 0.05708152] [ 0. 0. 0. 1. ]] SLAMing on 319.98313336499996 meters 0.26850000228790205 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.02, Z:0.06 [[ 9.99988068e-01 -5.64604663e-04 -4.85227602e-03 2.89715407e+00] [ 5.63825804e-04 9.99999828e-01 -1.61880544e-04 -2.13411070e-02] [ 4.85236658e-03 1.59142774e-04 9.99988215e-01 5.71044199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04313336499996 meters 0.26728640772665196 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.03, Z:0.06 [[ 9.99985388e-01 -1.86029103e-04 -5.40270743e-03 2.89835358e+00] [ 1.92353637e-04 9.99999297e-01 1.17012707e-03 -2.68596249e-02] [ 5.40248596e-03 -1.17114921e-03 9.99984721e-01 5.71255027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10313336499996 meters 0.2676998445097348 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.03, Z:0.06 [[ 9.99984239e-01 1.81990923e-04 -5.61150165e-03 2.89829853e+00] [-1.68924629e-04 9.99997274e-01 2.32887050e-03 -3.12187972e-02] [ 5.61191018e-03 -2.32788587e-03 9.99981544e-01 5.81963144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16313336499996 meters 0.26622911417475653 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:0.06 [[ 9.99983680e-01 5.67877990e-04 -5.68475280e-03 2.89779893e+00] [-5.46910423e-04 9.99993045e-01 3.68926203e-03 -3.62887455e-02] [ 5.68680831e-03 -3.68609277e-03 9.99977036e-01 5.95403490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22313336499997 meters 0.26741095121868935 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.05, Z:0.06 [[ 9.99984310e-01 1.17706382e-03 -5.47678700e-03 2.89648253e+00] [-1.14384044e-03 9.99980951e-01 6.06540115e-03 -4.58300490e-02] [ 5.48382204e-03 -6.05904141e-03 9.99966607e-01 6.12619957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28313336499997 meters 0.26679127795187596 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.06 [[ 9.99982779e-01 -2.16072614e-03 -5.45645067e-03 2.89609096e+00] [ 2.18256926e-03 9.99989617e-01 4.00039806e-03 -5.62152997e-02] [ 5.44775025e-03 -4.01223825e-03 9.99977112e-01 6.18380758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34313336499997 meters 0.26719219623643325 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.06 [[ 9.99983814e-01 -1.67702696e-03 -5.43689912e-03 2.89582641e+00] [ 1.70487370e-03 9.99985433e-01 5.12122160e-03 -6.07917334e-02] [ 5.42823149e-03 -5.13040794e-03 9.99972106e-01 6.21716948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.403133365 meters 0.2652338914665307 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.06, Z:0.06 [[ 9.99985317e-01 -1.24782715e-03 -5.27338765e-03 2.89503160e+00] [ 1.28032038e-03 9.99980190e-01 6.16286020e-03 -6.49248540e-02] [ 5.26559300e-03 -6.16952133e-03 9.99967105e-01 6.29449009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.463133365 meters 0.26744451353609366 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:0.06 [[ 9.99992742e-01 3.11447763e-03 -2.19462993e-03 2.91411846e+00] [-3.11202890e-03 9.99994532e-01 1.11831940e-03 -7.39188766e-02] [ 2.19810091e-03 -1.11148153e-03 9.99996966e-01 6.15227276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.523133365 meters 0.2669803798889301 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.06 [[ 9.99991437e-01 3.45350142e-03 -2.27997225e-03 2.91392978e+00] [-3.44864512e-03 9.99991784e-01 2.13048528e-03 -7.77571782e-02] [ 2.28731116e-03 -2.12260422e-03 9.99995131e-01 6.21881711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.583133365 meters 0.2649750451379527 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:0.06 [[ 9.99990364e-01 3.87815970e-03 -2.05709648e-03 2.91295593e+00] [-3.87131100e-03 9.99986986e-01 3.32290609e-03 -8.22637612e-02] [ 2.06995646e-03 -3.31491041e-03 9.99992363e-01 6.30185242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.643133365 meters 0.2660930736366202 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.09, Z:0.06 [[ 9.99992335e-01 2.28870996e-03 -3.17681403e-03 2.91836254e+00] [-2.28200548e-03 9.99995165e-01 2.11246644e-03 -8.56745347e-02] [ 3.18163350e-03 -2.10520074e-03 9.99992723e-01 5.92064824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.703133365 meters 0.2676158992399244 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.09, Z:0.06 [[ 9.99991324e-01 2.33952719e-03 -3.44646255e-03 2.91927913e+00] [-2.33153281e-03 9.99994587e-01 2.32178406e-03 -8.67941278e-02] [ 3.45187577e-03 -2.31372837e-03 9.99991366e-01 5.85038131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.763133365 meters 0.2662116036902365 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.09, Z:0.06 [[ 0.99996255 -0.00746658 -0.00437534 2.90241913] [ 0.00748502 0.99996311 0.00421319 -0.08656378] [ 0.00434372 -0.00424578 0.99998155 0.05691383] [ 0. 0. 0. 1. ]] SLAMing on 320.823133365 meters 0.2655190298776047 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.09, Z:0.06 [[ 0.99996254 -0.00748123 -0.00435363 2.90248404] [ 0.00749944 0.99996313 0.00418284 -0.08645489] [ 0.00432218 -0.00421534 0.99998177 0.056671 ] [ 0. 0. 0. 1. ]] SLAMing on 320.883133365 meters 0.2658429323409408 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.08, Z:0.06 [[ 0.99995983 -0.00777896 -0.00445245 2.90334722] [ 0.00779467 0.99996343 0.00351994 -0.08380597] [ 0.0044249 -0.0035545 0.99998389 0.05552451] [ 0. 0. 0. 1. ]] SLAMing on 320.943133365 meters 0.26601739315888917 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:0.06 [[ 9.99986825e-01 -6.29421096e-04 -5.09455431e-03 2.88225779e+00] [ 6.43550689e-04 9.99995950e-01 2.77230598e-03 -8.18314569e-02] [ 5.09278873e-03 -2.77554806e-03 9.99983180e-01 5.54341822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.003133365 meters 0.26766722735052784 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:0.06 [[ 9.99975096e-01 2.47627777e-03 -6.60866507e-03 2.91651941e+00] [-2.47148793e-03 9.99996677e-01 7.32850050e-04 -7.39124579e-02] [ 6.61045785e-03 -7.16498564e-04 9.99977894e-01 5.91936846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.063133365 meters 0.26761788971619793 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:0.06 [[ 9.99979699e-01 -3.78778374e-03 -5.12385250e-03 2.93331480e+00] [ 3.79405977e-03 9.99992064e-01 1.21570091e-03 -6.35010464e-02] [ 5.11920703e-03 -1.23511643e-03 9.99986134e-01 6.13454545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.123133365 meters 0.2655839355082146 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:0.06 [[ 9.99983145e-01 3.75470683e-03 -4.42844361e-03 2.91140427e+00] [-3.75250606e-03 9.99992832e-01 5.05166243e-04 -6.07186323e-02] [ 4.43030862e-03 -4.88539967e-04 9.99990067e-01 6.11866027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.183133365 meters 0.26662897065261953 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:0.06 [[ 9.99983901e-01 3.56514271e-03 -4.41436448e-03 2.91160565e+00] [-3.56486246e-03 9.99993643e-01 7.13531561e-05 -5.89492687e-02] [ 4.41459080e-03 -5.56154052e-05 9.99990254e-01 6.07872102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.243133365 meters 0.267884347463081 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.06 [[ 9.99983613e-01 1.08652628e-04 -5.72383756e-03 2.93553246e+00] [-9.12168426e-05 9.99995356e-01 3.04634358e-03 -5.12918062e-02] [ 5.72414197e-03 -3.04577155e-03 9.99978979e-01 5.98662081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.303133365 meters 0.26759501198334457 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.05, Z:0.06 [[ 9.99982973e-01 -1.68550966e-04 -5.83308602e-03 2.93613798e+00] [ 1.82721404e-04 9.99997034e-01 2.42887324e-03 -4.87565442e-02] [ 5.83265933e-03 -2.42989771e-03 9.99980038e-01 5.93008272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.363133365 meters 0.26729058199439837 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:0.06 [[ 9.99942758e-01 4.50145409e-03 -9.70653615e-03 2.91518051e+00] [-4.50553426e-03 9.99989771e-01 -3.98526724e-04 -3.77713337e-02] [ 9.70464291e-03 4.42237043e-04 9.99952811e-01 6.02550821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.423133365 meters 0.26682076798004706 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:0.06 [[ 9.99945551e-01 4.21003751e-03 -9.54835280e-03 2.91540328e+00] [-4.22244640e-03 9.99990266e-01 -1.27979751e-03 -3.43414714e-02] [ 9.54287187e-03 1.32004523e-03 9.99953594e-01 5.92047709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48313336499996 meters 0.2689499932145727 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.03, Z:0.06 [[ 9.99921958e-01 -2.07902274e-03 -1.23189333e-02 2.93473636e+00] [ 2.06775048e-03 9.99997432e-01 -9.27701444e-04 -2.61073476e-02] [ 1.23208304e-02 9.02156564e-04 9.99923689e-01 6.04865903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54313336499996 meters 0.268273272876702 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.06 [[ 9.99874938e-01 6.06854381e-03 -1.46041431e-02 2.91503393e+00] [-6.08764903e-03 9.99980671e-01 -1.26410595e-03 -1.97687934e-02] [ 1.45961895e-02 1.35285276e-03 9.99892555e-01 5.96442549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60313336499996 meters 0.2664245706539852 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:0.06 [[ 9.99875369e-01 5.81261810e-03 -1.46785208e-02 2.91592512e+00] [-5.84228775e-03 9.99980975e-01 -1.97922637e-03 -1.70353630e-02] [ 1.46667371e-02 2.06473584e-03 9.99890306e-01 5.82392261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66313336499996 meters 0.2670950250774611 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.06 [[ 9.99897584e-01 -7.66200312e-04 -1.42910452e-02 2.93426440e+00] [ 7.50075514e-04 9.99999076e-01 -1.13364060e-03 -1.04219646e-02] [ 1.42919005e-02 1.12280513e-03 9.99897235e-01 5.94545414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72313336499997 meters 0.26740612023810467 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.01, Z:0.06 [[ 9.99896340e-01 -9.20800483e-04 -1.43687712e-02 2.93485063e+00] [ 8.98870580e-04 9.99998422e-01 -1.53260337e-03 -8.93164270e-03] [ 1.43701598e-02 1.51952883e-03 9.99895589e-01 5.86152368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78313336499997 meters 0.26745475891133713 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.00, Z:0.06 [[ 9.99911794e-01 1.28912551e-03 -1.32190465e-02 2.93179252e+00] [-1.29161326e-03 9.99999150e-01 -1.79658393e-04 -2.67949189e-03] [ 1.32188037e-02 1.96716442e-04 9.99912608e-01 5.94735296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84313336499997 meters 0.2688131953187772 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.06 [[ 9.99890024e-01 -5.43766097e-03 -1.37975393e-02 2.95158346e+00] [ 5.44255731e-03 9.99985139e-01 3.17346610e-04 5.10088554e-03] [ 1.37956086e-02 -3.92405608e-04 9.99904759e-01 6.00198769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.903133365 meters 0.26934024082083574 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:0.06 [[ 9.99889418e-01 -5.63636522e-03 -1.37616671e-02 2.95183968e+00] [ 5.63455888e-03 9.99984111e-01 -1.70028035e-04 7.04684552e-03] [ 1.37624068e-02 9.24683090e-05 9.99905289e-01 5.93417148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.963133365 meters 0.26974123297856967 Centerline is valid? [False, False] Translation: X:2.97, Y:0.01, Z:0.06 [[ 9.99918865e-01 3.85201470e-03 -1.21418584e-02 2.96957008e+00] [-3.88068015e-03 9.99989737e-01 -2.33820248e-03 1.04084670e-02] [ 1.21327270e-02 2.38513144e-03 9.99923551e-01 5.95942466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.023133365 meters 0.2682544409909789 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:0.06 [[ 9.99889414e-01 -5.61109721e-03 -1.37722685e-02 2.95277175e+00] [ 5.59285486e-03 9.99983431e-01 -1.36272939e-03 1.65375496e-02] [ 1.37796867e-02 1.28555239e-03 9.99904229e-01 5.75985505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.083133365 meters 0.26959396094074917 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.06 [[ 0.99993773 0.00373652 -0.01051563 2.96904904] [-0.00377009 0.99998785 -0.00317459 0.01918222] [ 0.01050364 0.00321404 0.99993967 0.05772439] [ 0. 0. 0. 1. ]] SLAMing on 322.143133365 meters 0.26857482035631325 Centerline is valid? [False, False] Translation: X:2.95, Y:0.02, Z:0.06 [[ 9.99924238e-01 -4.61148370e-03 -1.14127868e-02 2.94988893e+00] [ 4.60114728e-03 9.99988981e-01 -9.31778725e-04 2.30020249e-02] [ 1.14169579e-02 8.79196219e-04 9.99934438e-01 5.68678154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.203133365 meters 0.2718315548886836 Centerline is valid? [False, False] Translation: X:2.97, Y:0.02, Z:0.06 [[ 0.9999272 0.00359153 -0.01151906 2.97130348] [-0.00363977 0.99998468 -0.00416971 0.02463786] [ 0.01150391 0.00421134 0.99992496 0.05572284] [ 0. 0. 0. 1. ]] SLAMing on 322.263133365 meters 0.2695364787752271 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:0.05 [[ 0.99992773 0.00332006 -0.01155487 2.97191486] [-0.00337549 0.99998287 -0.00478128 0.02718481] [ 0.0115388 0.00481994 0.99992181 0.054756 ] [ 0. 0. 0. 1. ]] SLAMing on 322.323133365 meters 0.27082167332634194 Centerline is valid? [False, False] Translation: X:2.99, Y:0.04, Z:0.06 [[ 0.99994579 -0.00336497 -0.00985372 2.98967968] [ 0.00332211 0.99998497 -0.00436242 0.03529677] [ 0.00986825 0.00432945 0.99994194 0.05636249] [ 0. 0. 0. 1. ]] SLAMing on 322.383133365 meters 0.2702027123630712 Centerline is valid? [False, False] Translation: X:2.99, Y:0.04, Z:0.06 [[ 9.99950837e-01 7.54441086e-04 -9.88705693e-03 2.98994552e+00] [-7.60709508e-04 9.99999512e-01 -6.30257442e-04 3.77641109e-02] [ 9.88657662e-03 6.37747635e-04 9.99950923e-01 5.60138369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.443133365 meters 0.2719518643978162 Centerline is valid? [False, False] Translation: X:2.99, Y:0.04, Z:0.06 [[ 9.99951837e-01 4.47181605e-04 -9.80422647e-03 2.99016731e+00] [-4.61722236e-04 9.99998797e-01 -1.48088496e-03 4.11191978e-02] [ 9.80355245e-03 1.48534047e-03 9.99950841e-01 5.51691223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.503133365 meters 0.2689984541165303 Centerline is valid? [False, False] Translation: X:2.99, Y:0.05, Z:0.05 [[ 9.99952422e-01 2.28929273e-05 -9.75469968e-03 2.99056615e+00] [-4.90878905e-05 9.99996394e-01 -2.68513753e-03 4.59478231e-02] [ 9.75460304e-03 2.68548861e-03 9.99948817e-01 5.42283890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.563133365 meters 0.271179735168287 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:0.05 [[ 9.99962003e-01 -3.61705827e-03 -7.93160905e-03 3.01244026e+00] [ 3.62224229e-03 9.99993235e-01 6.39321406e-04 4.97593120e-02] [ 7.92924293e-03 -6.68027323e-04 9.99968340e-01 5.37396191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.623133365 meters 0.2711642115799616 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:0.05 [[ 9.99961520e-01 -3.78223736e-03 -7.91537855e-03 3.01263913e+00] [ 3.78427901e-03 9.99992810e-01 2.42972672e-04 5.13670990e-02] [ 7.91440266e-03 -2.72917323e-04 9.99968643e-01 5.32568270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.683133365 meters 0.27143701677351256 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:0.05 [[ 9.99960239e-01 -4.10959991e-03 -7.91401679e-03 3.01307033e+00] [ 4.10545494e-03 9.99991427e-01 -5.39924440e-04 5.45755547e-02] [ 7.91616782e-03 5.07412333e-04 9.99968538e-01 5.24133703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.743133365 meters 0.27105128130629946 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99959399e-01 -4.36931972e-03 -7.88101127e-03 3.01352788e+00] [ 4.36029669e-03 9.99989819e-01 -1.16172731e-03 5.70903911e-02] [ 7.88600699e-03 1.12731659e-03 9.99968270e-01 5.13559618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.803133365 meters 0.27187169580978243 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99959090e-01 -4.49645303e-03 -7.84859664e-03 3.01386885e+00] [ 4.48505620e-03 9.99988863e-01 -1.46908259e-03 5.82594635e-02] [ 7.85511489e-03 1.43382109e-03 9.99968120e-01 5.04876845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.863133365 meters 0.2719814343217393 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99959489e-01 -4.47635789e-03 -7.80908298e-03 3.01381066e+00] [ 4.46531501e-03 9.99989007e-01 -1.43096987e-03 5.80562092e-02] [ 7.81540266e-03 1.39604188e-03 9.99968485e-01 5.04123833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.923133365 meters 0.27244685124634677 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99959841e-01 -4.49072850e-03 -7.75558159e-03 3.01385166e+00] [ 4.47945603e-03 9.99988886e-01 -1.47022532e-03 5.81732828e-02] [ 7.76209778e-03 1.43542549e-03 9.99968844e-01 5.00602375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98313336499996 meters 0.27368201678574317 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99958622e-01 -4.75885788e-03 -7.75297027e-03 3.01444175e+00] [ 4.74143051e-03 9.99986195e-01 -2.26466295e-03 6.12325036e-02] [ 7.76364045e-03 2.22780907e-03 9.99967381e-01 4.87843887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04313336499996 meters 0.2721777369234885 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:0.05 [[ 9.99969499e-01 -7.52295040e-04 -7.77406615e-03 3.01484256e+00] [ 7.61804142e-04 9.99998965e-01 1.22029373e-03 6.46206534e-02] [ 7.77314009e-03 -1.22617883e-03 9.99969037e-01 4.80987295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10313336499996 meters 0.2737945583486356 Centerline is valid? [False, False] Translation: X:3.02, Y:0.07, Z:0.05 [[ 9.99969764e-01 -1.16578130e-03 -7.68847253e-03 3.01520340e+00] [ 1.16551758e-03 9.99999320e-01 -3.87820130e-05 6.97259979e-02] [ 7.68851251e-03 2.98197905e-05 9.99970443e-01 4.70165099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16313336499996 meters 0.2716639058259212 Centerline is valid? [False, False] Translation: X:2.99, Y:0.08, Z:0.05 [[ 9.99937234e-01 6.55288661e-03 -9.08782219e-03 2.99334860e+00] [-6.56257826e-03 9.99977928e-01 -1.03703283e-03 7.73059974e-02] [ 9.08082605e-03 1.09660729e-03 9.99958167e-01 4.67519443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22313336499997 meters 0.27477878579264564 Centerline is valid? [False, False] Translation: X:3.01, Y:0.09, Z:0.05 [[ 9.99954378e-01 -4.24214210e-04 -9.54263976e-03 3.01169131e+00] [ 4.09655316e-04 9.99998749e-01 -1.52757023e-03 9.12731410e-02] [ 9.54327584e-03 1.52359134e-03 9.99953301e-01 4.81021016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28313336499997 meters 0.27192649912641004 Centerline is valid? [False, False] Translation: X:3.01, Y:0.10, Z:0.05 [[ 9.99966861e-01 8.37300326e-04 -8.09788901e-03 3.00697294e+00] [-8.51731155e-04 9.99998055e-01 -1.77876381e-03 1.03735185e-01] [ 8.09638390e-03 1.78560209e-03 9.99965630e-01 4.98601713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34313336499997 meters 0.26996360708943595 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:0.05 [[ 9.99955496e-01 -6.57625662e-03 -6.76460234e-03 2.98453935e+00] [ 6.57822281e-03 9.99978327e-01 2.68450135e-04 1.13273688e-01] [ 6.76269034e-03 -3.12937249e-04 9.99977084e-01 4.99198749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.403133365 meters 0.2714005873739484 Centerline is valid? [False, False] Translation: X:3.00, Y:0.12, Z:0.05 [[ 9.99978300e-01 2.71924956e-03 -6.00043947e-03 3.00444521e+00] [-2.73208002e-03 9.99993997e-01 -2.13109453e-03 1.17399609e-01] [ 5.99460847e-03 2.14744197e-03 9.99979726e-01 4.86901524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.463133365 meters 0.27106891689000995 Centerline is valid? [False, False] Translation: X:3.00, Y:0.12, Z:0.05 [[ 9.99979254e-01 2.38680203e-03 -5.98282907e-03 3.00471266e+00] [-2.40405805e-03 9.99992967e-01 -2.87872861e-03 1.20493178e-01] [ 5.97591603e-03 2.89305196e-03 9.99977959e-01 4.81068136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.523133365 meters 0.2721918393326015 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:0.05 [[ 9.99983249e-01 -1.74492906e-03 -5.51876444e-03 3.02851096e+00] [ 1.74322940e-03 9.99998432e-01 -3.12772776e-04 1.28962094e-01] [ 5.51930155e-03 3.03147064e-04 9.99984723e-01 4.69394748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.583133365 meters 0.2700785146411892 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:0.04 [[ 9.99990798e-01 -2.00714556e-03 -3.79143716e-03 2.99059139e+00] [ 2.00984359e-03 9.99997730e-01 7.07937069e-04 1.34014867e-01] [ 3.79000762e-03 -7.15550750e-04 9.99992562e-01 4.28509562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.643133365 meters 0.2705815062110015 Centerline is valid? [False, False] Translation: X:2.99, Y:0.14, Z:0.04 [[ 9.99990521e-01 -2.32828188e-03 -3.67938675e-03 2.99083992e+00] [ 2.32703159e-03 9.99997233e-01 -3.44051873e-04 1.38093948e-01] [ 3.68017762e-03 3.35486563e-04 9.99993172e-01 4.17979582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.703133365 meters 0.2735738738096255 Centerline is valid? [False, False] Translation: X:3.03, Y:0.16, Z:0.04 [[ 9.99992374e-01 1.48039122e-03 -3.61381499e-03 3.03443704e+00] [-1.48439101e-03 9.99998288e-01 -1.10437342e-03 1.57449582e-01] [ 3.61217390e-03 1.10972932e-03 9.99992860e-01 3.99864400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.763133365 meters 0.2720813710630453 Centerline is valid? [False, False] Translation: X:3.01, Y:0.17, Z:0.04 [[ 9.99972782e-01 -5.13291873e-03 -5.29978711e-03 3.01414847e+00] [ 5.13819877e-03 9.99986316e-01 9.83139581e-04 1.67548768e-01] [ 5.29466821e-03 -1.01034418e-03 9.99985473e-01 3.95994986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.823133365 meters 0.27207470906270614 Centerline is valid? [False, False] Translation: X:3.01, Y:0.18, Z:0.04 [[ 9.99984725e-01 -1.89993420e-03 -5.19029022e-03 3.01494030e+00] [ 1.91157506e-03 9.99995667e-01 2.23877568e-03 1.81648120e-01] [ 5.18601420e-03 -2.24866311e-03 9.99984024e-01 3.77459389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.883133365 meters 0.2738826136801914 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.04 [[ 9.99984531e-01 -2.52662336e-03 -4.95525842e-03 3.01471461e+00] [ 2.53045457e-03 9.99996504e-01 7.67042249e-04 1.87803993e-01] [ 4.95330307e-03 -7.79569439e-04 9.99987428e-01 3.71208967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.943133365 meters 0.2717460949031458 Centerline is valid? [False, False] Translation: X:3.01, Y:0.19, Z:0.04 [[ 9.99984055e-01 -3.03562595e-03 -4.76178130e-03 3.01452287e+00] [ 3.03431842e-03 9.99995357e-01 -2.81788908e-04 1.92254998e-01] [ 4.76261460e-03 2.67335655e-04 9.99988623e-01 3.65670196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.003133365 meters 0.27061199157466526 Centerline is valid? [False, False] Translation: X:3.00, Y:0.20, Z:0.04 [[ 9.99969195e-01 4.54089932e-03 -6.40227633e-03 2.99541387e+00] [-4.55554602e-03 9.99987036e-01 -2.27500980e-03 1.96025369e-01] [ 6.39186274e-03 2.30410559e-03 9.99976917e-01 3.57527486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.063133365 meters 0.2710265306504927 Centerline is valid? [False, False] Translation: X:3.00, Y:0.20, Z:0.03 [[ 0.99997026 0.00418933 -0.00647532 2.99607094] [-0.00420973 0.99998621 -0.00314023 0.19940336] [ 0.00646208 0.00316739 0.9999741 0.03474515] [ 0. 0. 0. 1. ]] SLAMing on 324.123133365 meters 0.2719237733479144 Centerline is valid? [False, False] Translation: X:3.01, Y:0.21, Z:0.04 [[ 9.99973678e-01 -2.98712461e-03 -6.61220327e-03 3.01477133e+00] [ 2.97066541e-03 9.99992468e-01 -2.49763824e-03 2.08722543e-01] [ 6.61961423e-03 2.47792985e-03 9.99975020e-01 3.65901249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.183133365 meters 0.2715337538371944 Centerline is valid? [False, False] Translation: X:2.99, Y:0.21, Z:0.04 [[ 0.99995219 0.00523637 -0.0082578 2.993798 ] [-0.00526547 0.99997999 -0.00350528 0.21423188] [ 0.00823928 0.00354859 0.99995976 0.03622739] [ 0. 0. 0. 1. ]] SLAMing on 324.243133365 meters 0.27197585856952144 Centerline is valid? [False, False] Translation: X:3.01, Y:0.23, Z:0.04 [[ 9.99943456e-01 -1.71041502e-03 -1.04956687e-02 3.01443712e+00] [ 1.67058233e-03 9.99991374e-01 -3.80274964e-03 2.29389920e-01] [ 1.05020824e-02 3.78500074e-03 9.99937688e-01 3.71387264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.303133365 meters 0.27089526704039024 Centerline is valid? [False, False] Translation: X:3.01, Y:0.24, Z:0.04 [[ 9.99954936e-01 3.28672405e-04 -9.48774357e-03 3.00993739e+00] [-3.54819886e-04 9.99996144e-01 -2.75437032e-03 2.36642168e-01] [ 9.48680170e-03 2.75761264e-03 9.99951197e-01 3.99235603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.363133365 meters 0.2703064394270085 Centerline is valid? [False, False] Translation: X:3.01, Y:0.24, Z:0.04 [[ 9.99962395e-01 2.05884917e-03 -8.42441075e-03 3.00500451e+00] [-2.07646595e-03 9.99995675e-01 -2.08294619e-03 2.44701192e-01] [ 8.42008584e-03 2.10036086e-03 9.99962345e-01 4.31332055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.423133365 meters 0.2686489579448483 Centerline is valid? [False, False] Translation: X:2.99, Y:0.25, Z:0.04 [[ 9.99939345e-01 -6.50399333e-03 -8.88845310e-03 2.98638253e+00] [ 6.49322067e-03 9.99978150e-01 -1.24030470e-03 2.52543198e-01] [ 8.89632582e-03 1.18251478e-03 9.99959728e-01 4.08617074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48313336499996 meters 0.2715839283038543 Centerline is valid? [False, False] Translation: X:3.01, Y:0.26, Z:0.04 [[ 9.99969841e-01 2.08945354e-03 -7.48006104e-03 3.00632067e+00] [-2.11438095e-03 9.99992233e-01 -3.32615869e-03 2.57823146e-01] [ 7.47305309e-03 3.34187408e-03 9.99966492e-01 4.15428428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54313336499996 meters 0.27190873518355074 Centerline is valid? [False, False] Translation: X:3.03, Y:0.26, Z:0.04 [[ 9.99982388e-01 -2.30949390e-03 -5.46720614e-03 3.02755226e+00] [ 2.30975319e-03 9.99997332e-01 4.11131987e-05 2.62473217e-01] [ 5.46709660e-03 -5.37403714e-05 9.99985054e-01 4.18313521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60313336499996 meters 0.27099183413378314 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.04 [[ 9.99982469e-01 -2.61300553e-03 -5.31360387e-03 3.02724048e+00] [ 2.60910119e-03 9.99996321e-01 -7.41580680e-04 2.65700937e-01] [ 5.31552208e-03 7.27703949e-04 9.99985608e-01 4.16741043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66313336499996 meters 0.2711717789233595 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.04 [[ 9.99981243e-01 -3.02929503e-03 -5.32317782e-03 3.02774587e+00] [ 3.01982245e-03 9.99993844e-01 -1.78663483e-03 2.69984560e-01] [ 5.32855730e-03 1.77052627e-03 9.99984236e-01 4.07485576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72313336499997 meters 0.27148337134881384 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.04 [[ 9.99980231e-01 -3.16661837e-03 -5.43239922e-03 3.02789494e+00] [ 3.15510558e-03 9.99992762e-01 -2.12654592e-03 2.71388855e-01] [ 5.43909386e-03 2.10936409e-03 9.99982983e-01 4.09602671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78313336499997 meters 0.272056773739978 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.04 [[ 9.99980243e-01 -3.26228400e-03 -5.37310000e-03 3.02772321e+00] [ 3.24959392e-03 9.99991914e-01 -2.36881798e-03 2.72365610e-01] [ 5.38078431e-03 2.35131079e-03 9.99982759e-01 4.10196166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84313336499997 meters 0.2706736671110415 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:0.04 [[ 9.99980140e-01 -3.33415351e-03 -5.34812717e-03 3.02766359e+00] [ 3.32058131e-03 9.99991249e-01 -2.54462272e-03 2.73091387e-01] [ 5.35656453e-03 2.52681329e-03 9.99982461e-01 4.10198126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.903133365 meters 0.2694477245405319 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:0.04 [[ 0.99997348 0.00446276 -0.00575492 3.00769286] [-0.00448423 0.99998302 -0.00372292 0.27113459] [ 0.0057382 0.00374863 0.99997651 0.03968264] [ 0. 0. 0. 1. ]] SLAMing on 324.963133365 meters 0.2698779493285808 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:0.04 [[ 0.99997404 0.00426168 -0.00581002 3.00797064] [-0.00428717 0.9999812 -0.00438307 0.27372723] [ 0.00579123 0.00440786 0.99997352 0.03934749] [ 0. 0. 0. 1. ]] SLAMing on 325.023133365 meters 0.2701872961386925 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:0.04 [[ 0.99997438 0.0041212 -0.00585274 3.00816229] [-0.0041492 0.99997997 -0.00478051 0.27532944] [ 0.00583292 0.00480467 0.99997145 0.03912334] [ 0. 0. 0. 1. ]] SLAMing on 325.083133365 meters 0.2704000091421838 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:0.04 [[ 0.99997464 0.00388779 -0.00596745 3.00867375] [-0.00392118 0.99997667 -0.00559291 0.27846833] [ 0.00594557 0.00561617 0.99996655 0.03853799] [ 0. 0. 0. 1. ]] SLAMing on 325.143133365 meters 0.2707089908956166 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:0.04 [[ 0.99997918 0.00353925 -0.00539559 3.00763481] [-0.0035771 0.99996895 -0.00702228 0.28391012] [ 0.00537057 0.00704144 0.99996079 0.03805173] [ 0. 0. 0. 1. ]] SLAMing on 325.203133365 meters 0.27087445165829216 Centerline is valid? [False, False] Translation: X:3.01, Y:0.29, Z:0.04 [[ 0.99998203 0.00323168 -0.005049 3.00670218] [-0.00327181 0.99996296 -0.00796128 0.28777118] [ 0.00502308 0.00797766 0.99995556 0.03831623] [ 0. 0. 0. 1. ]] SLAMing on 325.263133365 meters 0.2717195659269367 Centerline is valid? [False, False] Translation: X:3.02, Y:0.30, Z:0.04 [[ 0.99998278 -0.00432448 -0.00396841 3.02433251] [ 0.00429526 0.99996382 -0.00734167 0.29758468] [ 0.00400002 0.00732449 0.99996518 0.04047964] [ 0. 0. 0. 1. ]] SLAMing on 325.323133365 meters 0.27109498850387914 Centerline is valid? [False, False] Translation: X:3.02, Y:0.30, Z:0.04 [[ 9.99991159e-01 -3.42978951e-04 -4.19104131e-03 3.02496647e+00] [ 3.26073777e-04 9.99991812e-01 -4.03366315e-03 3.01322468e-01] [ 4.19239045e-03 4.03226090e-03 9.99983082e-01 4.01265759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.383133365 meters 0.27037748309027987 Centerline is valid? [False, False] Translation: X:3.03, Y:0.31, Z:0.04 [[ 9.99990638e-01 -7.41491504e-04 -4.26310823e-03 3.02524523e+00] [ 7.20105947e-04 9.99987162e-01 -5.01577190e-03 3.05408171e-01] [ 4.26677265e-03 5.01265505e-03 9.99978334e-01 3.98399708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.443133365 meters 0.2711169854724889 Centerline is valid? [False, False] Translation: X:3.05, Y:0.31, Z:0.04 [[ 9.99979830e-01 -5.39274056e-03 -3.35515715e-03 3.04808525e+00] [ 5.38713977e-03 9.99984085e-01 -1.67611303e-03 3.10931563e-01] [ 3.36414260e-03 1.65800452e-03 9.99992967e-01 3.91075962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.503133365 meters 0.27160051650888883 Centerline is valid? [False, False] Translation: X:3.04, Y:0.31, Z:0.04 [[ 9.99990866e-01 -3.74824427e-03 -2.05403373e-03 3.04253063e+00] [ 3.74773258e-03 9.99992945e-01 -2.52910578e-04 3.12969096e-01] [ 2.05496721e-03 2.45210299e-04 9.99997858e-01 4.23910763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.563133365 meters 0.272599168812065 Centerline is valid? [False, False] Translation: X:3.06, Y:0.32, Z:0.04 [[ 9.99988509e-01 4.78207417e-03 -3.35778556e-04 3.06238363e+00] [-4.78278410e-03 9.99986259e-01 -2.14633220e-03 3.18638612e-01] [ 3.25510023e-04 2.14791349e-03 9.99997640e-01 4.26640213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.623133365 meters 0.2708094601743003 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.04 [[ 9.99995849e-01 -1.16668190e-03 -2.63439124e-03 3.04111611e+00] [ 1.16844993e-03 9.99999093e-01 6.69691909e-04 3.21857484e-01] [ 2.63360753e-03 -6.72767284e-04 9.99996306e-01 4.30517411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.683133365 meters 0.27122078829803586 Centerline is valid? [False, False] Translation: X:3.04, Y:0.32, Z:0.04 [[ 9.99995233e-01 -1.47227654e-03 -2.71428204e-03 3.04141366e+00] [ 1.47204341e-03 9.99998913e-01 -8.78834724e-05 3.24999596e-01] [ 2.71440848e-03 8.38875124e-05 9.99996312e-01 4.27589276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.743133365 meters 0.27080837890822695 Centerline is valid? [False, False] Translation: X:3.04, Y:0.33, Z:0.04 [[ 9.99994842e-01 -1.86859762e-03 -2.61231909e-03 3.04096713e+00] [ 1.86581676e-03 9.99997691e-01 -1.06654901e-03 3.29099707e-01] [ 2.61430601e-03 1.06166940e-03 9.99996019e-01 4.31130322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.803133365 meters 0.27235541421224757 Centerline is valid? [False, False] Translation: X:3.05, Y:0.33, Z:0.04 [[ 9.99993840e-01 7.59404399e-04 -3.42688927e-03 3.04500701e+00] [-7.56825350e-04 9.99999429e-01 7.53825886e-04 3.34814573e-01] [ 3.42745978e-03 -7.51227686e-04 9.99993844e-01 4.02917776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.863133365 meters 0.2718996694845919 Centerline is valid? [False, False] Translation: X:3.05, Y:0.34, Z:0.04 [[ 9.99993684e-01 4.27544557e-04 -3.52834561e-03 3.04546153e+00] [-4.27862629e-04 9.99999904e-01 -8.93931227e-05 3.38331103e-01] [ 3.52830705e-03 9.09022053e-05 9.99993771e-01 3.97772642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.923133365 meters 0.2719896533808979 Centerline is valid? [False, False] Translation: X:3.05, Y:0.35, Z:0.04 [[ 9.99994191e-01 -1.72085909e-04 -3.40420513e-03 3.04515762e+00] [ 1.65992377e-04 9.99998384e-01 -1.79020308e-03 3.45368939e-01] [ 3.40450770e-03 1.78962761e-03 9.99992603e-01 3.96829068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98313336499996 meters 0.2721248853648981 Centerline is valid? [False, False] Translation: X:3.04, Y:0.35, Z:0.04 [[ 9.99994409e-01 -6.88081056e-04 -3.27242094e-03 3.04490342e+00] [ 6.77615620e-04 9.99994656e-01 -3.19810575e-03 3.51075834e-01] [ 3.27460401e-03 3.19587043e-03 9.99989532e-01 3.95506394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04313336499996 meters 0.27281474949488776 Centerline is valid? [False, False] Translation: X:3.05, Y:0.36, Z:0.04 [[ 9.99989097e-01 1.47792211e-03 -4.42964493e-03 3.04999203e+00] [-1.48714566e-03 9.99996732e-01 -2.07966260e-03 3.58665268e-01] [ 4.42655687e-03 2.08622746e-03 9.99988027e-01 3.62124704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10313336499996 meters 0.27146292196074173 Centerline is valid? [False, False] Translation: X:3.05, Y:0.36, Z:0.04 [[ 9.99990632e-01 9.34856199e-04 -4.22622791e-03 3.04928283e+00] [-9.48580920e-04 9.99994280e-01 -3.24667376e-03 3.63570167e-01] [ 4.22316856e-03 3.25065227e-03 9.99985799e-01 3.65075829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16313336499996 meters 0.27170200397459726 Centerline is valid? [False, False] Translation: X:3.05, Y:0.37, Z:0.04 [[ 9.99991988e-01 7.32473723e-04 -3.93538555e-03 3.04815579e+00] [-7.47331622e-04 9.99992594e-01 -3.77531913e-03 3.65862137e-01] [ 3.93259109e-03 3.77822992e-03 9.99985130e-01 3.74776155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22313336499997 meters 0.2709109294735126 Centerline is valid? [False, False] Translation: X:3.03, Y:0.37, Z:0.04 [[ 0.99995931 -0.00835336 -0.0034063 3.02629213] [ 0.00834046 0.99995806 -0.00378425 0.37124132] [ 0.00343776 0.00375568 0.99998704 0.0367058 ] [ 0. 0. 0. 1. ]] SLAMing on 326.28313336499997 meters 0.27038429328046465 Centerline is valid? [False, False] Translation: X:3.03, Y:0.37, Z:0.04 [[ 9.99985616e-01 -4.20994916e-03 -3.32325594e-03 3.02566741e+00] [ 4.20985244e-03 9.99991138e-01 -3.60990820e-05 3.73092560e-01] [ 3.32337846e-03 2.21081457e-05 9.99994477e-01 3.74389415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34313336499997 meters 0.27087893288865594 Centerline is valid? [False, False] Translation: X:3.03, Y:0.38, Z:0.03 [[ 9.99986147e-01 -2.30534628e-03 -4.73187824e-03 3.03099422e+00] [ 2.31261361e-03 9.99996154e-01 1.53092526e-03 3.75570137e-01] [ 4.72833073e-03 -1.54184706e-03 9.99987633e-01 3.47130936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.403133365 meters 0.2735707069368004 Centerline is valid? [False, False] Translation: X:3.03, Y:0.38, Z:0.03 [[ 9.99985206e-01 -2.82435022e-03 -4.64882740e-03 3.03090224e+00] [ 2.82564699e-03 9.99995971e-01 2.72401380e-04 3.80762050e-01] [ 4.64803931e-03 -2.85533295e-04 9.99989157e-01 3.44325888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.463133365 meters 0.2724433257692184 Centerline is valid? [False, False] Translation: X:3.03, Y:0.38, Z:0.04 [[ 9.99985167e-01 -3.10072281e-03 -4.47796213e-03 3.03008634e+00] [ 3.09903156e-03 9.99995124e-01 -3.84573092e-04 3.83647647e-01] [ 4.47913275e-03 3.70690042e-04 9.99989900e-01 3.52235294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.523133365 meters 0.270425992045974 Centerline is valid? [False, False] Translation: X:3.03, Y:0.38, Z:0.04 [[ 9.99985616e-01 -3.13628466e-03 -4.35094325e-03 3.02974210e+00] [ 3.13427976e-03 9.99994979e-01 -4.67540269e-04 3.83993827e-01] [ 4.35238774e-03 4.53896471e-04 9.99990425e-01 3.53102507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.583133365 meters 0.2724937813774919 Centerline is valid? [False, False] Translation: X:3.03, Y:0.39, Z:0.03 [[ 9.99984443e-01 -3.25999527e-03 -4.52617882e-03 3.03062471e+00] [ 3.25632466e-03 9.99994364e-01 -8.18106288e-04 3.85345296e-01] [ 4.52882033e-03 8.03354853e-04 9.99989422e-01 3.40887765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.643133365 meters 0.27195117409150815 Centerline is valid? [False, False] Translation: X:3.03, Y:0.39, Z:0.03 [[ 9.99983704e-01 -3.44764525e-03 -4.55023393e-03 3.03069279e+00] [ 3.44174519e-03 9.99993227e-01 -1.30384379e-03 3.87332111e-01] [ 4.55469830e-03 1.28816180e-03 9.99988798e-01 3.40486895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.703133365 meters 0.2730459987204047 Centerline is valid? [False, False] Translation: X:3.03, Y:0.39, Z:0.03 [[ 9.99983411e-01 -3.77386168e-03 -4.35155758e-03 3.03023057e+00] [ 3.76356928e-03 9.99990107e-01 -2.37099096e-03 3.91552550e-01] [ 4.36046232e-03 2.35457424e-03 9.99987721e-01 3.40241157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.763133365 meters 0.27284018531536197 Centerline is valid? [False, False] Translation: X:3.03, Y:0.40, Z:0.03 [[ 0.99998113 -0.00406829 -0.00460313 3.03112132] [ 0.00405337 0.99998652 -0.00324619 0.39517989] [ 0.00461627 0.00322747 0.99998414 0.03335921] [ 0. 0. 0. 1. ]] SLAMing on 326.823133365 meters 0.27269488596741626 Centerline is valid? [False, False] Translation: X:3.04, Y:0.40, Z:0.03 [[ 9.99982067e-01 -1.80964428e-03 -5.70880841e-03 3.03636305e+00] [ 1.80003317e-03 9.99996955e-01 -1.68824695e-03 4.00556903e-01] [ 5.71184615e-03 1.67794063e-03 9.99982280e-01 2.98588466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.883133365 meters 0.2727437757978418 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:0.02 [[ 9.99989891e-01 -1.14348278e-03 -4.34867294e-03 2.99967996e+00] [ 1.13421548e-03 9.99997082e-01 -2.13293314e-03 4.04589151e-01] [ 4.35109923e-03 2.12797924e-03 9.99988270e-01 2.47562582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.943133365 meters 0.27386270119335876 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:0.02 [[ 9.99989231e-01 -1.35946038e-03 -4.43722407e-03 3.00015006e+00] [ 1.34775092e-03 9.99995605e-01 -2.64083975e-03 4.06703778e-01] [ 4.44079468e-03 2.63483104e-03 9.99986668e-01 2.42093088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.003133365 meters 0.27189302616680744 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:0.02 [[ 9.99988398e-01 -1.53718262e-03 -4.56524545e-03 3.00064240e+00] [ 1.52321656e-03 9.99994155e-01 -3.06111725e-03 4.08451399e-01] [ 4.56992426e-03 3.05412788e-03 9.99984894e-01 2.38003521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.063133365 meters 0.272491879660902 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:0.02 [[ 9.99987100e-01 -1.97306751e-03 -4.68038580e-03 3.00080124e+00] [ 1.95422829e-03 9.99989985e-01 -4.02630765e-03 4.12442075e-01] [ 4.68828310e-03 4.01710917e-03 9.99980941e-01 2.39938344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.123133365 meters 0.2730325997425392 Centerline is valid? [False, False] Translation: X:3.00, Y:0.42, Z:0.02 [[ 9.99986858e-01 2.02545515e-03 -4.70962763e-03 3.00093319e+00] [-2.02805633e-03 9.99997794e-01 -5.47601973e-04 4.15978046e-01] [ 4.70850810e-03 5.57146167e-04 9.99988760e-01 2.38426521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.183133365 meters 0.27409747793881784 Centerline is valid? [False, False] Translation: X:3.00, Y:0.42, Z:0.02 [[ 9.99988168e-01 1.58921083e-03 -4.59759558e-03 3.00053894e+00] [-1.59726514e-03 9.99997195e-01 -1.74871149e-03 4.20808705e-01] [ 4.59480362e-03 1.75603438e-03 9.99987902e-01 2.40802715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.243133365 meters 0.27452389068208477 Centerline is valid? [False, False] Translation: X:3.00, Y:0.43, Z:0.03 [[ 9.99989381e-01 7.38014682e-04 -4.54898446e-03 2.99927778e+00] [-7.54574746e-04 9.99993091e-01 -3.63974628e-03 4.30150072e-01] [ 4.54626685e-03 3.64314018e-03 9.99983029e-01 2.58042401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.303133365 meters 0.27265044986529685 Centerline is valid? [False, False] Translation: X:3.00, Y:0.43, Z:0.03 [[ 9.99990201e-01 2.68602556e-04 -4.41871542e-03 2.99906397e+00] [-2.89034486e-04 9.99989268e-01 -4.62396379e-03 4.34320270e-01] [ 4.41742599e-03 4.62519564e-03 9.99979547e-01 2.55549437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.363133365 meters 0.27469004982149403 Centerline is valid? [False, False] Translation: X:3.00, Y:0.44, Z:0.02 [[ 9.99982553e-01 2.09247697e-03 -5.52413112e-03 3.00356531e+00] [-2.11530733e-03 9.99989233e-01 -4.13024024e-03 4.44192698e-01] [ 5.51542921e-03 4.14185341e-03 9.99976212e-01 2.31135474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.423133365 meters 0.2717806826427282 Centerline is valid? [False, False] Translation: X:2.98, Y:0.45, Z:0.02 [[ 9.99984188e-01 -2.77314354e-03 -4.89227776e-03 2.97964975e+00] [ 2.76586046e-03 9.99995058e-01 -1.49482690e-03 4.54844830e-01] [ 4.89639895e-03 1.48127191e-03 9.99986915e-01 2.41633078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48313336499996 meters 0.2738536307599856 Centerline is valid? [False, False] Translation: X:3.00, Y:0.46, Z:0.02 [[ 9.99986514e-01 4.74688893e-03 -2.10676979e-03 2.99903995e+00] [-4.75409903e-03 9.99982814e-01 -3.43064082e-03 4.62033723e-01] [ 2.09044871e-03 3.44061035e-03 9.99991896e-01 2.46810096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54313336499996 meters 0.27460275053070815 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.03 [[ 0.99998434 -0.00423691 -0.00365679 3.02137426] [ 0.00422563 0.9999863 -0.00308868 0.46840889] [ 0.00366983 0.00307318 0.99998854 0.02532012] [ 0. 0. 0. 1. ]] SLAMing on 327.60313336499996 meters 0.27549088123720783 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.02 [[ 9.99991968e-01 -2.17503526e-04 -4.00218374e-03 3.02277835e+00] [ 2.19499603e-04 9.99999852e-01 4.98314334e-04 4.70243792e-01] [ 4.00207476e-03 -4.99188809e-04 9.99991867e-01 2.41787962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66313336499996 meters 0.2744267516084532 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.02 [[ 9.99992216e-01 -2.73214331e-04 -3.93617390e-03 3.02252263e+00] [ 2.74602270e-04 9.99999900e-01 3.52075083e-04 4.70812304e-01] [ 3.93607732e-03 -3.53153225e-04 9.99992191e-01 2.43904391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72313336499997 meters 0.27479487855908374 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.02 [[ 9.99992896e-01 -4.08587446e-04 -3.74713234e-03 3.02186330e+00] [ 4.08373364e-04 9.99999915e-01 -5.78971630e-05 4.72487986e-01] [ 3.74715568e-03 5.63665227e-05 9.99992978e-01 2.48836836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78313336499997 meters 0.27519691549169745 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.02 [[ 9.99988558e-01 -3.68667908e-04 -4.76957183e-03 3.02451264e+00] [ 3.66731143e-04 9.99999850e-01 -4.06935166e-04 4.74383225e-01] [ 4.76972113e-03 4.05181359e-04 9.99988543e-01 2.35750862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84313336499997 meters 0.2767252639659342 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99989205e-01 -4.26523975e-04 -4.62691873e-03 3.02425974e+00] [ 4.23887968e-04 9.99999747e-01 -5.70676902e-04 4.75077089e-01] [ 4.62716097e-03 5.68709446e-04 9.99989133e-01 2.33991996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.903133365 meters 0.2764066546266798 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99990633e-01 -4.69146420e-04 -4.30275719e-03 3.02346350e+00] [ 4.66172570e-04 9.99999652e-01 -6.92126902e-04 4.75558900e-01] [ 4.30308040e-03 6.90114591e-04 9.99990504e-01 2.35247304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.963133365 meters 0.2746862908328791 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99989602e-01 -5.47179957e-04 -4.52734923e-03 3.02409338e+00] [ 5.43017662e-04 9.99999429e-01 -9.20545218e-04 4.76444038e-01] [ 4.52785035e-03 9.18077215e-04 9.99989328e-01 2.32128732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.023133365 meters 0.2745217443795886 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99989563e-01 -6.28530340e-04 -4.52545737e-03 3.02414385e+00] [ 6.23235525e-04 9.99999120e-01 -1.17132182e-03 4.77452585e-01] [ 4.52618959e-03 1.16848917e-03 9.99989074e-01 2.30723619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.083133365 meters 0.27470378888063945 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99990009e-01 -7.83783621e-04 -4.40089181e-03 3.02390303e+00] [ 7.76286987e-04 9.99998245e-01 -1.70488500e-03 4.79520812e-01] [ 4.40222035e-03 1.70145162e-03 9.99988863e-01 2.29523930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.143133365 meters 0.2757500027723891 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99992171e-01 -9.25284405e-04 -3.84739010e-03 3.02232173e+00] [ 9.16518814e-04 9.99996982e-01 -2.27946057e-03 4.81835945e-01] [ 3.84948764e-03 2.27591652e-03 9.99990001e-01 2.36955896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.203133365 meters 0.2746157925338486 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99992201e-01 -1.09561402e-03 -3.79442578e-03 3.02214880e+00] [ 1.08529799e-03 9.99995713e-01 -2.71972565e-03 4.83641285e-01] [ 3.79738929e-03 2.71558636e-03 9.99989103e-01 2.37587811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.263133365 meters 0.2766910040057547 Centerline is valid? [False, False] Translation: X:3.02, Y:0.48, Z:0.02 [[ 9.99991766e-01 -1.21226055e-03 -3.87267760e-03 3.02248114e+00] [ 1.20058222e-03 9.99994730e-01 -3.01647484e-03 4.84872704e-01] [ 3.87631395e-03 3.01180054e-03 9.99987952e-01 2.34062131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.323133365 meters 0.2758469507000293 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990936e-01 -1.38277933e-03 -4.02697067e-03 3.02285885e+00] [ 1.36899737e-03 9.99993204e-01 -3.42316104e-03 4.86574684e-01] [ 4.03167677e-03 3.41761710e-03 9.99986033e-01 2.33506245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.383133365 meters 0.2757260586644027 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990935e-01 -1.38109228e-03 -4.02772193e-03 3.02278338e+00] [ 1.36729712e-03 9.99993197e-01 -3.42579869e-03 4.86554136e-01] [ 4.03242587e-03 3.42026054e-03 9.99986021e-01 2.35058288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.443133365 meters 0.276133066909268 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99991905e-01 -1.35301256e-03 -3.78934771e-03 3.02206913e+00] [ 1.34033818e-03 9.99993506e-01 -3.34528453e-03 4.86181933e-01] [ 3.79384932e-03 3.34017844e-03 9.99987225e-01 2.39348758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.503133365 meters 0.27641266080279414 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99991669e-01 -1.40680021e-03 -3.83190690e-03 3.02227052e+00] [ 1.39344786e-03 9.99992957e-01 -3.48496444e-03 4.86757823e-01] [ 3.83678256e-03 3.47959584e-03 9.99986586e-01 2.37052085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.563133365 meters 0.2747523213266909 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990871e-01 -1.50187111e-03 -4.00033623e-03 3.02301965e+00] [ 1.48680449e-03 9.99991801e-01 -3.76665350e-03 4.87989267e-01] [ 4.00596046e-03 3.76067140e-03 9.99984905e-01 2.28111133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.623133365 meters 0.2761942754886233 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990850e-01 -1.70537692e-03 -3.92313678e-03 3.02322718e+00] [ 1.68820399e-03 9.99988998e-01 -4.37650375e-03 4.90470123e-01] [ 3.93055721e-03 4.36984066e-03 9.99982727e-01 2.18838127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.683133365 meters 0.2761484791272916 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990009e-01 -1.92178378e-03 -4.03601014e-03 3.02387798e+00] [ 1.90186529e-03 9.99986023e-01 -4.93324505e-03 4.92922302e-01] [ 4.04543436e-03 4.92551981e-03 9.99979687e-01 2.10502172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.743133365 meters 0.27777019863627656 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99990082e-01 -1.93608295e-03 -4.01092115e-03 3.02387029e+00] [ 1.91613130e-03 9.99985803e-01 -4.97221498e-03 4.93075004e-01] [ 4.02049083e-03 4.96448022e-03 9.99979595e-01 2.09397897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.803133365 meters 0.2769648502596564 Centerline is valid? [False, False] Translation: X:3.02, Y:0.49, Z:0.02 [[ 9.99989989e-01 -1.90418248e-03 -4.04914594e-03 3.02398535e+00] [ 1.88434780e-03 9.99986236e-01 -4.89667049e-03 4.92753260e-01] [ 4.05841436e-03 4.88899147e-03 9.99979813e-01 2.08949630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.863133365 meters 0.2760291022191253 Centerline is valid? [False, False] Translation: X:2.99, Y:0.49, Z:0.02 [[ 9.99992560e-01 -1.22120101e-03 -3.65894084e-03 2.98864040e+00] [ 1.20196921e-03 9.99985477e-01 -5.25370831e-03 4.88284777e-01] [ 3.66530353e-03 5.24927129e-03 9.99979505e-01 1.58524845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.923133365 meters 0.2784028887669614 Centerline is valid? [False, False] Translation: X:3.03, Y:0.49, Z:0.02 [[ 9.99998566e-01 -1.49562128e-03 -7.94206395e-04 3.03117820e+00] [ 1.49235271e-03 9.99990480e-01 -4.10028331e-03 4.86884729e-01] [ 8.00331305e-04 4.09909220e-03 9.99991278e-01 1.50191856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98313336499996 meters 0.2759104993548522 Centerline is valid? [False, False] Translation: X:3.03, Y:0.49, Z:0.02 [[ 9.99998905e-01 -1.33218039e-03 -6.43908335e-04 3.03070213e+00] [ 1.32979052e-03 9.99992279e-01 -3.69779143e-03 4.85151467e-01] [ 6.48829488e-04 3.69693112e-03 9.99992956e-01 1.53036512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04313336499996 meters 0.2765946806400084 Centerline is valid? [False, False] Translation: X:3.03, Y:0.48, Z:0.02 [[ 9.99999312e-01 -1.05168994e-03 -5.20112524e-04 3.03028371e+00] [ 1.05011240e-03 9.99994876e-01 -3.02410298e-03 4.82241003e-01] [ 5.23290277e-04 3.02355472e-03 9.99995292e-01 1.56163844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10313336499996 meters 0.2760278924155726 Centerline is valid? [False, False] Translation: X:2.99, Y:0.48, Z:0.01 [[ 9.99999412e-01 1.74605068e-04 1.06987013e-03 2.99212084e+00] [-1.71797609e-04 9.99996543e-01 -2.62364182e-03 4.77044655e-01] [-1.07032453e-03 2.62345648e-03 9.99995986e-01 1.18247097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16313336499996 meters 0.2768991585772429 Centerline is valid? [False, False] Translation: X:3.03, Y:0.48, Z:0.01 [[ 9.99993415e-01 3.28259001e-04 3.61424031e-03 3.03410366e+00] [-3.23121764e-04 9.99998937e-01 -1.42187986e-03 4.75972674e-01] [-3.61470321e-03 1.42070266e-03 9.99992458e-01 1.03575482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22313336499997 meters 0.2780526215674328 Centerline is valid? [False, False] Translation: X:3.03, Y:0.48, Z:0.01 [[ 9.99993587e-01 3.52231858e-04 3.56392449e-03 3.03440347e+00] [-3.47402827e-04 9.99999021e-01 -1.35550394e-03 4.75720758e-01] [-3.56439846e-03 1.35425713e-03 9.99992730e-01 9.95740887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28313336499997 meters 0.2777320251574144 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.01 [[ 9.99994286e-01 -3.30567817e-03 -7.07119119e-04 3.01500133e+00] [ 3.30777232e-03 9.99990086e-01 2.98114546e-03 4.71414536e-01] [ 6.97257401e-04 -2.98346741e-03 9.99995306e-01 9.99804043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34313336499997 meters 0.27860689121971327 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.01 [[ 9.99994328e-01 -3.30213859e-03 -6.63116197e-04 3.01513309e+00] [ 3.30411229e-03 9.99990048e-01 2.99769964e-03 4.71386322e-01] [ 6.53210778e-04 -2.99987364e-03 9.99995287e-01 9.48333766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.403133365 meters 0.2778620985479965 Centerline is valid? [False, False] Translation: X:3.01, Y:0.47, Z:0.01 [[ 9.99994306e-01 -3.32255108e-03 -5.89939652e-04 3.01482894e+00] [ 3.32427486e-03 9.99990137e-01 2.94542878e-03 4.71600642e-01] [ 5.80147495e-04 -2.94737313e-03 9.99995488e-01 9.75392583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.463133365 meters 0.2781262226452456 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.01 [[ 9.99994021e-01 -3.38721974e-03 -6.95781310e-04 3.01523750e+00] [ 3.38914294e-03 9.99990388e-01 2.78176633e-03 4.72284524e-01] [ 6.86352168e-04 -2.78410780e-03 9.99995889e-01 9.39411943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.523133365 meters 0.27941895870301947 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.01 [[ 9.99993313e-01 -3.55577228e-03 -8.54759631e-04 3.01602661e+00] [ 3.55771173e-03 9.99991076e-01 2.27828859e-03 4.74524104e-01] [ 8.46650927e-04 -2.28131434e-03 9.99997039e-01 8.40427278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.583133365 meters 0.27867010235455797 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.01 [[ 9.99986665e-01 4.32318902e-03 -2.82494206e-03 2.99862025e+00] [-4.32253199e-03 9.99990629e-01 2.38645788e-04 4.72746317e-01] [ 2.82594730e-03 -2.26431703e-04 9.99995981e-01 6.20026671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.643133365 meters 0.27931765530859454 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.01 [[ 9.99986727e-01 4.33062401e-03 -2.79128266e-03 2.99850451e+00] [-4.32991963e-03 9.99990592e-01 2.58342730e-04 4.72675895e-01] [ 2.79237519e-03 -2.46253271e-04 9.99996071e-01 6.28460789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.703133365 meters 0.277999536403292 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.01 [[ 9.99986875e-01 4.27604103e-03 -2.82244191e-03 2.99846099e+00] [-4.27564724e-03 9.99990849e-01 1.45538444e-04 4.73221641e-01] [ 2.82303841e-03 -1.33468768e-04 9.99996006e-01 6.51411478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.763133365 meters 0.2800469704528476 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99987432e-01 4.20069918e-03 -2.73676703e-03 2.99901160e+00] [-4.20086972e-03 9.99991175e-01 -5.65679552e-05 4.73862619e-01] [ 2.73650525e-03 6.80640460e-05 9.99996253e-01 4.87611036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.823133365 meters 0.28042299038819973 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99987210e-01 4.11234201e-03 -2.94436336e-03 2.99979649e+00] [-4.11319066e-03 9.99991501e-01 -2.82228608e-04 4.74924863e-01] [ 2.94317772e-03 2.94335726e-04 9.99995626e-01 4.15605199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.883133365 meters 0.27975750862041127 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99986911e-01 4.13851599e-03 -3.00853744e-03 2.99984609e+00] [-4.13918358e-03 9.99991410e-01 -2.15705318e-04 4.74652426e-01] [ 3.00761890e-03 2.28155384e-04 9.99995451e-01 4.38684734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.943133365 meters 0.27955669798141974 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99986583e-01 4.23336255e-03 -2.98550398e-03 2.99963844e+00] [-4.23330388e-03 9.99991039e-01 2.59693746e-05 4.73630295e-01] [ 2.98558717e-03 -1.33304805e-05 9.99995543e-01 4.73548592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.003133365 meters 0.27810826152060253 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99985882e-01 4.33996784e-03 -3.06601436e-03 2.99984084e+00] [-4.33907915e-03 9.99990542e-01 2.96445355e-04 4.72499214e-01] [ 3.06727193e-03 -2.83137490e-04 9.99995256e-01 4.74288140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.063133365 meters 0.2787970550616607 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.01 [[ 9.99985662e-01 4.44699219e-03 -2.98322489e-03 2.99930232e+00] [-4.44525610e-03 9.99989947e-01 5.88329517e-04 4.71196079e-01] [ 2.98581119e-03 -5.75059883e-04 9.99995377e-01 5.55595505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.123133365 meters 0.28032871333205955 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.01 [[ 9.99985731e-01 4.46928143e-03 -2.92630112e-03 2.99917154e+00] [-4.46741360e-03 9.99989813e-01 6.44515950e-04 4.70968744e-01] [ 2.92915184e-03 -6.31433756e-04 9.99995511e-01 5.54716484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.183133365 meters 0.2802890259672746 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99985793e-01 4.45928400e-03 -2.92033868e-03 2.99956246e+00] [-4.45747848e-03 9.99989870e-01 6.24471634e-04 4.71098933e-01] [ 2.92309380e-03 -6.11445415e-04 9.99995541e-01 4.67540521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.243133365 meters 0.27988465960873093 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99985313e-01 4.50064389e-03 -3.01960927e-03 2.99978904e+00] [-4.49848023e-03 9.99989620e-01 7.22943989e-04 4.70673350e-01] [ 3.02283164e-03 -7.09349718e-04 9.99995180e-01 4.72098103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.303133365 meters 0.27949159522626116 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99985345e-01 4.48078841e-03 -3.03862475e-03 2.99979566e+00] [-4.47873628e-03 9.99989738e-01 6.81817311e-04 4.70871554e-01] [ 3.04164865e-03 -6.68198120e-04 9.99995151e-01 4.80527808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.363133365 meters 0.2799137926812825 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99985373e-01 4.55173036e-03 -2.92170660e-03 2.99956332e+00] [-4.54924545e-03 9.99989285e-01 8.56579556e-04 4.70143883e-01] [ 2.92557421e-03 -8.43275466e-04 9.99995365e-01 4.71572077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.423133365 meters 0.2784793884163919 Centerline is valid? [False, False] Translation: X:3.00, Y:0.47, Z:0.00 [[ 9.99984524e-01 4.65143214e-03 -3.05212136e-03 2.99991971e+00] [-4.64806938e-03 9.99988584e-01 1.10794560e-03 4.69095991e-01] [ 3.05724006e-03 -1.09374198e-03 9.99994728e-01 4.65469996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48313336499996 meters 0.2800632550261407 Centerline is valid? [False, False] Translation: X:3.02, Y:0.47, Z:0.00 [[ 9.99982164e-01 -4.76771996e-03 -3.59736524e-03 3.02192041e+00] [ 4.77427199e-03 9.99986956e-01 1.81495748e-03 4.69936813e-01] [ 3.58866511e-03 -1.83209990e-03 9.99991882e-01 4.85014365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54313336499996 meters 0.27835370921205177 Centerline is valid? [False, False] Translation: X:3.00, Y:0.46, Z:0.01 [[ 9.99995310e-01 1.45810135e-03 -2.69344377e-03 2.99874308e+00] [-1.45979450e-03 9.99998738e-01 -6.26763211e-04 4.60377766e-01] [ 2.69252649e-03 6.30692145e-04 9.99996176e-01 6.30212105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60313336499996 meters 0.2795695723639292 Centerline is valid? [False, False] Translation: X:3.00, Y:0.46, Z:0.00 [[ 9.99992719e-01 -8.58830543e-04 -3.71822972e-03 3.00400364e+00] [ 8.49680897e-04 9.99996609e-01 -2.46163418e-03 4.56242888e-01] [ 3.72033124e-03 2.45845694e-03 9.99990058e-01 2.58869212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66313336499996 meters 0.2788771193362801 Centerline is valid? [False, False] Translation: X:3.00, Y:0.45, Z:0.00 [[ 9.99992523e-01 -4.77474924e-04 -3.83753009e-03 3.00479254e+00] [ 4.71520110e-04 9.99998684e-01 -1.55248590e-03 4.52284377e-01] [ 3.83826631e-03 1.55066481e-03 9.99991432e-01 1.70297866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72313336499997 meters 0.27926420859483875 Centerline is valid? [False, False] Translation: X:3.01, Y:0.45, Z:0.00 [[ 9.99992240e-01 -3.77106776e-04 -3.92141395e-03 3.00516940e+00] [ 3.72000926e-04 9.99999082e-01 -1.30269103e-03 4.51217119e-01] [ 3.92190160e-03 1.30122215e-03 9.99991463e-01 1.34825431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78313336499997 meters 0.28140054746688975 Centerline is valid? [False, False] Translation: X:3.05, Y:0.45, Z:-0.00 [[ 9.99993898e-01 -1.12317517e-03 -3.30785001e-03 3.05027568e+00] [ 1.11985481e-03 9.99998867e-01 -1.00546368e-03 4.49929289e-01] [ 3.30897558e-03 1.00175323e-03 9.99994024e-01 -3.18257672e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84313336499997 meters 0.28078328776039335 Centerline is valid? [False, False] Translation: X:3.05, Y:0.45, Z:-0.00 [[ 9.99994690e-01 -1.01242507e-03 -3.09754360e-03 3.04987026e+00] [ 1.01022689e-03 9.99999237e-01 -7.11134154e-04 4.48733363e-01] [ 3.09826120e-03 7.08001156e-04 9.99994950e-01 -4.76930198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.903133365 meters 0.2816710004306722 Centerline is valid? [False, False] Translation: X:3.05, Y:0.45, Z:-0.00 [[ 9.99995040e-01 -9.94778137e-04 -2.98846735e-03 3.04939678e+00] [ 9.92791245e-04 9.99999285e-01 -6.66263205e-04 4.48538118e-01] [ 2.98912800e-03 6.63292976e-04 9.99995313e-01 -9.53890584e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.963133365 meters 0.27889664796931785 Centerline is valid? [False, False] Translation: X:3.05, Y:0.45, Z:0.00 [[ 9.99995033e-01 -9.44494518e-04 -3.00712961e-03 3.04925151e+00] [ 9.42857567e-04 9.99999407e-01 -5.45727870e-04 4.48004237e-01] [ 3.00764327e-03 5.42889864e-04 9.99995330e-01 4.21188583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.023133365 meters 0.2791873752856286 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995473e-01 -6.80584859e-04 -2.93102207e-03 3.04878618e+00] [ 6.81396162e-04 9.99999730e-01 2.75808957e-04 4.44571220e-01] [ 2.93083357e-03 -2.77804896e-04 9.99995667e-01 1.14806553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.083133365 meters 0.2790902227771722 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995583e-01 -4.01998411e-04 -2.94488591e-03 3.04859605e+00] [ 4.05196889e-04 9.99999329e-01 1.08559648e-03 4.41243830e-01] [ 2.94444752e-03 -1.08678495e-03 9.99995075e-01 1.69239745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.143133365 meters 0.27958214882129545 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995044e-01 -8.78459528e-05 -3.14721832e-03 3.04936228e+00] [ 9.36030460e-05 9.99998323e-01 1.82916343e-03 4.38017636e-01] [ 3.14705235e-03 -1.82944895e-03 9.99993375e-01 1.23901650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.203133365 meters 0.27871726553637177 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995308e-01 3.28218817e-06 -3.06316563e-03 3.04940734e+00] [ 3.01716810e-06 9.99997885e-01 2.05647880e-03 4.37057873e-01] [ 3.06316590e-03 -2.05647839e-03 9.99993194e-01 7.38429656e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.263133365 meters 0.28073955751151236 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995779e-01 7.99431743e-05 -2.90440040e-03 3.04873599e+00] [-7.33730341e-05 9.99997439e-01 2.26216920e-03 4.36229942e-01] [ 2.90457380e-03 -2.26194655e-03 9.99993224e-01 1.45422504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.323133365 meters 0.2810260597324483 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99995086e-01 1.84575799e-04 -3.12958082e-03 3.04942814e+00] [-1.76639739e-04 9.99996769e-01 2.53590897e-03 4.35042468e-01] [ 3.13003877e-03 -2.53534370e-03 9.99991887e-01 1.15316836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.383133365 meters 0.27722605715634296 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:0.00 [[ 9.99995808e-01 4.18061824e-04 -2.86528079e-03 3.04860824e+00] [-4.08587160e-04 9.99994450e-01 3.30650226e-03 4.31874410e-01] [ 2.86664721e-03 -3.30531768e-03 9.99990429e-01 1.76450811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.443133365 meters 0.2770928853685385 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:0.00 [[ 9.99996186e-01 5.73430008e-04 -2.70170007e-03 3.04792954e+00] [-5.63322037e-04 9.99992845e-01 3.74061389e-03 4.30045125e-01] [ 2.70382572e-03 -3.73907770e-03 9.99989354e-01 2.55817870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.503133365 meters 0.2765096646338441 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:0.00 [[ 9.99996094e-01 6.09566717e-04 -2.72761752e-03 3.04817369e+00] [-5.99123702e-04 9.99992494e-01 3.82780186e-03 4.29662102e-01] [ 2.72993035e-03 -3.82615273e-03 9.99988954e-01 2.20020912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.563133365 meters 0.2773345786472213 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:0.00 [[ 9.99995873e-01 4.82634029e-04 -2.83222865e-03 3.04853078e+00] [-4.72732185e-04 9.99993778e-01 3.49576026e-03 4.31062037e-01] [ 2.83389820e-03 -3.49440695e-03 9.99989879e-01 1.90199984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.623133365 meters 0.279408602033517 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.00 [[ 9.99978477e-01 6.55845603e-03 1.79393214e-04 3.06961204e+00] [-6.55856856e-03 9.99978291e-01 6.34076093e-04 4.35353204e-01] [-1.75230759e-04 -6.35239009e-04 9.99999783e-01 6.37825720e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.683133365 meters 0.27958043520506415 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.00 [[ 9.99998302e-01 -1.59749855e-03 -9.18319096e-04 3.04906440e+00] [ 1.59872857e-03 9.99997824e-01 1.34025308e-03 4.38115254e-01] [ 9.16176046e-04 -1.34171895e-03 9.99998680e-01 -7.00412525e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.743133365 meters 0.27730460056888445 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99997827e-01 -1.65057534e-03 -1.27368323e-03 3.04982617e+00] [ 1.65210192e-03 9.99997917e-01 1.19843404e-03 4.38667465e-01] [ 1.27170247e-03 -1.20053569e-03 9.99998471e-01 2.86453944e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.803133365 meters 0.2759571600909521 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.00 [[ 9.99997586e-01 -1.54771246e-03 -1.55939584e-03 3.05059854e+00] [ 1.55010138e-03 9.99997625e-01 1.53191246e-03 4.37340701e-01] [ 1.55702118e-03 -1.53432598e-03 9.99997611e-01 -2.39327584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.863133365 meters 0.27863728807423066 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.00 [[ 9.99994864e-01 2.88820491e-03 1.38922961e-03 3.07164800e+00] [-2.88550645e-03 9.99993954e-01 -1.94050789e-03 4.36162769e-01] [-1.39482580e-03 1.93648930e-03 9.99997152e-01 -2.08450107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.923133365 meters 0.27762814034265537 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.00 [[ 9.99986609e-01 -5.08764145e-03 -9.47060327e-04 3.05212343e+00] [ 5.08704272e-03 9.99986860e-01 -6.33535206e-04 4.34095135e-01] [ 9.50271082e-04 6.28708986e-04 9.99999351e-01 -4.11371101e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98313336499996 meters 0.2795226103430685 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.00 [[ 9.99994744e-01 3.06309590e-03 -1.06276633e-03 3.07374934e+00] [-3.06445535e-03 9.99994485e-01 -1.27990267e-03 4.29898370e-01] [ 1.05884000e-03 1.28315275e-03 9.99998616e-01 4.18709680e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04313336499996 meters 0.27784533563657304 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.00 [[ 9.99999478e-01 9.72982190e-04 -3.12831600e-04 3.06964104e+00] [-9.73897643e-04 9.99995205e-01 -2.93963088e-03 4.27367086e-01] [ 3.09969891e-04 2.93993401e-03 9.99995630e-01 3.49014356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10313336499996 meters 0.28011042755353505 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.00 [[ 9.99999597e-01 8.58182326e-04 -2.62855066e-04 3.06952227e+00] [-8.59055020e-04 9.99994059e-01 -3.33813423e-03 4.28924905e-01] [ 2.59988777e-04 3.33835869e-03 9.99994394e-01 3.47285371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16313336499996 meters 0.2778551511096166 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.00 [[ 9.99999745e-01 6.93657020e-04 -1.70673431e-04 3.06909499e+00] [-6.94307060e-04 9.99992392e-01 -3.83856684e-03 4.30952288e-01] [ 1.68009484e-04 3.83868436e-03 9.99992618e-01 3.93439844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22313336499997 meters 0.2797099569320668 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.00 [[ 9.99999760e-01 4.78460576e-04 -5.01717066e-04 3.06994275e+00] [-4.80715908e-04 9.99989738e-01 -4.50478296e-03 4.33708993e-01] [ 4.99556557e-04 4.50502306e-03 9.99989728e-01 3.66571986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28313336499997 meters 0.2786855679632282 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:0.00 [[ 9.99986942e-01 -4.27126268e-03 -2.80558365e-03 3.04877871e+00] [ 4.26830856e-03 9.99990331e-01 -1.05808745e-03 4.37299131e-01] [ 2.81007590e-03 1.04609854e-03 9.99995505e-01 4.24543896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34313336499997 meters 0.28001469128641476 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99993355e-01 3.64285836e-03 1.42799602e-04 3.06746096e+00] [-3.64257711e-03 9.99991517e-01 -1.92269289e-03 4.38113069e-01] [-1.49802489e-04 1.92215995e-03 9.99998141e-01 5.47371592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.403133365 meters 0.2784450796878871 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99993499e-01 3.59763287e-03 2.44932386e-04 3.06699756e+00] [-3.59712502e-03 9.99991443e-01 -2.04322404e-03 4.38630954e-01] [-2.52281060e-04 2.04232970e-03 9.99997883e-01 5.98222680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.463133365 meters 0.2766813791823027 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99993467e-01 3.60980103e-03 1.89590412e-04 3.06716463e+00] [-3.60941297e-03 9.99991468e-01 -2.00874835e-03 4.38498107e-01] [-1.96839976e-04 2.00805091e-03 9.99997964e-01 5.90931039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.523133365 meters 0.2785120493590119 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99993070e-01 3.72250668e-03 4.62654026e-05 3.06741166e+00] [-3.72242292e-03 9.99991635e-01 -1.69505588e-03 4.37193919e-01] [-5.25748725e-05 1.69487191e-03 9.99998562e-01 6.13872807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.583133365 meters 0.27675801719708 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99992717e-01 3.81615774e-03 4.87665860e-05 3.06719885e+00] [-3.81608339e-03 9.99991677e-01 -1.44316436e-03 4.36145934e-01] [-5.42735229e-05 1.44296775e-03 9.99998957e-01 6.62373723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.643133365 meters 0.27627896014793385 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.01 [[ 9.99992490e-01 3.87532765e-03 4.06167152e-05 3.06715648e+00] [-3.87527198e-03 9.99991658e-01 -1.29115529e-03 4.35508894e-01] [-4.56200261e-05 1.29098819e-03 9.99999166e-01 6.77624448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.703133365 meters 0.2768848987836005 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.01 [[ 9.99992255e-01 3.93549851e-03 2.82043625e-05 3.06707992e+00] [-3.93546410e-03 9.99991617e-01 -1.13085670e-03 4.34854443e-01] [-3.26546109e-05 1.13073694e-03 9.99999360e-01 7.03198582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.763133365 meters 0.27643431836765875 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:0.01 [[ 9.99988698e-01 -4.59854831e-03 1.20753211e-03 3.08558955e+00] [ 4.59855290e-03 9.99989427e-01 -1.02834450e-06 4.38857714e-01] [-1.20751462e-03 6.58123318e-06 9.99999271e-01 8.29558576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.823133365 meters 0.27612825800356544 Centerline is valid? [False, False] Translation: X:3.06, Y:0.43, Z:0.01 [[ 9.99990684e-01 4.09047925e-03 1.37808964e-03 3.06494495e+00] [-4.08950630e-03 9.99991387e-01 -7.08095218e-04 4.33507286e-01] [-1.38097422e-03 7.02452915e-04 9.99998800e-01 7.79740618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.883133365 meters 0.27828998133344623 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.01 [[ 9.99990730e-01 4.12155442e-03 1.24629678e-03 3.06530386e+00] [-4.12078210e-03 9.99991316e-01 -6.21631499e-04 4.33153683e-01] [-1.24884805e-03 6.16490019e-04 9.99999030e-01 7.70096340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.943133365 meters 0.2788328723118796 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:0.01 [[ 9.99987764e-01 -4.94677836e-03 -2.20682013e-05 3.08652324e+00] [ 4.94677428e-03 9.99987748e-01 -1.81302177e-04 4.38165964e-01] [ 2.29647926e-05 1.81190792e-04 9.99999983e-01 8.25846925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.003133365 meters 0.2768256153405647 Centerline is valid? [False, False] Translation: X:3.06, Y:0.44, Z:0.01 [[ 9.99990853e-01 4.21067654e-03 7.50984922e-04 3.06455469e+00] [-4.21006801e-03 9.99990810e-01 -8.10057802e-04 4.36310864e-01] [-7.54388912e-04 8.06888695e-04 9.99999390e-01 8.16566874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.063133365 meters 0.2751698101980542 Centerline is valid? [False, False] Translation: X:3.06, Y:0.44, Z:0.01 [[ 9.99990758e-01 4.25127481e-03 6.41146707e-04 3.06434203e+00] [-4.25082230e-03 9.99990716e-01 -7.05493048e-04 4.35855039e-01] [-6.44140000e-04 7.02761127e-04 9.99999546e-01 9.20072467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.123133365 meters 0.2768441048513512 Centerline is valid? [False, False] Translation: X:3.06, Y:0.43, Z:0.01 [[ 9.99990459e-01 4.33916969e-03 5.03755715e-04 3.06480113e+00] [-4.33893379e-03 9.99990477e-01 -4.68421986e-04 4.34859051e-01] [-5.05783480e-04 4.66231754e-04 9.99999763e-01 8.89009746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.183133365 meters 0.2779611055185962 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:0.01 [[ 9.99986996e-01 -5.07334447e-03 5.18267174e-04 3.08657122e+00] [ 5.07341496e-03 9.99987121e-01 -1.34788292e-04 4.36596039e-01] [-5.17576672e-04 1.37415923e-04 9.99999857e-01 8.28735664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.243133365 meters 0.2769322768853644 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:0.01 [[ 9.99988205e-01 -4.83305826e-03 4.80912888e-04 3.08625062e+00] [ 4.83282245e-03 9.99988202e-01 4.90304701e-04 4.33929297e-01] [-4.83276885e-04 -4.87974751e-04 9.99999764e-01 9.30617318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.303133365 meters 0.2771345946059943 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:0.01 [[ 9.99989071e-01 -4.65191262e-03 4.65972470e-04 3.08600786e+00] [ 4.65147217e-03 9.99988738e-01 9.41906932e-04 4.32020765e-01] [-4.70348891e-04 -9.39729180e-04 9.99999448e-01 9.97271580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.363133365 meters 0.2751633856909275 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:0.01 [[ 9.99990067e-01 -4.42307122e-03 5.50430236e-04 3.08559981e+00] [ 4.42222524e-03 9.99989053e-01 1.52878035e-03 4.29545547e-01] [-5.57186115e-04 -1.52633104e-03 9.99998680e-01 1.05393324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.423133365 meters 0.2757981029233491 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.01 [[ 9.99990626e-01 2.91906614e-03 3.19800852e-03 3.10296979e+00] [-2.92108724e-03 9.99995537e-01 6.27496334e-04 4.21796008e-01] [-3.19616255e-03 -6.36832114e-04 9.99994689e-01 1.24427249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48313336499996 meters 0.2771183176190364 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.02 [[ 9.99990829e-01 8.68351492e-04 4.19369365e-03 3.09793773e+00] [-8.63946692e-04 9.99999073e-01 -1.05203639e-03 4.19118085e-01] [-4.19460330e-03 1.04840362e-03 9.99990653e-01 1.59773269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54313336499996 meters 0.2765448962603159 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.02 [[ 9.99990427e-01 9.76862265e-04 4.26519692e-03 3.09766461e+00] [-9.73586010e-04 9.99999230e-01 -7.70145654e-04 4.17973085e-01] [-4.26594596e-03 7.65985745e-04 9.99990607e-01 1.62482133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60313336499996 meters 0.2769232514543793 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.02 [[ 9.99990220e-01 9.91093692e-04 4.31012841e-03 3.09755476e+00] [-9.87917903e-04 9.99999239e-01 -7.38886591e-04 4.17826630e-01] [-4.31085744e-03 7.34621312e-04 9.99990438e-01 1.62579309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66313336499996 meters 0.27628231191436414 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:0.02 [[ 9.99990754e-01 9.11946972e-04 4.20244396e-03 3.09787549e+00] [-9.08019519e-04 9.99999149e-01 -9.36377204e-04 4.18651536e-01] [-4.20329432e-03 9.32552645e-04 9.99990731e-01 1.61071621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72313336499997 meters 0.2770637029205976 Centerline is valid? [False, False] Translation: X:3.08, Y:0.42, Z:0.02 [[ 9.99975191e-01 -6.84593548e-03 1.65853203e-03 3.07883643e+00] [ 6.84566720e-03 9.99976554e-01 1.67382314e-04 4.19209564e-01] [-1.65963903e-03 -1.56024403e-04 9.99998611e-01 1.53623329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78313336499997 meters 0.27554528088062297 Centerline is valid? [False, False] Translation: X:3.08, Y:0.42, Z:0.02 [[ 9.99994536e-01 -2.78936630e-03 1.77434948e-03 3.07805585e+00] [ 2.78206730e-03 9.99987713e-01 4.10287426e-03 4.19376203e-01] [-1.78577210e-03 -4.09791548e-03 9.99990009e-01 1.61679535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84313336499997 meters 0.27336396863311274 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99981519e-01 5.99135565e-03 1.03187338e-03 3.05862579e+00] [-5.99444030e-03 9.99977495e-01 3.01267758e-03 4.16858218e-01] [-1.01380013e-03 -3.01880741e-03 9.99994929e-01 1.56047630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.903133365 meters 0.275225362514885 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99982551e-01 5.84878765e-03 8.29979377e-04 3.05927070e+00] [-5.85096881e-03 9.99979371e-01 2.65033688e-03 4.18392436e-01] [-8.14460997e-04 -2.65514682e-03 9.99996143e-01 1.51536830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.963133365 meters 0.2775891168055155 Centerline is valid? [False, False] Translation: X:3.08, Y:0.42, Z:0.02 [[ 9.99995920e-01 -2.82723973e-03 -4.07623681e-04 3.08067513e+00] [ 2.82854234e-03 9.99990779e-01 3.23124581e-03 4.23630412e-01] [ 3.98484415e-04 -3.23238561e-03 9.99994696e-01 1.66691445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.023133365 meters 0.2763378025096156 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99977770e-01 6.65464748e-03 -4.18807999e-04 3.06003728e+00] [-6.65333448e-03 9.99973178e-01 3.06205889e-03 4.19831665e-01] [ 4.39173688e-04 -3.05920435e-03 9.99995224e-01 1.65326513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.083133365 meters 0.27419155565730186 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997730e-01 2.11026699e-03 -2.95312997e-04 3.05941446e+00] [-2.11079743e-03 9.99996139e-01 -1.80758784e-03 4.22265875e-01] [ 2.91497364e-04 1.80820708e-03 9.99998323e-01 1.70595564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.143133365 meters 0.2746936016246017 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997788e-01 2.06545378e-03 -3.97405858e-04 3.05949628e+00] [-2.06620274e-03 9.99996073e-01 -1.89353747e-03 4.22703414e-01] [ 3.93493283e-04 1.89435441e-03 9.99998128e-01 1.73724137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.203133365 meters 0.2754324238943857 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997664e-01 2.06655474e-03 -6.33359968e-04 3.06011947e+00] [-2.06775008e-03 9.99996071e-01 -1.89249385e-03 4.22651200e-01] [ 6.29446537e-04 1.89379906e-03 9.99998009e-01 1.72018303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.263133365 meters 0.27558769232445546 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997572e-01 2.11055301e-03 -6.34309161e-04 3.05976921e+00] [-2.11167799e-03 9.99996190e-01 -1.77813591e-03 4.22113562e-01] [ 6.30553893e-04 1.77947104e-03 9.99998218e-01 1.80245129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.323133365 meters 0.274175355435788 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997638e-01 2.08017005e-03 -6.29661758e-04 3.05970674e+00] [-2.08133549e-03 9.99996112e-01 -1.85593904e-03 4.22438098e-01] [ 6.25798641e-04 1.85724519e-03 9.99998080e-01 1.81244883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.383133365 meters 0.2760329183125684 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99997883e-01 1.98208949e-03 -5.52781526e-04 3.05951027e+00] [-1.98325568e-03 9.99995792e-01 -2.11716933e-03 4.23498594e-01] [ 5.48582781e-04 2.11826115e-03 9.99997606e-01 1.81450998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.443133365 meters 0.2742233957676945 Centerline is valid? [False, False] Translation: X:3.06, Y:0.42, Z:0.02 [[ 9.99998096e-01 1.94134407e-03 -1.98940762e-04 3.05836710e+00] [-1.94178645e-03 9.99995588e-01 -2.24814139e-03 4.24115737e-01] [ 1.94575468e-04 2.24852341e-03 9.99997453e-01 1.89742387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.503133365 meters 0.27393490674692805 Centerline is valid? [False, False] Translation: X:3.08, Y:0.43, Z:0.02 [[ 9.99980408e-01 -6.17846343e-03 1.00480751e-03 3.07610712e+00] [ 6.17932383e-03 9.99980542e-01 -8.55446040e-04 4.29442525e-01] [-9.99502615e-04 8.61638311e-04 9.99999129e-01 2.03906313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.563133365 meters 0.27448580968343894 Centerline is valid? [False, False] Translation: X:3.08, Y:0.43, Z:0.02 [[ 9.99979840e-01 -6.22359422e-03 1.25959767e-03 3.07530344e+00] [ 6.22485183e-03 9.99980128e-01 -9.96979790e-04 4.30052011e-01] [-1.25336785e-03 1.00480050e-03 9.99998710e-01 2.09126265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.623133365 meters 0.2742381404033273 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99979777e-01 -6.21044198e-03 1.36976319e-03 3.07489450e+00] [ 6.21177189e-03 9.99980237e-01 -9.68799176e-04 4.29925213e-01] [-1.36371945e-03 9.77288240e-04 9.99998593e-01 2.12454076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.683133365 meters 0.2743669881959136 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99979795e-01 -6.20099588e-03 1.39866273e-03 3.07445422e+00] [ 6.20232768e-03 9.99980314e-01 -9.49874938e-04 4.29816881e-01] [-1.39274503e-03 9.58530711e-04 9.99998571e-01 2.20658614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.743133365 meters 0.27345337616197446 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99979563e-01 -6.21058983e-03 1.51699925e-03 3.07398090e+00] [ 6.21207888e-03 9.99980226e-01 -9.78842919e-04 4.29936838e-01] [-1.51089006e-03 9.88246633e-04 9.99998370e-01 2.24915795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.803133365 meters 0.2744090726172762 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99978579e-01 -6.30244786e-03 1.76677517e-03 3.07323678e+00] [ 6.30462751e-03 9.99979368e-01 -1.23084825e-03 4.31014499e-01] [-1.75898136e-03 1.24196074e-03 9.99997682e-01 2.28015448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.863133365 meters 0.2758444083240673 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99995908e-01 -2.26971786e-03 1.74159010e-03 3.07366583e+00] [ 2.26560573e-03 9.99994650e-01 2.35948388e-03 4.33875861e-01] [-1.74693615e-03 -2.35552847e-03 9.99995700e-01 2.18530536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.923133365 meters 0.2740727914645474 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.02 [[ 9.99995404e-01 -2.50905433e-03 1.70216345e-03 3.07370976e+00] [ 2.50606552e-03 9.99995318e-01 1.75575435e-03 4.36365171e-01] [-1.70656077e-03 -1.75148054e-03 9.99997010e-01 2.18967321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98313336499996 meters 0.27308014524902335 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.02 [[ 9.99995361e-01 -2.53700465e-03 1.68556171e-03 3.07337562e+00] [ 2.53418494e-03 9.99995390e-01 1.67289429e-03 4.36742169e-01] [-1.68979807e-03 -1.66861501e-03 9.99997180e-01 2.27173673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04313336499996 meters 0.27182909415844814 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:0.02 [[ 9.99995773e-01 -2.43906680e-03 1.58284220e-03 3.07332354e+00] [ 2.43584764e-03 9.99994968e-01 2.03253522e-03 4.35415214e-01] [-1.58779173e-03 -2.02867107e-03 9.99996682e-01 2.34445093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10313336499996 meters 0.2722200019787362 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99993047e-01 -2.44701809e-03 2.81383044e-03 3.07022190e+00] [ 2.43949462e-03 9.99993449e-01 2.67407883e-03 4.32470150e-01] [-2.82035552e-03 -2.66719591e-03 9.99992466e-01 2.47517878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16313336499996 meters 0.27046211042423074 Centerline is valid? [False, False] Translation: X:3.07, Y:0.43, Z:0.02 [[ 9.99993970e-01 -2.14148954e-03 2.73389412e-03 3.07041066e+00] [ 2.13160200e-03 9.99991196e-01 3.61445624e-03 4.28658271e-01] [-2.74161037e-03 -3.60860687e-03 9.99989731e-01 2.47577462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22313336499997 meters 0.2709896085260802 Centerline is valid? [False, False] Translation: X:3.07, Y:0.42, Z:0.02 [[ 9.99995711e-01 -1.70713478e-03 2.37991099e-03 3.07158171e+00] [ 1.69622265e-03 9.99988075e-01 4.57960242e-03 4.24573607e-01] [-2.38770061e-03 -4.57554592e-03 9.99986682e-01 2.42894675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28313336499997 meters 0.2719647030494751 Centerline is valid? [False, False] Translation: X:3.07, Y:0.42, Z:0.02 [[ 9.99996130e-01 -1.56870679e-03 2.29742467e-03 3.07191524e+00] [ 1.55733841e-03 9.99986577e-01 4.94176968e-03 4.23067485e-01] [-2.30514601e-03 -4.93817269e-03 9.99985150e-01 2.40423477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34313336499997 meters 0.2714004102715879 Centerline is valid? [False, False] Translation: X:3.07, Y:0.42, Z:0.02 [[ 9.99995896e-01 -1.47566757e-03 2.45555417e-03 3.07147176e+00] [ 1.46281647e-03 9.99985269e-01 5.22707287e-03 4.21928279e-01] [-2.46323142e-03 -5.22345940e-03 9.99983324e-01 2.42860031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.403133365 meters 0.2738527479131878 Centerline is valid? [False, False] Translation: X:3.07, Y:0.42, Z:0.02 [[ 9.99995519e-01 -1.43218746e-03 2.62875141e-03 3.07093483e+00] [ 1.41806085e-03 9.99984587e-01 5.36790482e-03 4.21308297e-01] [-2.63639874e-03 -5.36415304e-03 9.99982137e-01 2.46476492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.463133365 meters 0.27389240479319465 Centerline is valid? [False, False] Translation: X:3.09, Y:0.42, Z:0.02 [[ 9.99973399e-01 6.93160862e-03 2.27028688e-03 3.09246218e+00] [-6.94224205e-03 9.99964811e-01 4.70983542e-03 4.17443245e-01] [-2.23756025e-03 -4.72547102e-03 9.99986332e-01 2.49229815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.523133365 meters 0.2726428912033986 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.03 [[ 9.99993062e-01 2.84394061e-03 2.40572607e-03 3.09172062e+00] [-2.84631629e-03 9.99995464e-01 9.84663217e-04 4.14960912e-01] [-2.40291483e-03 -9.91503842e-04 9.99996621e-01 2.58367305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.583133365 meters 0.2742918812599156 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.03 [[ 9.99992245e-01 3.07701541e-03 2.45799943e-03 3.09154734e+00] [-3.08124031e-03 9.99993779e-01 1.71690655e-03 4.12044188e-01] [-2.45270119e-03 -1.72446692e-03 9.99995505e-01 2.60278572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.643133365 meters 0.2709179541645148 Centerline is valid? [False, False] Translation: X:3.05, Y:0.40, Z:0.03 [[ 9.99996665e-01 2.10649075e-03 1.49419422e-03 3.04817050e+00] [-2.10830912e-03 9.99997038e-01 1.21642875e-03 4.03890871e-01] [-1.49162740e-03 -1.21957491e-03 9.99998144e-01 2.64619509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.703133365 meters 0.27147274796008736 Centerline is valid? [False, False] Translation: X:3.05, Y:0.40, Z:0.03 [[ 9.99996056e-01 2.43049095e-03 1.40713917e-03 3.04839626e+00] [-2.43354720e-03 9.99994675e-01 2.17433238e-03 4.00026632e-01] [-1.40184698e-03 -2.17774814e-03 9.99996646e-01 2.64482678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.763133365 meters 0.2727079888185089 Centerline is valid? [False, False] Translation: X:3.05, Y:0.40, Z:0.03 [[ 9.99995197e-01 2.70251354e-03 1.51767217e-03 3.04808154e+00] [-2.70687594e-03 9.99992190e-01 2.87974020e-03 3.97132241e-01] [-1.50987778e-03 -2.88383452e-03 9.99994702e-01 2.66549424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.823133365 meters 0.2700425081123836 Centerline is valid? [False, False] Translation: X:3.05, Y:0.40, Z:0.03 [[ 9.99994917e-01 2.84446365e-03 1.44020366e-03 3.04845491e+00] [-2.84913399e-03 9.99990656e-01 3.25123829e-03 3.95587297e-01] [-1.43094218e-03 -3.25532509e-03 9.99993678e-01 2.62577475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.883133365 meters 0.2688574154585245 Centerline is valid? [False, False] Translation: X:3.05, Y:0.39, Z:0.03 [[ 9.99994692e-01 2.93306229e-03 1.41919227e-03 3.04848692e+00] [-2.93798801e-03 9.99989625e-01 3.48124622e-03 3.94636357e-01] [-1.40896684e-03 -3.48539731e-03 9.99992933e-01 2.63206789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.943133365 meters 0.2728277063655948 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.02 [[ 9.99995326e-01 1.96046481e-03 2.34603789e-03 3.09396049e+00] [-1.96705678e-03 9.99994115e-01 2.81082907e-03 3.95942909e-01] [-2.34051355e-03 -2.81543072e-03 9.99993298e-01 2.49063883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.003133365 meters 0.27134629789735154 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.02 [[ 9.99995649e-01 1.91963521e-03 2.23977906e-03 3.09423963e+00] [-1.92570567e-03 9.99994470e-01 2.71129498e-03 3.96372483e-01] [-2.23456198e-03 -2.71559634e-03 9.99993816e-01 2.48102489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.063133365 meters 0.2733217585558179 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.02 [[ 9.99995757e-01 1.77507269e-03 2.30989643e-03 3.09421268e+00] [-1.78045557e-03 9.99995700e-01 2.33038840e-03 3.97942458e-01] [-2.30574989e-03 -2.33449118e-03 9.99994617e-01 2.44588718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.123133365 meters 0.273558041779383 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.02 [[ 9.99995628e-01 1.59740082e-03 2.48825301e-03 3.09375757e+00] [-1.60200608e-03 9.99997006e-01 1.84990827e-03 3.99953282e-01] [-2.48529051e-03 -1.85388638e-03 9.99995193e-01 2.44646701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.183133365 meters 0.27144219288211685 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99995532e-01 1.35225876e-03 2.66602460e-03 3.09298072e+00] [-1.35528736e-03 9.99998438e-01 1.13452027e-03 4.03012759e-01] [-2.66448628e-03 -1.13812843e-03 9.99995803e-01 2.51478149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.243133365 meters 0.27202214359199295 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99995794e-01 1.18864098e-03 2.64571244e-03 3.09293393e+00] [-1.19059059e-03 9.99999021e-01 7.35444329e-04 4.04703924e-01] [-2.64483567e-03 -7.38591195e-04 9.99996230e-01 2.53153194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.303133365 meters 0.2721601103985181 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.03 [[ 9.99995912e-01 1.09304916e-03 2.64213932e-03 3.09282009e+00] [-1.09438392e-03 9.99999274e-01 5.03791278e-04 4.05696558e-01] [-2.64158674e-03 -5.06680733e-04 9.99996383e-01 2.55494947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.363133365 meters 0.27146362849694655 Centerline is valid? [False, False] Translation: X:3.09, Y:0.41, Z:0.03 [[ 9.99995556e-01 1.12070712e-03 2.76245512e-03 3.09207782e+00] [-1.12230662e-03 9.99999203e-01 5.77531668e-04 4.05330596e-01] [-2.76180567e-03 -5.80629423e-04 9.99996018e-01 2.66898044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.423133365 meters 0.2702907598215906 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99995507e-01 1.17497955e-03 2.75784074e-03 3.09203834e+00] [-1.17696015e-03 9.99999051e-01 7.16659561e-04 4.04766978e-01] [-2.75699606e-03 -7.19902210e-04 9.99995940e-01 2.68174898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48313336499996 meters 0.2702213774535274 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99995708e-01 1.16379781e-03 2.68884348e-03 3.09230369e+00] [-1.16566819e-03 9.99999080e-01 6.94144812e-04 4.04872757e-01] [-2.68803316e-03 -6.97276132e-04 9.99996144e-01 2.66007715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54313336499996 meters 0.2716316300736296 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99995450e-01 1.19026881e-03 2.77185411e-03 3.09220164e+00] [-1.19238223e-03 9.99999000e-01 7.60927726e-04 4.04575517e-01] [-2.77094562e-03 -7.64229373e-04 9.99995869e-01 2.63983971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60313336499996 meters 0.2710798255788787 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99994764e-01 1.19235991e-03 3.00847187e-03 3.09151953e+00] [-1.19466394e-03 9.99998994e-01 7.64166420e-04 4.04606278e-01] [-3.00755768e-03 -7.67756531e-04 9.99995183e-01 2.66843066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66313336499996 meters 0.2704611137519183 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99994896e-01 1.21239188e-03 2.95614111e-03 3.09190806e+00] [-1.21479700e-03 9.99998933e-01 8.11940634e-04 4.04342662e-01] [-2.95515356e-03 -8.15527600e-04 9.99995301e-01 2.61203143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72313336499997 meters 0.2728901107045436 Centerline is valid? [False, False] Translation: X:3.11, Y:0.41, Z:0.03 [[ 0.99998313 -0.00471324 0.00339623 3.11394 ] [ 0.00469824 0.99997923 0.00441121 0.40557796] [-0.00341695 -0.00439518 0.9999845 0.02520036] [ 0. 0. 0. 1. ]] SLAMing on 336.78313336499997 meters 0.2708942568812876 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99996210e-01 6.97678115e-04 2.66315165e-03 3.09218764e+00] [-6.99734879e-04 9.99999458e-01 7.71450569e-04 4.02619150e-01] [-2.66261198e-03 -7.73311145e-04 9.99996156e-01 2.56106259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84313336499997 meters 0.27130315879603334 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99997139e-01 8.60563834e-04 2.23174939e-03 3.09324534e+00] [-8.63441333e-04 9.99998797e-01 1.28870412e-03 4.00286696e-01] [-2.23063769e-03 -1.29062741e-03 9.99996679e-01 2.54909589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.903133365 meters 0.2710446764015197 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99997246e-01 1.00805157e-03 2.11938455e-03 3.09364807e+00] [-1.01162473e-03 9.99998068e-01 1.68554487e-03 3.98613290e-01] [-2.11768134e-03 -1.68768425e-03 9.99996334e-01 2.52054873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.963133365 meters 0.2705695155334444 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99997102e-01 1.13850769e-03 2.12136064e-03 3.09364540e+00] [-1.14284524e-03 9.99997257e-01 2.04461723e-03 3.97130887e-01] [-2.11902701e-03 -2.04703569e-03 9.99995660e-01 2.52326968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.023133365 meters 0.2714897208706392 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.02 [[ 9.99997605e-01 1.31360663e-03 1.75062568e-03 3.09464824e+00] [-1.31810437e-03 9.99995827e-01 2.57054676e-03 3.94909224e-01] [-1.74724169e-03 -2.57284811e-03 9.99995164e-01 2.48982065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.083133365 meters 0.2724031420718754 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.03 [[ 9.99997423e-01 1.43049876e-03 1.76294218e-03 3.09450500e+00] [-1.43554056e-03 9.99994874e-01 2.86193668e-03 3.93679061e-01] [-1.75883915e-03 -2.86446008e-03 9.99994351e-01 2.51819897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.143133365 meters 0.2696941086852196 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.03 [[ 9.99994885e-01 -6.44070115e-04 3.13298332e-03 3.08842865e+00] [ 6.40883401e-04 9.99999276e-01 1.01804749e-03 3.92440441e-01] [-3.13363675e-03 -1.01603441e-03 9.99994574e-01 2.93455058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.203133365 meters 0.2706872975171415 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.03 [[ 9.99993432e-01 -6.37531995e-04 3.56779476e-03 3.08721041e+00] [ 6.33956845e-04 9.99999296e-01 1.00310297e-03 3.92603408e-01] [-3.56843176e-03 -1.00083456e-03 9.99993132e-01 2.99523510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.263133365 meters 0.27220471444179706 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.03 [[ 9.99993694e-01 -7.40807307e-04 3.47314655e-03 3.08768685e+00] [ 7.38377416e-04 9.99999482e-01 7.00852364e-04 3.93867433e-01] [-3.47366395e-03 -6.98283452e-04 9.99993723e-01 2.92984892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.323133365 meters 0.26930392112658186 Centerline is valid? [False, False] Translation: X:3.09, Y:0.39, Z:0.03 [[ 9.99993407e-01 -8.44031036e-04 3.53166046e-03 3.08751827e+00] [ 8.42506046e-04 9.99999551e-01 4.33270846e-04 3.94977415e-01] [-3.53202457e-03 -4.30292544e-04 9.99993670e-01 2.93178063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.383133365 meters 0.26863292945851086 Centerline is valid? [False, False] Translation: X:3.09, Y:0.40, Z:0.03 [[ 9.99993321e-01 -8.92940342e-04 3.54417105e-03 3.08727313e+00] [ 8.91835010e-04 9.99999553e-01 3.13441399e-04 3.95508464e-01] [-3.54444935e-03 -3.10278489e-04 9.99993670e-01 2.97609164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.443133365 meters 0.27167892838513624 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:0.03 [[ 9.99985801e-01 -5.91245990e-04 5.29613331e-03 3.13085917e+00] [ 5.88168572e-04 9.99999657e-01 5.82607569e-04 3.99930045e-01] [-5.29647596e-03 -5.79484277e-04 9.99985806e-01 2.85477103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.503133365 meters 0.27004992901626307 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:0.03 [[ 9.99986190e-01 -6.20004283e-04 5.21874770e-03 3.13115204e+00] [ 6.17351136e-04 9.99999679e-01 5.09983170e-04 4.00217206e-01] [-5.21906222e-03 -5.06754328e-04 9.99986252e-01 2.82969658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.563133365 meters 0.27119637603638597 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:0.03 [[ 9.99986787e-01 -6.25383657e-04 5.10246774e-03 3.13123552e+00] [ 6.22860434e-04 9.99999683e-01 4.96084354e-04 4.00270668e-01] [-5.10277636e-03 -4.92899674e-04 9.99986859e-01 2.87142961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.623133365 meters 0.26914165642288135 Centerline is valid? [False, False] Translation: X:3.13, Y:0.40, Z:0.03 [[ 9.99986962e-01 -6.11304709e-04 5.06980784e-03 3.13142408e+00] [ 6.08654026e-04 9.99999677e-01 5.24363493e-04 4.00122720e-01] [-5.07012675e-03 -5.21270897e-04 9.99987011e-01 2.84699335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.683133365 meters 0.2707893393533625 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99972645e-01 -2.18328073e-03 7.06695925e-03 3.17535657e+00] [ 2.18731919e-03 9.99997449e-01 -5.63778109e-04 4.00826185e-01] [-7.06571033e-03 5.79220382e-04 9.99974870e-01 2.72742482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.743133365 meters 0.26864020707750824 Centerline is valid? [False, False] Translation: X:3.15, Y:0.40, Z:0.03 [[ 0.99998369 0.00320218 0.00472897 3.15494972] [-0.0031854 0.99998862 -0.00355188 0.39529355] [-0.00474029 0.00353676 0.99998251 0.02834473] [ 0. 0. 0. 1. ]] SLAMing on 337.803133365 meters 0.2699422758037582 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99973891e-01 -3.43148542e-03 6.35945834e-03 3.17590815e+00] [ 3.43522392e-03 9.99993933e-01 -5.77034067e-04 3.93630192e-01] [-6.35743968e-03 5.98865164e-04 9.99979612e-01 2.77156076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.863133365 meters 0.26900161238846415 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99974317e-01 -3.28945707e-03 6.36745927e-03 3.17609935e+00] [ 3.29095935e-03 9.99994559e-01 -2.25466681e-04 3.92156825e-01] [-6.36668297e-03 2.46415940e-04 9.99979702e-01 2.73156182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92313336499996 meters 0.2697941922332369 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99974080e-01 -3.27850164e-03 6.41018460e-03 3.17595852e+00] [ 3.27983148e-03 9.99994602e-01 -1.96955983e-04 3.92035873e-01] [-6.40950427e-03 2.17975203e-04 9.99979435e-01 2.74116574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98313336499996 meters 0.2705616750674659 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99973653e-01 -3.27054367e-03 6.48056646e-03 3.17577046e+00] [ 3.27177932e-03 9.99994632e-01 -1.80077753e-04 3.91955527e-01] [-6.47994272e-03 2.01275992e-04 9.99978985e-01 2.74570960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04313336499996 meters 0.2680098615323909 Centerline is valid? [False, False] Translation: X:3.16, Y:0.38, Z:0.03 [[ 9.99965691e-01 4.72652691e-03 6.80267911e-03 3.15659354e+00] [-4.71945279e-03 9.99988306e-01 -1.05557996e-03 3.83896491e-01] [-6.80758879e-03 1.02343882e-03 9.99976304e-01 2.63386284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10313336499996 meters 0.26867854141162695 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99967261e-01 -4.15840191e-03 6.94153124e-03 3.17824231e+00] [ 4.16075321e-03 9.99991291e-01 -3.24322386e-04 3.84262400e-01] [-6.94012213e-03 3.53193767e-04 9.99975855e-01 2.61148927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16313336499996 meters 0.26955956874703624 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99968776e-01 -3.91458367e-03 6.86466616e-03 3.17849253e+00] [ 3.91238485e-03 9.99992291e-01 3.33708862e-04 3.81529798e-01] [-6.86591957e-03 -3.06841226e-04 9.99976382e-01 2.60147008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22313336499997 meters 0.2674834042136366 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99968508e-01 -3.87285073e-03 6.92701103e-03 3.17830441e+00] [ 3.86991565e-03 9.99992416e-01 4.37068274e-04 3.81095451e-01] [-6.92865120e-03 -4.10247562e-04 9.99975912e-01 2.61172419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28313336499997 meters 0.2691302890754698 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:0.03 [[ 9.99959325e-01 4.09683666e-03 8.03520341e-03 3.19787147e+00] [-4.08826603e-03 9.99991057e-01 -1.08277100e-03 3.80159226e-01] [-8.03956749e-03 1.04987691e-03 9.99967131e-01 2.70792492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34313336499997 meters 0.27073264930467045 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:0.03 [[ 9.99959271e-01 4.01607818e-03 8.08259435e-03 3.19786485e+00] [-4.00585255e-03 9.99991156e-01 -1.28093402e-03 3.81013318e-01] [-8.08766720e-03 1.24850416e-03 9.99966515e-01 2.68438079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.403133365 meters 0.26946149977900175 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99972844e-01 -3.84075783e-03 6.28963950e-03 3.17942450e+00] [ 3.84014015e-03 9.99992621e-01 1.10279261e-04 3.83369582e-01] [-6.29001664e-03 -8.61231687e-05 9.99980214e-01 2.54186796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.463133365 meters 0.26991076087290083 Centerline is valid? [False, False] Translation: X:3.20, Y:0.38, Z:0.03 [[ 9.99974183e-01 4.34404940e-03 5.72393206e-03 3.20012421e+00] [-4.33627346e-03 9.99989660e-01 -1.37020674e-03 3.82031898e-01] [-5.72982512e-03 1.34535083e-03 9.99982679e-01 2.65388640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.523133365 meters 0.2687764476106409 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99976246e-01 -1.70039070e-03 6.67956481e-03 3.17558820e+00] [ 1.68853763e-03 9.99996991e-01 1.77976702e-03 3.83240066e-01] [-6.68257101e-03 -1.76844605e-03 9.99976108e-01 2.74419433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.583133365 meters 0.26952198994963883 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99975261e-01 -1.81343698e-03 6.79617886e-03 3.17523560e+00] [ 1.80334819e-03 9.99997263e-01 1.49031441e-03 3.84478121e-01] [-6.79886285e-03 -1.47802167e-03 9.99975795e-01 2.75819590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.643133365 meters 0.26812582687769393 Centerline is valid? [False, False] Translation: X:3.16, Y:0.38, Z:0.03 [[ 9.99985518e-01 3.74881009e-03 3.86142688e-03 3.15651956e+00] [-3.74078643e-03 9.99990834e-01 -2.08303195e-03 3.83577412e-01] [-3.86920038e-03 2.06855701e-03 9.99990375e-01 2.74538355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.703133365 meters 0.2698178346888936 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99989376e-01 -2.17684207e-03 4.06323478e-03 3.18037829e+00] [ 2.17228277e-03 9.99997006e-01 1.12616030e-03 3.85056952e-01] [-4.06567409e-03 -1.11732184e-03 9.99991111e-01 2.53928233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.763133365 meters 0.27092431071896067 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99989401e-01 -2.27456908e-03 4.00299880e-03 3.18048923e+00] [ 2.27104178e-03 9.99997029e-01 8.85489952e-04 3.86069152e-01] [-4.00500101e-03 -8.76389589e-04 9.99991596e-01 2.54306845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.823133365 meters 0.2704467465226427 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99988797e-01 -2.36851831e-03 4.09820291e-03 3.18023400e+00] [ 2.36586008e-03 9.99996988e-01 6.53358948e-04 3.87064965e-01] [-4.09973806e-03 -6.43655854e-04 9.99991389e-01 2.54627126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.883133365 meters 0.2694545077408109 Centerline is valid? [False, False] Translation: X:3.16, Y:0.39, Z:0.03 [[ 9.99987414e-01 3.29458104e-03 3.78374509e-03 3.15748317e+00] [-3.28306709e-03 9.99989974e-01 -3.04519297e-03 3.86245123e-01] [-3.79373979e-03 3.03273236e-03 9.99988205e-01 2.66163142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.943133365 meters 0.27183878088078295 Centerline is valid? [False, False] Translation: X:3.20, Y:0.39, Z:0.03 [[ 9.99978964e-01 3.92999538e-03 5.16003954e-03 3.20099926e+00] [-3.91866759e-03 9.99989894e-01 -2.20357039e-03 3.88119224e-01] [-5.16864742e-03 2.18330355e-03 9.99984259e-01 2.61355391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.003133365 meters 0.268731142475168 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99994050e-01 -2.24021268e-03 2.62329829e-03 3.17956999e+00] [ 2.23807221e-03 9.99997160e-01 8.18595449e-04 3.84674442e-01] [-2.62512467e-03 -8.12719447e-04 9.99996224e-01 2.75805495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.063133365 meters 0.2674642615485034 Centerline is valid? [False, False] Translation: X:3.18, Y:0.38, Z:0.03 [[ 9.99994024e-01 -2.22692653e-03 2.64433831e-03 3.17926610e+00] [ 2.22468548e-03 9.99997164e-01 8.50130974e-04 3.84528744e-01] [-2.64622399e-03 -8.44243072e-04 9.99996142e-01 2.81221409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.123133365 meters 0.26920177796972045 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99993686e-01 -2.34392041e-03 2.67098339e-03 3.17911320e+00] [ 2.34244643e-03 9.99997103e-01 5.54845563e-04 3.85791094e-01] [-2.67227617e-03 -5.48585424e-04 9.99996279e-01 2.82819479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.183133365 meters 0.2689301779099721 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99992881e-01 -2.61549620e-03 2.71976602e-03 3.17918777e+00] [ 2.61615622e-03 9.99996549e-01 -2.39146344e-04 3.89188277e-01] [-2.71913115e-03 2.46259974e-04 9.99996273e-01 2.78749603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.243133365 meters 0.26784291611717376 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99992502e-01 -2.77860748e-03 2.69712695e-03 3.17934053e+00] [ 2.78035161e-03 9.99995928e-01 -6.43127024e-04 3.90898540e-01] [-2.69532897e-03 6.50621164e-04 9.99996156e-01 2.76119792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.303133365 meters 0.2695459981346282 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99992495e-01 -2.95554946e-03 2.50488255e-03 3.17992094e+00] [ 2.95823014e-03 9.99995055e-01 -1.06715111e-03 3.92739339e-01] [-2.50171615e-03 1.07455312e-03 9.99996293e-01 2.73141061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.363133365 meters 0.2702482987515993 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.02 [[ 9.99998767e-01 -4.67146329e-04 1.49898046e-03 3.18404577e+00] [ 4.66166316e-04 9.99999677e-01 6.54069192e-04 3.98422223e-01] [-1.49928552e-03 -6.53369612e-04 9.99998663e-01 2.48811604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42313336499996 meters 0.26816503212213505 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99998503e-01 -6.77312680e-04 1.59225255e-03 3.18337351e+00] [ 6.77058024e-04 9.99999758e-01 1.60468144e-04 4.00698574e-01] [-1.59236085e-03 -1.59389856e-04 9.99998719e-01 2.57033665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48313336499996 meters 0.26804412942425215 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99998501e-01 -7.74578512e-04 1.54844934e-03 3.18295772e+00] [ 7.74724261e-04 9.99999696e-01 -9.35280463e-05 4.01769079e-01] [-1.54837642e-03 9.47275274e-05 9.99998797e-01 2.67013961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54313336499996 meters 0.2669604242493861 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99998764e-01 -7.77255689e-04 1.36678319e-03 3.18332055e+00] [ 7.77396225e-04 9.99999693e-01 -1.02294744e-04 4.01779346e-01] [-1.36670326e-03 1.03357149e-04 9.99999061e-01 2.68095453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60313336499996 meters 0.26742773574554934 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99998859e-01 -6.74492670e-04 1.35196040e-03 3.18342962e+00] [ 6.74268408e-04 9.99999759e-01 1.66328142e-04 4.00696845e-01] [-1.35207226e-03 -1.65416368e-04 9.99999072e-01 2.66791372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66313336499996 meters 0.2660440571400351 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99999335e-01 -4.08495722e-04 1.07858049e-03 3.18402210e+00] [ 4.07532738e-04 9.99999518e-01 8.92894105e-04 3.97554653e-01] [-1.07894471e-03 -8.92453955e-04 9.99999020e-01 2.68025010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72313336499997 meters 0.26666172946158595 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.03 [[ 9.99999494e-01 -1.62050712e-04 9.92447838e-04 3.18435550e+00] [ 1.60627207e-04 9.99998959e-01 1.43424916e-03 3.95211047e-01] [-9.92679225e-04 -1.43408903e-03 9.99998479e-01 2.66194624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78313336499997 meters 0.26816397574677475 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99999457e-01 -8.56051824e-05 1.03874779e-03 3.18429368e+00] [ 8.39295207e-05 9.99998695e-01 1.61309191e-03 3.94385033e-01] [-1.03888453e-03 -1.61300385e-03 9.99998159e-01 2.65462972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84313336499997 meters 0.2679757890423365 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99999411e-01 7.07598643e-06 1.08531005e-03 3.18431636e+00] [-9.14003620e-06 9.99998192e-01 1.90181340e-03 3.93199744e-01] [-1.08529463e-03 -1.90182220e-03 9.99997603e-01 2.62998457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.903133365 meters 0.27135251531128085 Centerline is valid? [False, False] Translation: X:3.18, Y:0.39, Z:0.03 [[ 9.99999104e-01 -1.26308138e-04 1.33264920e-03 3.18419714e+00] [ 1.24216162e-04 9.99998760e-01 1.56975348e-03 3.94307067e-01] [-1.33284582e-03 -1.56958654e-03 9.99997880e-01 2.55330754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.963133365 meters 0.2714794652687369 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.02 [[ 9.99999247e-01 -2.18657812e-04 1.20787838e-03 3.18477524e+00] [ 2.17109655e-04 9.99999155e-01 1.28169874e-03 3.95490102e-01] [-1.20815762e-03 -1.28143553e-03 9.99998449e-01 2.48103017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.023133365 meters 0.27069693615714924 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:0.02 [[ 9.99999284e-01 -4.67341566e-04 1.10152891e-03 3.18508871e+00] [ 4.66673286e-04 9.99999707e-01 6.06862971e-04 3.98392333e-01] [-1.10181220e-03 -6.06348482e-04 9.99999209e-01 2.46154383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.083133365 meters 0.2711388285051611 Centerline is valid? [False, False] Translation: X:3.18, Y:0.40, Z:0.02 [[ 9.99999013e-01 -6.77682867e-04 1.23085956e-03 3.18466961e+00] [ 6.77586632e-04 9.99999767e-01 7.86006943e-05 4.00679157e-01] [-1.23091254e-03 -7.77666028e-05 9.99999239e-01 2.47606601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.143133365 meters 0.2723114693614178 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99992015e-01 -2.61731789e-05 3.99614199e-03 3.22634969e+00] [ 2.35185776e-05 9.99999779e-01 6.64336583e-04 4.08512998e-01] [-3.99615849e-03 -6.64237295e-04 9.99991795e-01 2.48760318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.203133365 meters 0.26983080193210324 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99992968e-01 -3.36579988e-04 3.73502270e-03 3.22709938e+00] [ 3.36674402e-04 9.99999943e-01 -2.46493736e-05 4.11651230e-01] [-3.73501419e-03 2.59066868e-05 9.99993024e-01 2.45457769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.263133365 meters 0.27053253255091375 Centerline is valid? [False, False] Translation: X:3.25, Y:0.42, Z:0.02 [[ 0.99997197 -0.00601523 0.00445824 3.24891283] [ 0.00600041 0.99997645 0.00333023 0.41549058] [-0.00447817 -0.00330339 0.99998452 0.02394198] [ 0. 0. 0. 1. ]] SLAMing on 340.323133365 meters 0.2702951761619394 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.03 [[ 9.99973369e-01 3.00595136e-03 6.65027024e-03 3.22582902e+00] [-3.02315992e-03 9.99992104e-01 2.57911090e-03 4.13899218e-01] [-6.64246505e-03 -2.59914704e-03 9.99974561e-01 2.50455518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.383133365 meters 0.2712799095901351 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99974522e-01 2.79078258e-03 6.57010402e-03 3.22619622e+00] [-2.80432943e-03 9.99993959e-01 2.05358486e-03 4.16203598e-01] [-6.56433322e-03 -2.07195728e-03 9.99976308e-01 2.46034752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.443133365 meters 0.2696627672391511 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99975142e-01 2.63585105e-03 6.53976068e-03 3.22638756e+00] [-2.64686470e-03 9.99995093e-01 1.67602301e-03 4.17858299e-01] [-6.53531084e-03 -1.69329121e-03 9.99977211e-01 2.43173084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.503133365 meters 0.27068732681406127 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99975222e-01 2.58491186e-03 6.54778331e-03 3.22596797e+00] [-2.59508446e-03 9.99995438e-01 1.54557601e-03 4.18458475e-01] [-6.54375826e-03 -1.56252977e-03 9.99977369e-01 2.51717117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.563133365 meters 0.2719409624026948 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99976112e-01 2.47800627e-03 6.45257957e-03 3.22619349e+00] [-2.48637380e-03 9.99996078e-01 1.28907376e-03 4.19579571e-01] [-6.44935993e-03 -1.30508649e-03 9.99978351e-01 2.51497739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.623133365 meters 0.27141243701810724 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99976848e-01 2.30872915e-03 6.40105374e-03 3.22647300e+00] [-2.31417480e-03 9.99996967e-01 8.43467937e-04 4.21582634e-01] [-6.39908698e-03 -8.58261566e-04 9.99979157e-01 2.47785840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.683133365 meters 0.27122958846771317 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99977058e-01 2.25348079e-03 6.38796057e-03 3.22637432e+00] [-2.25806204e-03 9.99997198e-01 7.10048412e-04 4.22175766e-01] [-6.38634259e-03 -7.24456533e-04 9.99979345e-01 2.50379315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.743133365 meters 0.26999792174827636 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99978927e-01 2.31799879e-03 6.06406388e-03 3.22709640e+00] [-2.32351412e-03 9.99996893e-01 9.02624615e-04 4.21338497e-01] [-6.06195276e-03 -9.16695532e-04 9.99981206e-01 2.51129016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.803133365 meters 0.26885389188864633 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99977318e-01 2.40956050e-03 6.28945309e-03 3.22628131e+00] [-2.41708350e-03 9.99996372e-01 1.18880236e-03 4.20159192e-01] [-6.28656578e-03 -1.20397753e-03 9.99979515e-01 2.59432501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.863133365 meters 0.2686495849698656 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99975022e-01 2.53167244e-03 6.59901049e-03 3.22532731e+00] [-2.54226435e-03 9.99995493e-01 1.59718098e-03 4.18345216e-01] [-6.59493721e-03 -1.61391752e-03 9.99976951e-01 2.67167966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92313336499996 meters 0.2694563105954146 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99975671e-01 2.74741314e-03 6.41159939e-03 3.22579063e+00] [-2.76186788e-03 9.99993662e-01 2.24670327e-03 4.15623821e-01] [-6.40538614e-03 -2.26435660e-03 9.99976922e-01 2.66815835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98313336499996 meters 0.26829071337410054 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.03 [[ 9.99975955e-01 2.92137973e-03 6.28924205e-03 3.22605623e+00] [-2.93837526e-03 9.99992052e-01 2.69477553e-03 4.13699638e-01] [-6.28131960e-03 -2.71319089e-03 9.99976592e-01 2.67668156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04313336499996 meters 0.270571147307083 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.03 [[ 9.99976506e-01 3.19121532e-03 6.06657839e-03 3.22665272e+00] [-3.21213888e-03 9.99988916e-01 3.44237893e-03 4.10525893e-01] [-6.05552577e-03 -3.46178475e-03 9.99975673e-01 2.66700002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10313336499996 meters 0.27089586777112423 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99986344e-01 1.77284365e-03 4.91609628e-03 3.23142135e+00] [-1.78207352e-03 9.99996657e-01 1.87373524e-03 4.11994571e-01] [-4.91275800e-03 -1.88247050e-03 9.99986160e-01 2.34877151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16313336499996 meters 0.26947677749652355 Centerline is valid? [False, False] Translation: X:3.21, Y:0.41, Z:0.02 [[ 9.99975684e-01 -6.31640267e-03 2.95542150e-03 3.21218240e+00] [ 6.30631217e-03 9.99974297e-01 3.41118684e-03 4.08724407e-01] [-2.97689197e-03 -3.39246608e-03 9.99989815e-01 2.22801617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22313336499997 meters 0.26907763203776797 Centerline is valid? [False, False] Translation: X:3.21, Y:0.41, Z:0.02 [[ 9.99976860e-01 -6.16631749e-03 2.87321315e-03 3.21219633e+00] [ 6.15510835e-03 9.99973476e-01 3.89390321e-03 4.06730239e-01] [-2.89714798e-03 -3.87612817e-03 9.99988291e-01 2.27279001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28313336499997 meters 0.27028626672927836 Centerline is valid? [False, False] Translation: X:3.21, Y:0.40, Z:0.02 [[ 9.99979014e-01 -6.02094768e-03 2.39171235e-03 3.21355670e+00] [ 6.01019088e-03 9.99971905e-01 4.47954373e-03 4.04299590e-01] [-2.41861625e-03 -4.46507507e-03 9.99987107e-01 2.20248311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34313336499997 meters 0.26912885709120205 Centerline is valid? [False, False] Translation: X:3.21, Y:0.40, Z:0.02 [[ 9.99978959e-01 -5.94831554e-03 2.58817801e-03 3.21297199e+00] [ 5.93614202e-03 9.99971401e-01 4.68604156e-03 4.03438493e-01] [-2.61597805e-03 -4.67057917e-03 9.99985671e-01 2.23568980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.403133365 meters 0.26910375033925754 Centerline is valid? [False, False] Translation: X:3.21, Y:0.40, Z:0.02 [[ 9.99978270e-01 -6.02215738e-03 2.68196476e-03 3.21261764e+00] [ 6.01000705e-03 9.99971744e-01 4.51563196e-03 4.04245583e-01] [-2.70908282e-03 -4.49941521e-03 9.99986208e-01 2.26061090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.463133365 meters 0.26855696402077955 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:0.02 [[ 9.99997475e-01 -3.84495510e-04 2.21387730e-03 3.19059733e+00] [ 3.82768317e-04 9.99999622e-01 7.80537177e-04 4.03707261e-01] [-2.21417657e-03 -7.79687805e-04 9.99997245e-01 2.29257337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.523133365 meters 0.26745870474030514 Centerline is valid? [False, False] Translation: X:3.19, Y:0.40, Z:0.02 [[ 9.99997357e-01 -2.92935428e-04 2.28034348e-03 3.19023453e+00] [ 2.90391837e-04 9.99999335e-01 1.11569349e-03 4.02396657e-01] [-2.28066879e-03 -1.11502835e-03 9.99996778e-01 2.34565581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.583133365 meters 0.2691538564484402 Centerline is valid? [False, False] Translation: X:3.21, Y:0.40, Z:0.02 [[ 9.99944364e-01 -1.01173989e-02 2.98447080e-03 3.21097668e+00] [ 1.01116637e-02 9.99947012e-01 1.93055614e-03 3.96807246e-01] [-3.00384487e-03 -1.90027076e-03 9.99993683e-01 2.43623755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.643133365 meters 0.2667443664278878 Centerline is valid? [False, False] Translation: X:3.19, Y:0.39, Z:0.02 [[ 9.99994787e-01 -1.50624502e-03 2.85594617e-03 3.19195258e+00] [ 1.50276043e-03 9.99998124e-01 1.22187018e-03 3.90943984e-01] [-2.85778125e-03 -1.21757201e-03 9.99995175e-01 2.29586957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.703133365 meters 0.26832236503401113 Centerline is valid? [False, False] Translation: X:3.19, Y:0.39, Z:0.02 [[ 9.99995411e-01 -1.26531709e-03 2.75245496e-03 3.19212859e+00] [ 1.26029040e-03 9.99997536e-01 1.82722458e-03 3.88363252e-01] [-2.75476020e-03 -1.82374730e-03 9.99994543e-01 2.30889160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.763133365 meters 0.26743778307218663 Centerline is valid? [False, False] Translation: X:3.19, Y:0.39, Z:0.02 [[ 9.99996171e-01 -1.13032762e-03 2.52584777e-03 3.19274513e+00] [ 1.12488610e-03 9.99997046e-01 2.15471781e-03 3.86901596e-01] [-2.52827584e-03 -2.15186826e-03 9.99994489e-01 2.28646449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.823133365 meters 0.26891679223461884 Centerline is valid? [False, False] Translation: X:3.19, Y:0.38, Z:0.02 [[ 9.99996186e-01 -8.90375229e-04 2.61441642e-03 3.19237492e+00] [ 8.83225217e-04 9.99995871e-01 2.73472251e-03 3.84383191e-01] [-2.61684055e-03 -2.73240296e-03 9.99992843e-01 2.32185755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.883133365 meters 0.27001713413632966 Centerline is valid? [False, False] Translation: X:3.19, Y:0.38, Z:0.02 [[ 9.99996009e-01 -7.19765125e-04 2.73188666e-03 3.19186616e+00] [ 7.11121952e-04 9.99994743e-01 3.16346488e-03 3.82481788e-01] [-2.73414925e-03 -3.16150955e-03 9.99991265e-01 2.37145948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.943133365 meters 0.26907330286414 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:0.02 [[ 9.99987002e-01 5.04791259e-03 7.17764489e-04 3.16999364e+00] [-5.04798978e-03 9.99987253e-01 1.05763259e-04 3.81975212e-01] [-7.17221456e-04 -1.09385152e-04 9.99999737e-01 2.49095895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.003133365 meters 0.26763468433963844 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:0.02 [[ 9.99986269e-01 5.21561996e-03 5.08259231e-04 3.17057034e+00] [-5.21591900e-03 9.99986224e-01 5.88829794e-04 3.79878772e-01] [-5.05181117e-04 -5.91472748e-04 9.99999697e-01 2.46900386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.063133365 meters 0.2685207207090944 Centerline is valid? [False, False] Translation: X:3.17, Y:0.38, Z:0.03 [[ 9.99985183e-01 5.39439543e-03 7.30676342e-04 3.16987251e+00] [-5.39530432e-03 9.99984667e-01 1.24769771e-03 3.77288643e-01] [-7.23934563e-04 -1.25162144e-03 9.99998955e-01 2.51929473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.123133365 meters 0.2689059989925043 Centerline is valid? [False, False] Translation: X:3.19, Y:0.38, Z:0.03 [[ 9.99994059e-01 -3.34852203e-03 8.18756537e-04 3.19152404e+00] [ 3.34685238e-03 9.99992334e-01 2.03218754e-03 3.77339807e-01] [-8.25555086e-04 -2.02943521e-03 9.99997600e-01 2.57235676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.183133365 meters 0.2689906466967082 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:0.02 [[ 9.99988078e-01 4.59866424e-03 1.64200734e-03 3.17238754e+00] [-4.59993642e-03 9.99989122e-01 7.71841249e-04 3.70953319e-01] [-1.63844004e-03 -7.79385176e-04 9.99998354e-01 2.35617258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.243133365 meters 0.268410030035028 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:0.02 [[ 9.99987514e-01 4.69295619e-03 1.71708843e-03 3.17214427e+00] [-4.69470783e-03 9.99988462e-01 1.01751710e-03 3.69921692e-01] [-1.71229345e-03 -1.02556562e-03 9.99998008e-01 2.36931088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.303133365 meters 0.2695989656415999 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:0.02 [[ 9.99987425e-01 4.76331988e-03 1.56860712e-03 3.17259763e+00] [-4.76519329e-03 9.99987935e-01 1.19275088e-03 3.69152117e-01] [-1.56290674e-03 -1.20021060e-03 9.99998058e-01 2.34557441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.363133365 meters 0.26823361190077966 Centerline is valid? [False, False] Translation: X:3.15, Y:0.37, Z:0.02 [[ 9.99998695e-01 -1.61425590e-03 5.81240950e-05 3.15055605e+00] [ 1.61402900e-03 9.99991806e-01 3.71249259e-03 3.70721981e-01] [-6.41165318e-05 -3.71239393e-03 9.99993107e-01 2.47756110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42313336499996 meters 0.2675658992174276 Centerline is valid? [False, False] Translation: X:3.15, Y:0.37, Z:0.02 [[ 9.99998474e-01 -1.74265150e-03 1.24501416e-04 3.15042604e+00] [ 1.74221927e-03 9.99992732e-01 3.39131953e-03 3.72133448e-01] [-1.30410399e-04 -3.39109744e-03 9.99994242e-01 2.47236871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48313336499996 meters 0.2702528152709308 Centerline is valid? [False, False] Translation: X:3.17, Y:0.37, Z:0.02 [[ 9.99977247e-01 6.31407185e-03 2.37454124e-03 3.16994172e+00] [-6.31944100e-03 9.99977477e-01 2.26046747e-03 3.72320475e-01] [-2.36021500e-03 -2.27542181e-03 9.99994626e-01 2.49960329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54313336499996 meters 0.2685370673485728 Centerline is valid? [False, False] Translation: X:3.15, Y:0.38, Z:0.02 [[ 9.99992912e-01 -1.98266545e-03 3.20064499e-03 3.14976218e+00] [ 1.97370814e-03 9.99994134e-01 2.79933234e-03 3.79055907e-01] [-3.20617635e-03 -2.79299536e-03 9.99990960e-01 2.37436880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60313336499996 meters 0.2707711868782106 Centerline is valid? [False, False] Translation: X:3.15, Y:0.38, Z:0.02 [[ 9.99992399e-01 -2.34180128e-03 3.11733510e-03 3.15026690e+00] [ 2.33595474e-03 9.99995509e-01 1.87781489e-03 3.83053389e-01] [-3.12171857e-03 -1.87051866e-03 9.99993378e-01 2.31692022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66313336499996 meters 0.2687410732001969 Centerline is valid? [False, False] Translation: X:3.15, Y:0.39, Z:0.02 [[ 9.99991843e-01 -2.56584489e-03 3.11943352e-03 3.15030516e+00] [ 2.56161549e-03 9.99995796e-01 1.35906252e-03 3.85280960e-01] [-3.12290755e-03 -1.35106065e-03 9.99994211e-01 2.30806804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72313336499997 meters 0.26985228910627157 Centerline is valid? [False, False] Translation: X:3.15, Y:0.39, Z:0.02 [[ 9.99991145e-01 -2.74967113e-03 3.18591450e-03 3.14999495e+00] [ 2.74674327e-03 9.99995802e-01 9.23012812e-04 3.87160827e-01] [-3.18843910e-03 -9.14253750e-04 9.99994499e-01 2.34092144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78313336499997 meters 0.2691042231332035 Centerline is valid? [False, False] Translation: X:3.15, Y:0.39, Z:0.02 [[ 9.99990947e-01 -2.85276375e-03 3.15722985e-03 3.15016872e+00] [ 2.85066908e-03 9.99995714e-01 6.67755706e-04 3.88247195e-01] [-3.15912126e-03 -6.58749444e-04 9.99994793e-01 2.31852053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84313336499997 meters 0.2707710668667248 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:0.02 [[ 9.99976348e-01 5.35588645e-03 4.31485302e-03 3.17082041e+00] [-5.35428658e-03 9.99985593e-01 -3.82246245e-04 3.88259050e-01] [-4.31683812e-03 3.59134244e-04 9.99990618e-01 2.33847989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.903133365 meters 0.2704837823255276 Centerline is valid? [False, False] Translation: X:3.17, Y:0.39, Z:0.02 [[ 9.99979392e-01 4.95197302e-03 4.08589345e-03 3.17136534e+00] [-4.94563772e-03 9.99986555e-01 -1.55918175e-03 3.93180067e-01] [-4.09355954e-03 1.53894226e-03 9.99990437e-01 2.34344500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.963133365 meters 0.26945416026707825 Centerline is valid? [False, False] Translation: X:3.15, Y:0.40, Z:0.02 [[ 9.99995061e-01 5.47621914e-05 3.14235837e-03 3.14892555e+00] [-5.86274481e-05 9.99999242e-01 1.22997068e-03 4.02423284e-01] [-3.14228864e-03 -1.23014884e-03 9.99994306e-01 2.42188713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.023133365 meters 0.2718370367694754 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989953e-01 8.55072596e-04 4.40041728e-03 3.19281813e+00] [-8.64362401e-04 9.99997401e-01 2.10965058e-03 4.07898208e-01] [-4.39860194e-03 -2.11343294e-03 9.99988093e-01 2.33798018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.083133365 meters 0.2706478030587843 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99990121e-01 6.37457593e-04 4.39906189e-03 3.19282993e+00] [-6.44319914e-04 9.99998578e-01 1.55871035e-03 4.10238220e-01] [-4.39806202e-03 -1.56152936e-03 9.99989109e-01 2.33503297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.143133365 meters 0.27173725246787817 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989932e-01 6.12811101e-04 4.44534260e-03 3.19275960e+00] [-6.19454570e-04 9.99998693e-01 1.49325549e-03 4.10535014e-01] [-4.44442171e-03 -1.49599414e-03 9.99989004e-01 2.32617408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.203133365 meters 0.26993291006337966 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989418e-01 6.33734423e-04 4.55658222e-03 3.19239319e+00] [-6.40831243e-04 9.99998584e-01 1.55619621e-03 4.10303155e-01] [-4.55558955e-03 -1.55909975e-03 9.99988408e-01 2.34898263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.263133365 meters 0.27203076809051124 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989210e-01 6.73828932e-04 4.59633191e-03 3.19218728e+00] [-6.81409523e-04 9.99998410e-01 1.64790312e-03 4.09854888e-01] [-4.59521420e-03 -1.65101732e-03 9.99988079e-01 2.37072985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.323133365 meters 0.271285534667948 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989232e-01 5.36552400e-04 4.60955602e-03 3.19206752e+00] [-5.42463548e-04 9.99999032e-01 1.28121349e-03 4.11441367e-01] [-4.60886412e-03 -1.28370021e-03 9.99988555e-01 2.38921706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.383133365 meters 0.27077942149458 Centerline is valid? [False, False] Translation: X:3.19, Y:0.41, Z:0.02 [[ 9.99989232e-01 3.22938569e-04 4.62952220e-03 3.19198903e+00] [-3.25217539e-04 9.99999826e-01 4.91524486e-04 4.14787937e-01] [-4.62936266e-03 -4.93024795e-04 9.99989163e-01 2.39900407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.443133365 meters 0.2728256189826049 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:0.02 [[ 9.99989223e-01 6.83585849e-05 4.64211263e-03 3.19189816e+00] [-6.75193761e-05 9.99999981e-01 -1.80938125e-04 4.17648323e-01] [-4.64212491e-03 1.80622743e-04 9.99989209e-01 2.41179110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.503133365 meters 0.2696078838935039 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:0.02 [[ 9.99963287e-01 -6.57323829e-03 5.49705086e-03 3.21425924e+00] [ 6.56144350e-03 9.99976139e-01 2.16094766e-03 4.22392926e-01] [-5.51112411e-03 -2.12479974e-03 9.99982556e-01 2.32068726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.563133365 meters 0.2706359970770913 Centerline is valid? [False, False] Translation: X:3.21, Y:0.43, Z:0.03 [[ 0.99997346 -0.00388569 0.00616224 3.21119615] [ 0.0038627 0.99998555 0.00373844 0.42844997] [-0.00617668 -0.00371453 0.99997403 0.02522126] [ 0. 0. 0. 1. ]] SLAMing on 343.623133365 meters 0.2728854266920233 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.03 [[ 9.99965528e-01 4.25343771e-03 7.13095314e-03 3.23087675e+00] [-4.27270960e-03 9.99987255e-01 2.68951652e-03 4.26845442e-01] [-7.11942257e-03 -2.71989230e-03 9.99970958e-01 2.57599030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.683133365 meters 0.2713307155710148 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.03 [[ 9.99966006e-01 4.15512562e-03 7.12188094e-03 3.23103740e+00] [-4.17260860e-03 9.99988314e-01 2.44172853e-03 4.27924276e-01] [-7.11165203e-03 -2.47136234e-03 9.99971658e-01 2.54624472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.743133365 meters 0.27081107496112455 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.03 [[ 9.99965119e-01 4.14514443e-03 7.25116767e-03 3.23083493e+00] [-4.16279337e-03 9.99988406e-01 2.42054717e-03 4.28026018e-01] [-7.24105008e-03 -2.45064785e-03 9.99970780e-01 2.52408790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.803133365 meters 0.2720579757609943 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.03 [[ 9.99965176e-01 4.11472484e-03 7.26053974e-03 3.23086962e+00] [-4.13181023e-03 9.99988727e-01 2.33975686e-03 4.28375980e-01] [-7.25083043e-03 -2.36967455e-03 9.99970905e-01 2.51214686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.863133365 meters 0.27220684964874153 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.02 [[ 9.99966692e-01 4.09720194e-03 7.05887832e-03 3.23143295e+00] [-4.11353767e-03 9.99988891e-01 2.30124821e-03 4.28605503e-01] [-7.04937123e-03 -2.33020852e-03 9.99972438e-01 2.49048904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92313336499996 meters 0.2722699452152312 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.02 [[ 9.99969177e-01 -5.23187307e-03 5.85431557e-03 3.25441780e+00] [ 5.21489624e-03 9.99982164e-01 2.91140020e-03 4.28794973e-01] [-5.86944323e-03 -2.88078081e-03 9.99978625e-01 2.45055655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98313336499996 meters 0.2731577530315876 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.02 [[ 9.99969239e-01 -5.10427790e-03 5.95542318e-03 3.25399647e+00] [ 5.08500764e-03 9.99981802e-01 3.24641802e-03 4.27301215e-01] [-5.97188542e-03 -3.21603478e-03 9.99976997e-01 2.48883997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04313336499996 meters 0.273204744556759 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.02 [[ 0.99996966 -0.00504808 0.00593296 3.25401254] [ 0.00502806 0.99998163 0.00338441 0.42671328] [-0.00594994 -0.00335448 0.99997667 0.02496337] [ 0. 0. 0. 1. ]] SLAMing on 344.10313336499996 meters 0.2730856880191345 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99976436e-01 3.82025656e-03 5.70381651e-03 3.23369251e+00] [-3.83524483e-03 9.99989215e-01 2.61914110e-03 4.23470990e-01] [-5.69374921e-03 -2.64095492e-03 9.99980303e-01 2.38910955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16313336499996 meters 0.27225593679962845 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99977283e-01 3.75161035e-03 5.59998642e-03 3.23396401e+00] [-3.76535286e-03 9.99989921e-01 2.44550465e-03 4.24241817e-01] [-5.59075539e-03 -2.46653502e-03 9.99981330e-01 2.38401073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22313336499997 meters 0.27106864008789056 Centerline is valid? [False, False] Translation: X:3.23, Y:0.43, Z:0.02 [[ 9.99976687e-01 3.67052702e-03 5.75778296e-03 3.23326485e+00] [-3.68344145e-03 9.99990721e-01 2.23395226e-03 4.25188331e-01] [-5.74952975e-03 -2.25510864e-03 9.99980929e-01 2.46254007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28313336499997 meters 0.2722523096514044 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.03 [[ 9.99975779e-01 3.69658203e-03 5.89716910e-03 3.23274967e+00] [-3.71019986e-03 9.99990472e-01 2.29994911e-03 4.24851824e-01] [-5.88861096e-03 -2.32177308e-03 9.99979967e-01 2.50192539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34313336499997 meters 0.2716669158205457 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99974926e-01 3.92008910e-03 5.89750737e-03 3.23294670e+00] [-3.93736383e-03 9.99987984e-01 2.92040397e-03 4.22268334e-01] [-5.88598826e-03 -2.94355138e-03 9.99978345e-01 2.45523097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.403133365 meters 0.27054305298398434 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 0.99997444 0.0041875 0.00579535 3.23360974] [-0.00420986 0.99998373 0.0038505 0.41844936] [-0.00577913 -0.0038748 0.99997579 0.02356122] [ 0. 0. 0. 1. ]] SLAMing on 344.463133365 meters 0.2732984057115079 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:0.02 [[ 9.99983696e-01 7.69217162e-05 5.70972369e-03 3.23389495e+00] [-7.70302154e-05 9.99999997e-01 1.87826315e-05 4.16348118e-01] [-5.70972222e-03 -1.92221465e-05 9.99983699e-01 2.32788150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.523133365 meters 0.2741932325250878 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99983393e-01 3.51070755e-04 5.75236364e-03 3.23378059e+00] [-3.55069830e-04 9.99999696e-01 6.94199119e-04 4.13457575e-01] [-5.75211818e-03 -6.96230081e-04 9.99983214e-01 2.32604984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.583133365 meters 0.2703895183173401 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99982990e-01 6.67574889e-04 5.79432623e-03 3.23386371e+00] [-6.75824524e-04 9.99998761e-01 1.42190245e-03 4.10334185e-01] [-5.79336982e-03 -1.42579422e-03 9.99982202e-01 2.28389240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.643133365 meters 0.27190002239125133 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:0.02 [[ 9.99982959e-01 8.46178113e-04 5.77628219e-03 3.23405753e+00] [-8.56907865e-04 9.99997912e-01 1.85533133e-03 4.08494179e-01] [-5.77470019e-03 -1.86024945e-03 9.99981596e-01 2.24918755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.703133365 meters 0.2734333252220226 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:0.02 [[ 9.99959279e-01 6.26396480e-03 6.49637395e-03 3.25603682e+00] [-6.25636979e-03 9.99979722e-01 -1.18877996e-03 4.02517501e-01] [-6.50368869e-03 1.14808783e-03 9.99978192e-01 2.18149457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.763133365 meters 0.27045778950057836 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:0.02 [[ 9.99987146e-01 -1.54330272e-03 4.82969117e-03 3.23708768e+00] [ 1.54246119e-03 9.99998795e-01 1.77960047e-04 4.04491647e-01] [-4.82995999e-03 -1.70508148e-04 9.99988321e-01 2.11075305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.823133365 meters 0.2719920460548755 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:0.02 [[ 9.99987348e-01 -1.45995296e-03 4.81382068e-03 3.23717940e+00] [ 1.45810381e-03 9.99998862e-01 3.87619983e-04 4.03590115e-01] [-4.81438111e-03 -3.80596028e-04 9.99988338e-01 2.09776987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.883133365 meters 0.27326710817846894 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:0.02 [[ 9.99986636e-01 -1.44410849e-03 4.96404048e-03 3.23666450e+00] [ 1.44197645e-03 9.99998867e-01 4.33049442e-04 4.03370221e-01] [-4.96466023e-03 -4.25885625e-04 9.99987585e-01 2.13560879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.943133365 meters 0.27241807935311746 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:0.02 [[ 9.99986438e-01 -1.42404670e-03 5.00966605e-03 3.23667424e+00] [ 1.42168648e-03 9.99998877e-01 4.74661346e-04 4.03161384e-01] [-5.01033636e-03 -4.67532734e-04 9.99987339e-01 2.10951371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.003133365 meters 0.2736141511216769 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:0.02 [[ 9.99985732e-01 -1.31676900e-03 5.17714282e-03 3.23614314e+00] [ 1.31279313e-03 9.99998841e-01 7.71289697e-04 4.01879094e-01] [-5.17815243e-03 -7.64482174e-04 9.99986301e-01 2.13925673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.063133365 meters 0.2755854134702013 Centerline is valid? [False, False] Translation: X:3.26, Y:0.39, Z:0.02 [[ 9.99985995e-01 4.37672314e-03 2.97547592e-03 3.25904194e+00] [-4.37224019e-03 9.99989299e-01 -1.51147071e-03 3.92543471e-01] [-2.98205937e-03 1.49844005e-03 9.99994431e-01 2.10894519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.123133365 meters 0.2719995580949111 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:0.02 [[ 9.99994437e-01 -3.33170694e-03 -1.63287721e-04 3.24050471e+00] [ 3.33171725e-03 9.99994448e-01 6.29090099e-05 3.88654335e-01] [ 1.63077220e-04 -6.34526884e-05 9.99999985e-01 2.00972725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.183133365 meters 0.2725247852910771 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:0.02 [[ 9.99995855e-01 -2.87843361e-03 -7.45266916e-05 3.24017596e+00] [ 2.87851318e-03 9.99995262e-01 1.09055038e-03 3.84117429e-01] [ 7.13872617e-05 -1.09076039e-03 9.99999403e-01 2.02158884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.243133365 meters 0.2732966604006514 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99993019e-01 2.66626687e-03 2.61792864e-03 3.26032874e+00] [-2.66137360e-03 9.99994709e-01 -1.87084337e-03 3.80051110e-01] [-2.62290295e-03 1.86386302e-03 9.99994823e-01 2.03820085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.303133365 meters 0.27259442790066324 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99992446e-01 2.86978505e-03 2.62163055e-03 3.26042388e+00] [-2.86615362e-03 9.99994929e-01 -1.38788693e-03 3.78012332e-01] [-2.62560020e-03 1.38036245e-03 9.99995600e-01 2.00972746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.363133365 meters 0.2723769965955167 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99992004e-01 3.08766927e-03 2.54113577e-03 3.26075694e+00] [-3.08546723e-03 9.99994861e-01 -8.70022019e-04 3.75778940e-01] [-2.54380905e-03 8.62174472e-04 9.99996393e-01 1.97574636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42313336499996 meters 0.27623791460950015 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99979258e-01 -5.71410507e-03 2.97203090e-03 3.28133269e+00] [ 5.71303028e-03 9.99983612e-01 3.70000794e-04 3.73827644e-01] [-2.97409642e-03 -3.53013817e-04 9.99995515e-01 2.08705136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48313336499996 meters 0.27221509339895533 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99993062e-01 2.83565516e-03 2.41542189e-03 3.26054949e+00] [-2.83460568e-03 9.99995887e-01 -4.37802903e-04 3.71712702e-01] [-2.41665341e-03 4.30953097e-04 9.99996987e-01 1.99058223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54313336499996 meters 0.27249967769396416 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99991456e-01 -3.84373196e-03 1.52091646e-03 3.28437864e+00] [ 3.84035177e-03 9.99990163e-01 2.21918123e-03 3.73833541e-01] [-1.52943144e-03 -2.21332141e-03 9.99996381e-01 1.88318322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60313336499996 meters 0.27167590845945816 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99991199e-01 -3.91877611e-03 1.49846018e-03 3.28441640e+00] [ 3.91571065e-03 9.99990246e-01 2.04322851e-03 3.74616170e-01] [-1.50645252e-03 -2.03734299e-03 9.99996790e-01 1.88748169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66313336499996 meters 0.27215312257676305 Centerline is valid? [False, False] Translation: X:3.27, Y:0.37, Z:0.02 [[ 9.99985824e-01 5.29410223e-03 -5.70310771e-04 3.26575846e+00] [-5.29296921e-03 9.99984051e-01 1.97017887e-03 3.72211098e-01] [ 5.80732004e-04 -1.96713231e-03 9.99997897e-01 1.80561596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72313336499997 meters 0.2715412287467458 Centerline is valid? [False, False] Translation: X:3.27, Y:0.37, Z:0.02 [[ 9.99986005e-01 5.28049010e-03 -3.24609557e-04 3.26506117e+00] [-5.27984976e-03 9.99984174e-01 1.94282196e-03 3.72176655e-01] [ 3.34863471e-04 -1.94108088e-03 9.99998060e-01 1.83345922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78313336499997 meters 0.2757424456377748 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99991760e-01 -3.87091121e-03 1.22311823e-03 3.28451660e+00] [ 3.86760791e-03 9.99988898e-01 2.69164070e-03 3.70437710e-01] [-1.23352376e-03 -2.68688798e-03 9.99995630e-01 2.00359649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84313336499997 meters 0.2729298212543122 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99998025e-01 1.67828058e-03 -1.06494689e-03 3.26377093e+00] [-1.67924931e-03 9.99998177e-01 -9.09416758e-04 3.71465965e-01] [ 1.06341869e-03 9.11203273e-04 9.99999019e-01 2.01070653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.903133365 meters 0.2731232401577501 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99997783e-01 1.75260487e-03 -1.16739168e-03 3.26413428e+00] [-1.75346089e-03 9.99998194e-01 -7.32651060e-04 3.70699860e-01] [ 1.16610553e-03 7.34696412e-04 9.99999050e-01 1.98278261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.963133365 meters 0.27356408427239803 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99997659e-01 1.77629502e-03 -1.23552513e-03 3.26424259e+00] [-1.77713187e-03 9.99998192e-01 -6.76552629e-04 3.70452033e-01] [ 1.23432114e-03 6.78746736e-04 9.99999008e-01 1.99347091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.023133365 meters 0.2720681298410274 Centerline is valid? [False, False] Translation: X:3.29, Y:0.37, Z:0.02 [[ 9.99972392e-01 -7.19895285e-03 -1.84114556e-03 3.28506197e+00] [ 7.19913441e-03 9.99974082e-01 9.20061151e-05 3.73065026e-01] [ 1.84043549e-03 -1.05258229e-04 9.99998301e-01 2.10002186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.083133365 meters 0.2730200239418347 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99997862e-01 1.40470789e-03 -1.51779880e-03 3.26352395e+00] [-1.40595991e-03 9.99998672e-01 -8.24137694e-04 3.71362156e-01] [ 1.51663911e-03 8.26269896e-04 9.99998509e-01 2.00215361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.143133365 meters 0.2715278531887833 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99997838e-01 1.33386014e-03 -1.59515593e-03 3.26384586e+00] [-1.33550325e-03 9.99998578e-01 -1.02944555e-03 3.72187895e-01] [ 1.59378053e-03 1.03157366e-03 9.99998198e-01 1.97027181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.203133365 meters 0.27265615408690536 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99992490e-01 -3.87530679e-03 -3.84085263e-05 3.28476489e+00] [ 3.87539854e-03 9.99988632e-01 2.77789758e-03 3.73613532e-01] [ 2.76428843e-05 -2.77802556e-03 9.99996141e-01 2.01008588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.263133365 meters 0.2717486144905476 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:0.02 [[ 9.99991897e-01 -4.02238239e-03 1.61111257e-04 3.28405200e+00] [ 4.02198479e-03 9.99989040e-01 2.39649737e-03 3.75256327e-01] [-1.70749121e-04 -2.39582996e-03 9.99997115e-01 2.06761516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.323133365 meters 0.2719900027606445 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:0.02 [[ 9.99991440e-01 -4.12980338e-03 2.54666240e-04 3.28381708e+00] [ 4.12925650e-03 9.99989245e-01 2.11179419e-03 3.76454976e-01] [-2.63384796e-04 -2.11072453e-03 9.99997738e-01 2.07198840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.383133365 meters 0.2731932686376831 Centerline is valid? [False, False] Translation: X:3.27, Y:0.38, Z:0.02 [[ 9.99982098e-01 3.60194473e-03 -4.77795643e-03 3.26801169e+00] [-3.59555580e-03 9.99992631e-01 1.34508520e-03 3.76207857e-01] [ 4.78276615e-03 -1.32788172e-03 9.99987681e-01 1.96817496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.443133365 meters 0.2721052264811574 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.02 [[ 9.99978609e-01 -5.13177666e-03 -4.05539540e-03 3.28929221e+00] [ 5.13959391e-03 9.99984950e-01 1.91955076e-03 3.77273026e-01] [ 4.04548366e-03 -1.94035278e-03 9.99989934e-01 2.06548895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.503133365 meters 0.273550481584388 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.02 [[ 9.99977855e-01 -5.33903307e-03 -3.97281290e-03 3.28886579e+00] [ 5.34464813e-03 9.99984732e-01 1.40409904e-03 3.79560873e-01] [ 3.96525571e-03 -1.42530124e-03 9.99991123e-01 2.10995121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.563133365 meters 0.27304631184657696 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.02 [[ 9.99976012e-01 -5.69830764e-03 -3.93762847e-03 3.28875253e+00] [ 5.69970920e-03 9.99983697e-01 3.44810179e-04 3.83953945e-01] [ 3.93559944e-03 -3.67245245e-04 9.99992188e-01 2.12899494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.623133365 meters 0.2711375711192717 Centerline is valid? [False, False] Translation: X:3.27, Y:0.38, Z:0.02 [[ 9.99986141e-01 3.20653884e-03 -4.17571894e-03 3.26756580e+00] [-3.20931594e-03 9.99994633e-01 -6.58529124e-04 3.84937484e-01] [ 4.17358493e-03 6.71921199e-04 9.99991065e-01 2.07725156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.683133365 meters 0.275552994964219 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99979218e-01 -5.36873279e-03 -3.56945378e-03 3.28831471e+00] [ 5.36890226e-03 9.99985587e-01 3.78974044e-05 3.88090438e-01] [ 3.56919887e-03 -5.70606653e-05 9.99993629e-01 2.18916623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.743133365 meters 0.2730945159131254 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99978924e-01 -5.38471990e-03 -3.62714353e-03 3.28855117e+00] [ 5.38474190e-03 9.99985502e-01 -3.70105971e-06 3.88287242e-01] [ 3.62711087e-03 -1.58302500e-05 9.99993422e-01 2.16761966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.803133365 meters 0.2734243576656754 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99978728e-01 -5.31643775e-03 -3.77885561e-03 3.28908847e+00] [ 5.31707298e-03 9.99985852e-01 1.58073064e-04 3.87603812e-01] [ 3.77796176e-03 -1.78162152e-04 9.99992848e-01 2.12668197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.863133365 meters 0.27411509634501013 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99979235e-01 -5.22574983e-03 -3.77108265e-03 3.28895128e+00] [ 5.22715697e-03 9.99986272e-01 3.63380839e-04 3.86657707e-01] [ 3.76913194e-03 -3.83085335e-04 9.99992823e-01 2.14887269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92313336499996 meters 0.27024766419455937 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99979706e-01 -5.17451918e-03 -3.71648497e-03 3.28875031e+00] [ 5.17643529e-03 9.99986474e-01 5.06135374e-04 3.86064321e-01] [ 3.71381569e-03 -5.25363247e-04 9.99992966e-01 2.16455622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98313336499996 meters 0.27187083691880765 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:0.02 [[ 9.99987589e-01 2.55110630e-03 -4.27950604e-03 3.30909517e+00] [-2.55395674e-03 9.99996520e-01 -6.60735261e-04 3.80656327e-01] [ 4.27780554e-03 6.71656733e-04 9.99990625e-01 2.33015455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04313336499996 meters 0.26966280841279483 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:0.02 [[ 9.99988029e-01 2.57378421e-03 -4.16140683e-03 3.30847358e+00] [-2.57628345e-03 9.99996504e-01 -5.95326025e-04 3.80375586e-01] [ 4.15986004e-03 6.06039861e-04 9.99991164e-01 2.40817941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10313336499996 meters 0.2718578643466836 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:0.03 [[ 9.99985852e-01 -5.28476294e-03 6.05887439e-04 3.32406565e+00] [ 5.28479591e-03 9.99986034e-01 -5.28326769e-05 3.82833516e-01] [-6.05599769e-04 5.60339209e-05 9.99999815e-01 2.60212670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16313336499996 meters 0.2707897624628733 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:0.02 [[ 9.99993432e-01 3.61548955e-03 2.51931627e-04 3.30287682e+00] [-3.61529132e-03 9.99993158e-01 -7.82887535e-04 3.82786273e-01] [-2.54760425e-04 7.81971587e-04 9.99999662e-01 2.49188661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22313336499997 meters 0.2721488357299793 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:0.03 [[ 9.99993874e-01 3.48410202e-03 3.35767782e-04 3.30233991e+00] [-3.48372009e-03 9.99993292e-01 -1.13142470e-03 3.84338412e-01] [-3.39707528e-04 1.13024805e-03 9.99999304e-01 2.56416247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28313336499997 meters 0.26953448359770077 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:0.03 [[ 9.99994562e-01 3.28542369e-03 2.86721935e-04 3.30235619e+00] [-3.28494143e-03 9.99993216e-01 -1.66655237e-03 3.86647953e-01] [-2.92195321e-04 1.66560145e-03 9.99998570e-01 2.58678478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34313336499997 meters 0.2687186452463268 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:0.03 [[ 9.99995269e-01 3.07430266e-03 -1.01433091e-04 3.30350043e+00] [-3.07454328e-03 9.99992238e-01 -2.46403809e-03 3.90006157e-01] [ 9.38571049e-05 2.46433830e-03 9.99996959e-01 2.52318792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.403133365 meters 0.2696086056912786 Centerline is valid? [False, False] Translation: X:3.30, Y:0.40, Z:0.03 [[ 9.99996144e-01 2.76134490e-03 -2.94201841e-04 3.30386521e+00] [-2.76245577e-03 9.99988793e-01 -3.84484841e-03 3.95402872e-01] [ 2.83581591e-04 3.84564631e-03 9.99992565e-01 2.53753083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.463133365 meters 0.2698610264165345 Centerline is valid? [False, False] Translation: X:3.30, Y:0.40, Z:0.03 [[ 9.99996969e-01 2.45248443e-03 -2.15479092e-04 3.30366951e+00] [-2.45348376e-03 9.99985629e-01 -4.76675254e-03 3.99274035e-01] [ 2.03785609e-04 4.76726677e-03 9.99988616e-01 2.54673941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.523133365 meters 0.2701325567367955 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:0.03 [[ 9.99976844e-01 -6.70398438e-03 -1.16946303e-03 3.32630749e+00] [ 6.69833601e-03 9.99966195e-01 -4.76872700e-03 4.04085821e-01] [ 1.20139297e-03 4.76078312e-03 9.99987946e-01 2.50894580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.583133365 meters 0.2704512879345517 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:0.02 [[ 9.99977496e-01 -6.59758649e-03 -1.21620317e-03 3.32662169e+00] [ 6.59202334e-03 9.99968044e-01 -4.52281676e-03 4.02979354e-01] [ 1.24600398e-03 4.51469774e-03 9.99989032e-01 2.46826765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.643133365 meters 0.2706380433452976 Centerline is valid? [False, False] Translation: X:3.33, Y:0.40, Z:0.02 [[ 9.99978381e-01 -6.49273396e-03 -1.03995557e-03 3.32607202e+00] [ 6.48823414e-03 9.99969820e-01 -4.27339073e-03 4.01858459e-01] [ 1.06767017e-03 4.26655087e-03 9.99990328e-01 2.49624656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.703133365 meters 0.2680186783138963 Centerline is valid? [False, False] Translation: X:3.28, Y:0.40, Z:0.02 [[ 9.99988253e-01 -3.63085233e-03 -3.21118489e-03 3.28441116e+00] [ 3.62449998e-03 9.99991468e-01 -1.98180654e-03 3.99034671e-01] [ 3.21835314e-03 1.97014432e-03 9.99992880e-01 2.41984392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.763133365 meters 0.26916100933106996 Centerline is valid? [False, False] Translation: X:3.28, Y:0.40, Z:0.02 [[ 9.99989206e-01 -3.50118745e-03 -3.05429012e-03 3.28407411e+00] [ 3.49614038e-03 9.99992517e-01 -1.65622769e-03 3.97610155e-01] [ 3.06006602e-03 1.64553159e-03 9.99993964e-01 2.41759937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.823133365 meters 0.27094104852426004 Centerline is valid? [False, False] Translation: X:3.28, Y:0.40, Z:0.02 [[ 9.99989965e-01 -3.30285568e-03 -3.02657610e-03 3.28418679e+00] [ 3.29952523e-03 9.99993946e-01 -1.10473436e-03 3.95336483e-01] [ 3.03020656e-03 1.09473701e-03 9.99994810e-01 2.38501731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.883133365 meters 0.2693060757961861 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:0.02 [[ 9.99981591e-01 4.68979075e-03 -3.85022376e-03 3.26519160e+00] [-4.69895186e-03 9.99986142e-01 -2.37378241e-03 3.90733121e-01] [ 3.83903786e-03 2.39183072e-03 9.99989770e-01 2.21406410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.943133365 meters 0.2686940037204552 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:0.02 [[ 9.99980100e-01 4.84666183e-03 -4.03860962e-03 3.26562490e+00] [-4.85480299e-03 9.99986198e-01 -2.00847281e-03 3.89100521e-01] [ 4.02881949e-03 2.02803950e-03 9.99989828e-01 2.21741255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.003133365 meters 0.2707859299888727 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:0.02 [[ 9.99979848e-01 4.84090815e-03 -4.10710688e-03 3.26566591e+00] [-4.84921006e-03 9.99986215e-01 -2.01380789e-03 3.89154155e-01] [ 4.09730161e-03 2.03368354e-03 9.99989538e-01 2.24284673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.063133365 meters 0.2685309961957234 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:0.02 [[ 9.99979767e-01 4.92842847e-03 -4.02207074e-03 3.26525918e+00] [-4.93581837e-03 9.99986145e-01 -1.82948497e-03 3.88189720e-01] [ 4.01299853e-03 1.84930017e-03 9.99990238e-01 2.27938713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.123133365 meters 0.2714005756905695 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:0.02 [[ 9.99995508e-01 -1.64923696e-03 -2.50287300e-03 3.28578986e+00] [ 1.65211892e-03 9.99997974e-01 1.14983065e-03 3.87753890e-01] [ 2.50097159e-03 -1.15396053e-03 9.99996207e-01 2.26681689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.183133365 meters 0.269928828407456 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99991075e-01 3.42754127e-03 -2.47018063e-03 3.26410996e+00] [-3.43367859e-03 9.99991018e-01 -2.48462092e-03 3.81678903e-01] [ 2.46164230e-03 2.49308055e-03 9.99993862e-01 2.23461369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.243133365 meters 0.27070784599100123 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:0.02 [[ 9.99988081e-01 -4.75583556e-03 -1.10448387e-03 3.28331851e+00] [ 4.75473123e-03 9.99988196e-01 -1.00034348e-03 3.82338414e-01] [ 1.10922830e-03 9.95080029e-04 9.99998890e-01 2.33173345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.303133365 meters 0.26966359249390254 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99993160e-01 3.66232239e-03 5.17239507e-04 3.26161795e+00] [-3.66163892e-03 9.99992430e-01 -1.31618841e-03 3.75260968e-01] [-5.22055898e-04 1.31428546e-03 9.99999000e-01 2.16283794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.363133365 meters 0.26973219350254196 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99992784e-01 3.72088610e-03 7.66525330e-04 3.26097705e+00] [-3.71999477e-03 9.99992407e-01 -1.16097330e-03 3.74557505e-01] [-7.70839359e-04 1.15811345e-03 9.99999032e-01 2.18152649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42313336499996 meters 0.2704872108035018 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99992799e-01 3.71145764e-03 7.92242219e-04 3.26109558e+00] [-3.71051556e-03 9.99992411e-01 -1.18730154e-03 3.74667806e-01] [-7.96642826e-04 1.18435336e-03 9.99998981e-01 2.14088993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48313336499996 meters 0.2703305660371162 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99993341e-01 3.56280372e-03 7.89813003e-04 3.26119889e+00] [-3.56150497e-03 9.99992313e-01 -1.63972884e-03 3.76552380e-01] [-7.95648965e-04 1.63690500e-03 9.99998344e-01 2.11573767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54313336499996 meters 0.2691926144480065 Centerline is valid? [False, False] Translation: X:3.26, Y:0.38, Z:0.02 [[ 9.99993570e-01 3.48510053e-03 8.45030791e-04 3.26088427e+00] [-3.48355809e-03 9.99992276e-01 -1.81996011e-03 3.77376063e-01] [-8.51367008e-04 1.81700469e-03 9.99997987e-01 2.15218974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60313336499996 meters 0.26777695080350034 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:0.02 [[ 9.99980078e-01 -6.25047588e-03 -8.80789222e-04 3.24081754e+00] [ 6.24867963e-03 9.99978421e-01 -2.02756354e-03 3.76108504e-01] [ 8.93443453e-04 2.02201938e-03 9.99997557e-01 2.11906525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66313336499996 meters 0.2690196646595277 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99995263e-01 3.06721901e-03 -2.57344334e-04 3.26158686e+00] [-3.06768894e-03 9.99993591e-01 -1.84597766e-03 3.73051080e-01] [ 2.51680667e-04 1.84675836e-03 9.99998263e-01 2.14543199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72313336499997 meters 0.2693643352860207 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99985615e-01 -4.87419819e-03 -2.23890396e-03 3.24265677e+00] [ 4.87378232e-03 9.99988105e-01 -1.91167905e-04 3.70465685e-01] [ 2.23980912e-03 1.80253224e-04 9.99997475e-01 1.98446639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78313336499997 meters 0.2697872360039937 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99999150e-01 1.24669776e-03 -3.81689812e-04 3.26458472e+00] [-1.24783345e-03 9.99994752e-01 -2.98979008e-03 3.69447179e-01] [ 3.77960444e-04 2.99026383e-03 9.99995458e-01 1.85716657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84313336499997 meters 0.2703905147282277 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99991675e-01 -3.81296825e-03 -1.45269163e-03 3.24300792e+00] [ 3.81448540e-03 9.99992181e-01 1.04303504e-03 3.70021430e-01] [ 1.44870321e-03 -1.04856763e-03 9.99998401e-01 1.84888535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.903133365 meters 0.26921380836906944 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99991030e-01 -3.93812987e-03 -1.55939026e-03 3.24355218e+00] [ 3.93907490e-03 9.99992060e-01 6.03417720e-04 3.71736910e-01] [ 1.55700154e-03 -6.09554862e-04 9.99998602e-01 1.77418901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.963133365 meters 0.2705062569838239 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99990480e-01 -4.10320923e-03 -1.48474842e-03 3.24353218e+00] [ 4.10329985e-03 9.99991580e-01 5.79942598e-05 3.73962288e-01] [ 1.48449796e-03 -6.40860757e-05 9.99998896e-01 1.73563323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.023133365 meters 0.27007101791901406 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99990097e-01 -4.16851255e-03 -1.55843330e-03 3.24363866e+00] [ 4.16836293e-03 9.99991307e-01 -9.92401227e-05 3.74635321e-01] [ 1.55883344e-03 9.27430244e-05 9.99998781e-01 1.74936899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.083133365 meters 0.2682696012980811 Centerline is valid? [False, False] Translation: X:3.22, Y:0.37, Z:0.02 [[ 9.99996641e-01 1.84182750e-03 -1.82342758e-03 3.22039004e+00] [-1.84719633e-03 9.99993951e-01 -2.94706774e-03 3.72261500e-01] [ 1.81798856e-03 2.95042607e-03 9.99993995e-01 1.80213681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.143133365 meters 0.2681589404820717 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99983666e-01 -5.70741580e-03 3.04749367e-04 3.23840530e+00] [ 5.70776149e-03 9.99983054e-01 -1.14581031e-03 3.73123672e-01] [-2.98204587e-04 1.14753104e-03 9.99999297e-01 2.01286742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.203133365 meters 0.26951908613514686 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.02 [[ 9.99984026e-01 -5.63455753e-03 4.46632754e-04 3.23809685e+00] [ 5.63498773e-03 9.99983655e-01 -9.67874614e-04 3.72359544e-01] [-4.41171909e-04 9.70375923e-04 9.99999432e-01 2.01120405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.263133365 meters 0.27206813614244846 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.02 [[ 9.99997054e-01 1.17633160e-03 2.12315629e-03 3.25959476e+00] [-1.16916053e-03 9.99993619e-01 -3.37563693e-03 3.72514623e-01] [-2.12711361e-03 3.37314468e-03 9.99992049e-01 1.91891425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.323133365 meters 0.27011061760680344 Centerline is valid? [False, False] Translation: X:3.22, Y:0.37, Z:0.02 [[ 9.99996274e-01 1.45876600e-03 2.30753192e-03 3.22299189e+00] [-1.45143367e-03 9.99993903e-01 -3.17605551e-03 3.70152836e-01] [-2.31215097e-03 3.17269445e-03 9.99992294e-01 1.50381369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.383133365 meters 0.270151567430271 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.01 [[ 9.99985187e-01 -3.40666941e-03 4.24508737e-03 3.24450493e+00] [ 3.40259417e-03 9.99993744e-01 9.66840973e-04 3.69734651e-01] [-4.24835452e-03 -9.52382341e-04 9.99990522e-01 1.42494674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.443133365 meters 0.26941711146174685 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:0.01 [[ 9.99985759e-01 -3.26024959e-03 4.22528783e-03 3.24454688e+00] [ 3.25467424e-03 9.99993825e-01 1.32572408e-03 3.68178788e-01] [-4.22958393e-03 -1.31195327e-03 9.99990195e-01 1.42891767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.503133365 meters 0.2682699392519775 Centerline is valid? [False, False] Translation: X:3.23, Y:0.36, Z:0.01 [[ 9.99987398e-01 4.17440358e-03 2.78889234e-03 3.22778345e+00] [-4.17386077e-03 9.99991269e-01 -2.00424621e-04 3.61354606e-01] [-2.78970464e-03 1.88781647e-04 9.99996091e-01 1.14763720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.563133365 meters 0.2705340119778274 Centerline is valid? [False, False] Translation: X:3.25, Y:0.36, Z:0.01 [[ 9.99988478e-01 -4.79573033e-03 2.10242718e-04 3.25207764e+00] [ 4.79568040e-03 9.99988472e-01 2.37355971e-04 3.63954985e-01] [-2.11378590e-04 -2.36344979e-04 9.99999950e-01 1.03319379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.623133365 meters 0.2723584230846321 Centerline is valid? [False, False] Translation: X:3.25, Y:0.36, Z:0.01 [[ 9.99988895e-01 -4.71174956e-03 9.82618606e-05 3.25240610e+00] [ 4.71170488e-03 9.99988799e-01 4.50086776e-04 3.63032131e-01] [-1.00381456e-04 -4.49618797e-04 9.99999894e-01 1.02015577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.683133365 meters 0.2706150983344107 Centerline is valid? [False, False] Translation: X:3.23, Y:0.36, Z:0.01 [[ 9.99993785e-01 3.25907080e-03 1.34506176e-03 3.23152149e+00] [-3.25875244e-03 9.99994662e-01 -2.38808692e-04 3.55219597e-01] [-1.34583288e-03 2.34423984e-04 9.99999067e-01 9.26225846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.743133365 meters 0.2689209091414913 Centerline is valid? [False, False] Translation: X:3.23, Y:0.35, Z:0.01 [[ 9.99993609e-01 3.28897514e-03 1.40135820e-03 3.23136037e+00] [-3.28874943e-03 9.99994579e-01 -1.63336301e-04 3.54909899e-01] [-1.40188781e-03 1.58726541e-04 9.99999005e-01 9.33023007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.803133365 meters 0.2704934414624272 Centerline is valid? [False, False] Translation: X:3.23, Y:0.35, Z:0.01 [[ 9.99993561e-01 3.30367231e-03 1.40114131e-03 3.23137402e+00] [-3.30350623e-03 9.99994536e-01 -1.20832302e-04 3.54747153e-01] [-1.40153285e-03 1.16202845e-04 9.99999011e-01 9.30693437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.863133365 meters 0.26952708155734845 Centerline is valid? [False, False] Translation: X:3.23, Y:0.35, Z:0.01 [[ 9.99993408e-01 3.34962477e-03 1.40122122e-03 3.23083503e+00] [-3.34962695e-03 9.99994390e-01 -7.84825193e-07 3.54257978e-01] [-1.40121599e-03 -3.90874835e-06 9.99999018e-01 1.04782967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92313336499996 meters 0.27021841923122797 Centerline is valid? [False, False] Translation: X:3.23, Y:0.35, Z:0.01 [[ 9.99993533e-01 3.34450148e-03 1.32223935e-03 3.23108686e+00] [-3.34449090e-03 9.99994407e-01 -1.02123918e-05 3.54304851e-01] [-1.32226611e-03 5.79010826e-06 9.99999126e-01 1.03232444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98313336499996 meters 0.27129999332714005 Centerline is valid? [False, False] Translation: X:3.23, Y:0.35, Z:0.01 [[ 9.99993296e-01 3.39860349e-03 1.36316018e-03 3.23070207e+00] [-3.39878681e-03 9.99994215e-01 1.32187670e-04 3.53729994e-01] [-1.36270304e-03 -1.36819875e-04 9.99999062e-01 1.09819531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04313336499996 meters 0.27016906512467065 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:0.01 [[ 9.99988198e-01 -4.83534835e-03 4.72229904e-04 3.21022922e+00] [ 4.83469648e-03 9.99987372e-01 1.37191891e-03 3.54332883e-01] [-4.78857647e-04 -1.36961963e-03 9.99998947e-01 1.04453199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10313336499996 meters 0.2695572089685107 Centerline is valid? [False, False] Translation: X:3.21, Y:0.35, Z:0.01 [[ 9.99987962e-01 -4.88298151e-03 4.81671792e-04 3.21058156e+00] [ 4.88237697e-03 9.99987302e-01 1.24838398e-03 3.54827761e-01] [-4.87761511e-04 -1.24601724e-03 9.99999105e-01 9.62037562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16313336499996 meters 0.270553712219407 Centerline is valid? [False, False] Translation: X:3.21, Y:0.36, Z:0.01 [[ 9.99987514e-01 -4.96644094e-03 5.53745906e-04 3.21055797e+00] [ 4.96588718e-03 9.99987173e-01 9.96950073e-04 3.55920256e-01] [-5.58690097e-04 -9.94187786e-04 9.99999350e-01 9.24945755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22313336499997 meters 0.2705489776157938 Centerline is valid? [False, False] Translation: X:3.21, Y:0.36, Z:0.01 [[ 9.99987203e-01 -5.04642860e-03 3.56826000e-04 3.21127099e+00] [ 5.04615333e-03 9.99986973e-01 7.68182279e-04 3.56806265e-01] [-3.60697928e-04 -7.66371849e-04 9.99999641e-01 8.57462488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28313336499997 meters 0.2719631628553726 Centerline is valid? [False, False] Translation: X:3.24, Y:0.36, Z:0.01 [[ 9.99989873e-01 4.45885398e-03 -6.10267422e-04 3.23569929e+00] [-4.45855612e-03 9.99989941e-01 4.88579021e-04 3.58930457e-01] [ 6.12439786e-04 -4.85853161e-04 9.99999694e-01 7.38959884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34313336499997 meters 0.269686418908291 Centerline is valid? [False, False] Translation: X:3.21, Y:0.36, Z:0.01 [[ 9.99996247e-01 -1.88558326e-03 -1.98740689e-03 3.21246250e+00] [ 1.89136733e-03 9.99993970e-01 2.91251011e-03 3.60308494e-01] [ 1.98190313e-03 -2.91625810e-03 9.99993784e-01 9.29080500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.403133365 meters 0.27092950978677754 Centerline is valid? [False, False] Translation: X:3.23, Y:0.36, Z:0.01 [[ 9.99973240e-01 7.11402934e-03 -1.70587024e-03 3.23379864e+00] [-7.10994256e-03 9.99971868e-01 2.38993328e-03 3.59294653e-01] [ 1.72282430e-03 -2.37774069e-03 9.99995689e-01 9.74347557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.463133365 meters 0.2719820296775562 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.01 [[ 9.99994025e-01 -1.63207314e-03 -3.04734874e-03 3.25552973e+00] [ 1.63927561e-03 9.99995866e-01 2.36251958e-03 3.65760033e-01] [ 3.04348034e-03 -2.36750091e-03 9.99992566e-01 1.01191323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.523133365 meters 0.2716175836315987 Centerline is valid? [False, False] Translation: X:3.26, Y:0.37, Z:0.01 [[ 9.99993205e-01 -2.05347673e-03 -3.06150422e-03 3.25529152e+00] [ 2.05711501e-03 9.99997181e-01 1.18572178e-03 3.70857109e-01] [ 3.05906073e-03 -1.19201159e-03 9.99994611e-01 1.04571256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.583133365 meters 0.2706937474838891 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:0.01 [[ 9.99992801e-01 -2.41300244e-03 -2.92829376e-03 3.25456735e+00] [ 2.41355992e-03 9.99997070e-01 1.86857789e-04 3.75155319e-01] [ 2.92783429e-03 -1.93924056e-04 9.99995695e-01 1.11111891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.643133365 meters 0.27165736852646494 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:0.01 [[ 9.99991487e-01 -2.80567217e-03 -3.02566290e-03 3.25461805e+00] [ 2.80347607e-03 9.99995804e-01 -7.29820673e-04 3.79074314e-01] [ 3.02769785e-03 7.21332086e-04 9.99995156e-01 1.13001105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.703133365 meters 0.27031516916012654 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:0.01 [[ 9.99991407e-01 -2.87236763e-03 -2.98918236e-03 3.25412886e+00] [ 2.86962646e-03 9.99995459e-01 -9.20912342e-04 3.79900292e-01] [ 2.99181398e-03 9.12326592e-04 9.99995108e-01 1.21418987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.763133365 meters 0.2701566827243771 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.01 [[ 9.99994938e-01 -3.11196703e-03 -6.62487208e-04 3.29440887e+00] [ 3.11153159e-03 9.99994943e-01 -6.57303389e-04 3.81408089e-01] [ 6.64529364e-04 6.55238712e-04 9.99999565e-01 1.31477365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.823133365 meters 0.2689766103545124 Centerline is valid? [False, False] Translation: X:3.27, Y:0.38, Z:0.01 [[ 9.99994932e-01 2.46395871e-03 -2.01625670e-03 3.27238578e+00] [-2.47238365e-03 9.99988179e-01 -4.18673820e-03 3.80832462e-01] [ 2.00591692e-03 4.19170194e-03 9.99989203e-01 1.40064177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.883133365 meters 0.2696934780447385 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.01 [[ 9.99994025e-01 -3.43807999e-03 -3.58640573e-04 3.29276410e+00] [ 3.43775844e-03 9.99993692e-01 -8.93370893e-04 3.82823911e-01] [ 3.61709792e-04 8.92132636e-04 9.99999537e-01 1.39064930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.943133365 meters 0.27059467841535606 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:0.01 [[ 9.99993770e-01 -3.50791409e-03 -3.94147827e-04 3.29266926e+00] [ 3.50749152e-03 9.99993279e-01 -1.06774039e-03 3.83559593e-01] [ 3.97890719e-04 1.06635126e-03 9.99999352e-01 1.42527859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.003133365 meters 0.2702384961578648 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:0.01 [[ 9.99993323e-01 -1.96420892e-03 -3.08163182e-03 3.25034960e+00] [ 1.96420058e-03 9.99998071e-01 -5.73018745e-06 3.83005800e-01] [ 3.08163713e-03 -3.22793833e-07 9.99995252e-01 1.43537013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.063133365 meters 0.2734093780551873 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:0.01 [[ 9.99972655e-01 7.31430074e-03 -1.09138907e-03 3.27061754e+00] [-7.31479309e-03 9.99973146e-01 -4.47807406e-04 3.87235951e-01] [ 1.08808436e-03 4.55778446e-04 9.99999304e-01 1.47155104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.123133365 meters 0.27219568022286567 Centerline is valid? [False, False] Translation: X:3.25, Y:0.39, Z:0.01 [[ 9.99994277e-01 -6.76261944e-04 -3.31493490e-03 3.25304676e+00] [ 6.77070174e-04 9.99999741e-01 2.42698436e-04 3.93546908e-01] [ 3.31476992e-03 -2.44941490e-04 9.99994476e-01 1.33309343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.183133365 meters 0.2733343133689936 Centerline is valid? [False, False] Translation: X:3.25, Y:0.40, Z:0.01 [[ 9.99993231e-01 -1.03427907e-03 -3.53100727e-03 3.25347454e+00] [ 1.03168900e-03 9.99999198e-01 -7.35261804e-04 3.97693949e-01] [ 3.53176490e-03 7.31613925e-04 9.99993496e-01 1.34827085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.243133365 meters 0.2704978719236651 Centerline is valid? [False, False] Translation: X:3.25, Y:0.40, Z:0.01 [[ 9.99993141e-01 -1.10441426e-03 -3.53536902e-03 3.25303768e+00] [ 1.10117875e-03 9.99998973e-01 -9.16999772e-04 3.98470273e-01] [ 3.53637814e-03 9.13100408e-04 9.99993330e-01 1.43932071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.303133365 meters 0.27215891571984757 Centerline is valid? [False, False] Translation: X:3.25, Y:0.40, Z:0.01 [[ 9.99993007e-01 -1.10026638e-03 -3.57422727e-03 3.25302581e+00] [ 1.09707402e-03 9.99998998e-01 -8.94999045e-04 3.98481511e-01] [ 3.57520842e-03 8.91071594e-04 9.99993212e-01 1.45925984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.363133365 meters 0.27162698395322454 Centerline is valid? [False, False] Translation: X:3.25, Y:0.40, Z:0.01 [[ 9.99993144e-01 -1.05405854e-03 -3.54966655e-03 3.25280285e+00] [ 1.05126528e-03 9.99999136e-01 -7.88682559e-04 3.97985982e-01] [ 3.55049480e-03 7.84945511e-04 9.99993389e-01 1.49605372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42313336499996 meters 0.27144311598794546 Centerline is valid? [False, False] Translation: X:3.25, Y:0.40, Z:0.02 [[ 9.99993252e-01 -9.92805057e-04 -3.53706875e-03 3.25242167e+00] [ 9.90531110e-04 9.99999302e-01 -6.44584110e-04 3.97329459e-01] [ 3.53770622e-03 6.41076184e-04 9.99993537e-01 1.56912730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48313336499996 meters 0.270181033511726 Centerline is valid? [False, False] Translation: X:3.23, Y:0.39, Z:0.01 [[ 9.99967547e-01 6.68174371e-03 -4.50101934e-03 3.23408683e+00] [-6.69215932e-03 9.99974955e-01 -2.30298330e-03 3.93371985e-01] [ 4.48551866e-03 2.33303010e-03 9.99987218e-01 1.32382253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54313336499996 meters 0.27384370612377396 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:0.01 [[ 9.99993620e-01 4.52678592e-04 -3.54340297e-03 3.25666592e+00] [-4.50983477e-04 9.99999784e-01 4.79170521e-04 3.95582673e-01] [ 3.54361911e-03 -4.77569447e-04 9.99993607e-01 1.16047601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60313336499996 meters 0.27304623020683755 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:0.01 [[ 9.99993009e-01 3.38559905e-04 -3.72384123e-03 3.25725611e+00] [-3.38339439e-04 9.99999941e-01 5.98336191e-05 3.97271073e-01] [ 3.72386127e-03 -5.85732785e-05 9.99993065e-01 1.10900750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66313336499996 meters 0.27213693904876907 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:0.01 [[ 9.99992984e-01 2.36068890e-04 -3.73838112e-03 3.25735390e+00] [-2.36853994e-04 9.99999950e-01 -2.09570297e-04 3.98393202e-01] [ 3.73833146e-03 2.10454277e-04 9.99992990e-01 1.09080282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72313336499997 meters 0.2730776804430406 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:0.01 [[ 9.99993071e-01 8.35376032e-05 -3.72169787e-03 3.25742407e+00] [-8.60759848e-05 9.99999764e-01 -6.81894397e-04 4.00339822e-01] [ 3.72164003e-03 6.82210021e-04 9.99992842e-01 1.06066098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78313336499997 meters 0.27486717180422193 Centerline is valid? [False, False] Translation: X:3.28, Y:0.41, Z:0.01 [[ 9.99985438e-01 -4.92834543e-03 -2.19871051e-03 3.27814196e+00] [ 4.93409530e-03 9.99984402e-01 2.61739729e-03 4.07360776e-01] [ 2.18577677e-03 -2.62820783e-03 9.99994157e-01 1.07801195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84313336499997 meters 0.27421819918263207 Centerline is valid? [False, False] Translation: X:3.26, Y:0.41, Z:0.01 [[ 9.99988704e-01 4.11920463e-03 -2.37156779e-03 3.25666404e+00] [-4.11482348e-03 9.99989824e-01 1.84928768e-03 4.07696893e-01] [ 2.37916125e-03 -1.83950821e-03 9.99995478e-01 1.09055645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.903133365 meters 0.2727767883393213 Centerline is valid? [False, False] Translation: X:3.26, Y:0.41, Z:0.01 [[ 9.99989689e-01 3.83286530e-03 -2.43548511e-03 3.25666711e+00] [-3.82993324e-03 9.99991937e-01 1.20741724e-03 4.10496978e-01] [ 2.44009334e-03 -1.19807704e-03 9.99996305e-01 1.11007483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.963133365 meters 0.2736049333820681 Centerline is valid? [False, False] Translation: X:3.26, Y:0.41, Z:0.01 [[ 9.99989492e-01 3.76807309e-03 -2.61097199e-03 3.25699750e+00] [-3.76534175e-03 9.99992360e-01 1.05022690e-03 4.11160587e-01] [ 2.61490937e-03 -1.04038466e-03 9.99996040e-01 1.12374177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.023133365 meters 0.27163996097619675 Centerline is valid? [False, False] Translation: X:3.26, Y:0.41, Z:0.01 [[ 9.99989935e-01 3.67685859e-03 -2.57107091e-03 3.25665473e+00] [-3.67471958e-03 9.99992899e-01 8.36181230e-04 4.12157213e-01] [ 2.57412717e-03 -8.26724849e-04 9.99996345e-01 1.17367366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.083133365 meters 0.272497502722419 Centerline is valid? [False, False] Translation: X:3.26, Y:0.41, Z:0.01 [[ 9.99990739e-01 3.51983888e-03 -2.47654100e-03 3.25639431e+00] [-3.51879952e-03 9.99993719e-01 4.23914548e-04 4.13894346e-01] [ 2.47801756e-03 -4.15196171e-04 9.99996844e-01 1.17582065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.143133365 meters 0.2739210604736141 Centerline is valid? [False, False] Translation: X:3.26, Y:0.42, Z:0.01 [[ 9.99991514e-01 3.26094263e-03 -2.51748438e-03 3.25650107e+00] [-3.26226175e-03 9.99994544e-01 -5.20051380e-04 4.17756573e-01] [ 2.51577479e-03 5.28259660e-04 9.99996696e-01 1.16509363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.203133365 meters 0.2733082494422864 Centerline is valid? [False, False] Translation: X:3.26, Y:0.42, Z:0.01 [[ 9.99992401e-01 2.98541763e-03 -2.50702131e-03 3.25643787e+00] [-2.98853298e-03 9.99994766e-01 -1.23982554e-03 4.20786342e-01] [ 2.50330679e-03 1.24730843e-03 9.99996089e-01 1.16762623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.263133365 meters 0.27400214119713684 Centerline is valid? [False, False] Translation: X:3.28, Y:0.43, Z:0.01 [[ 9.99993238e-01 -3.14118569e-03 -1.91253638e-03 3.27710159e+00] [ 3.14427092e-03 9.99993757e-01 1.61229443e-03 4.27650388e-01] [ 1.90745993e-03 -1.61829706e-03 9.99996871e-01 1.18717558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.323133365 meters 0.270498835727205 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99993878e-01 2.79538274e-03 -2.10448605e-03 3.25496381e+00] [-2.79949675e-03 9.99994171e-01 -1.95447613e-03 4.26339939e-01] [ 2.09901027e-03 1.96035567e-03 9.99995876e-01 1.22694278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.383133365 meters 0.271763635661218 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99994098e-01 2.65230006e-03 -2.18365170e-03 3.25488651e+00] [-2.65731659e-03 9.99993830e-01 -2.29762330e-03 4.27838356e-01] [ 2.17754424e-03 2.30341239e-03 9.99994976e-01 1.27827765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.443133365 meters 0.27311075621242276 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99994688e-01 2.52686523e-03 -2.05886575e-03 3.25429424e+00] [-2.53226118e-03 9.99993355e-01 -2.62246073e-03 4.29248732e-01] [ 2.05222547e-03 2.62766039e-03 9.99994442e-01 1.34120078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.503133365 meters 0.2741901476828786 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99995063e-01 2.40979938e-03 -2.01676943e-03 3.25414683e+00] [-2.41565541e-03 9.99992859e-01 -2.90628568e-03 4.30465052e-01] [ 2.00975146e-03 2.91114315e-03 9.99993743e-01 1.34874339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.563133365 meters 0.2716419082393402 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99995294e-01 2.36691963e-03 -1.95171052e-03 3.25397793e+00] [-2.37278046e-03 9.99992667e-01 -3.00609400e-03 4.30887391e-01] [ 1.94458102e-03 3.01071083e-03 9.99993577e-01 1.35080271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.623133365 meters 0.2725633505996885 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99994888e-01 2.28741364e-03 -2.23433207e-03 3.25457471e+00] [-2.29459766e-03 9.99992190e-01 -3.21803142e-03 4.31751814e-01] [ 2.22695365e-03 3.22314186e-03 9.99992326e-01 1.35639781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.683133365 meters 0.2749561672927741 Centerline is valid? [False, False] Translation: X:3.26, Y:0.43, Z:0.01 [[ 9.99994443e-01 2.28616994e-03 -2.42621768e-03 3.25515820e+00] [-2.29396780e-03 9.99992197e-01 -3.21609581e-03 4.31744935e-01] [ 2.41884620e-03 3.22164361e-03 9.99991885e-01 1.32896342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.743133365 meters 0.27034669397340977 Centerline is valid? [False, False] Translation: X:3.26, Y:0.43, Z:0.01 [[ 9.99994264e-01 2.32229352e-03 -2.46556003e-03 3.25524083e+00] [-2.33001103e-03 9.99992381e-01 -3.13187985e-03 4.31365895e-01] [ 2.45826810e-03 3.13760666e-03 9.99992056e-01 1.33253389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.803133365 meters 0.27040532514160026 Centerline is valid? [False, False] Translation: X:3.25, Y:0.43, Z:0.01 [[ 9.99994134e-01 2.42283658e-03 -2.42110006e-03 3.25464594e+00] [-2.42979657e-03 9.99992913e-01 -2.87592764e-03 4.30151226e-01] [ 2.41411500e-03 2.88179355e-03 9.99992934e-01 1.44072887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.863133365 meters 0.2730030842884878 Centerline is valid? [False, False] Translation: X:3.28, Y:0.43, Z:0.01 [[ 9.99975461e-01 -6.56503798e-03 -2.44505718e-03 3.27537311e+00] [ 6.55962866e-03 9.99976035e-01 -2.21383684e-03 4.33002355e-01] [ 2.45953251e-03 2.19774384e-03 9.99994560e-01 1.48204124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92313336499996 meters 0.2711606338072069 Centerline is valid? [False, False] Translation: X:3.28, Y:0.43, Z:0.01 [[ 9.99975807e-01 -6.50797747e-03 -2.45575126e-03 3.27551631e+00] [ 6.50289424e-03 9.99976709e-01 -2.07226610e-03 4.32396392e-01] [ 2.46918033e-03 2.05624648e-03 9.99994837e-01 1.45832295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98313336499996 meters 0.27295004570063036 Centerline is valid? [False, False] Translation: X:3.30, Y:0.43, Z:0.01 [[ 9.99997525e-01 1.79358663e-03 -1.31613150e-03 3.29690745e+00] [-1.79707408e-03 9.99994865e-01 -2.65339641e-03 4.31575794e-01] [ 1.31136564e-03 2.65575503e-03 9.99995614e-01 1.49387675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04313336499996 meters 0.2729331234897843 Centerline is valid? [False, False] Translation: X:3.27, Y:0.43, Z:0.02 [[ 9.99990965e-01 -3.72250608e-03 -2.05263536e-03 3.27403016e+00] [ 3.72369997e-03 9.99992900e-01 5.78122817e-04 4.31643161e-01] [ 2.05046872e-03 -5.85760992e-04 9.99997726e-01 1.56059567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10313336499996 meters 0.2737429075137466 Centerline is valid? [False, False] Translation: X:3.27, Y:0.43, Z:0.01 [[ 9.99989808e-01 -3.90215015e-03 -2.27096298e-03 3.27472689e+00] [ 3.90208552e-03 9.99992386e-01 -3.28885297e-05 4.34073131e-01] [ 2.27107402e-03 2.40267027e-05 9.99997421e-01 1.49778819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16313336499996 meters 0.2715371929908399 Centerline is valid? [False, False] Translation: X:3.27, Y:0.44, Z:0.01 [[ 9.99989236e-01 -4.20092555e-03 -1.96974475e-03 3.27408890e+00] [ 4.19841296e-03 9.99990370e-01 -1.27799551e-03 4.38867271e-01] [ 1.97509455e-03 1.26971195e-03 9.99997243e-01 1.47845380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22313336499997 meters 0.2725157283921815 Centerline is valid? [False, False] Translation: X:3.27, Y:0.44, Z:0.02 [[ 9.99998183e-01 -3.92611689e-04 -1.86537538e-03 3.27319339e+00] [ 3.95921015e-04 9.99998348e-01 1.77404229e-03 4.44231231e-01] [ 1.86467579e-03 -1.77477761e-03 9.99996687e-01 1.58334592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28313336499997 meters 0.272867014323473 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99997883e-01 -6.96350128e-04 -1.93643451e-03 3.27317180e+00] [ 6.98409010e-04 9.99999191e-01 1.06276030e-03 4.47262506e-01] [ 1.93569289e-03 -1.06411048e-03 9.99997560e-01 1.60807019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34313336499997 meters 0.271490265748384 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99997375e-01 -8.62259682e-04 -2.12286201e-03 3.27363297e+00] [ 8.63735472e-04 9.99999386e-01 6.94370447e-04 4.48871049e-01] [ 2.12226198e-03 -6.96202215e-04 9.99997506e-01 1.59512546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.403133365 meters 0.2716758986581653 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99997817e-01 -1.05204031e-03 -1.80548377e-03 3.27259759e+00] [ 1.05244897e-03 9.99999421e-01 2.25408974e-04 4.50904435e-01] [ 1.80524559e-03 -2.27308661e-04 9.99998345e-01 1.65849884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.463133365 meters 0.27040289608958457 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99997880e-01 -1.04614493e-03 -1.77349090e-03 3.27236364e+00] [ 1.04656125e-03 9.99999425e-01 2.33838697e-04 4.50820463e-01] [ 1.77324525e-03 -2.35694268e-04 9.99998400e-01 1.69438544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.523133365 meters 0.27183319562020053 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99996225e-01 -8.66184779e-04 -2.60759002e-03 3.27454484e+00] [ 8.68284436e-04 9.99999300e-01 8.04185228e-04 4.48527456e-01] [ 2.60689162e-03 -8.06446322e-04 9.99996277e-01 1.60864817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.583133365 meters 0.27192357029803804 Centerline is valid? [False, False] Translation: X:3.27, Y:0.45, Z:0.02 [[ 9.99996083e-01 -7.57454550e-04 -2.69441121e-03 3.27482265e+00] [ 7.60364980e-04 9.99999128e-01 1.07931235e-03 4.47359214e-01] [ 2.69359133e-03 -1.08135686e-03 9.99995788e-01 1.59523789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.643133365 meters 0.26818203921836 Centerline is valid? [False, False] Translation: X:3.23, Y:0.44, Z:0.02 [[ 9.99993766e-01 -1.31527078e-03 -3.27686306e-03 3.23200589e+00] [ 1.31655112e-03 9.99999058e-01 3.88594380e-04 4.39007567e-01] [ 3.27634887e-03 -3.92906116e-04 9.99994556e-01 1.58873596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.703133365 meters 0.27003445451411784 Centerline is valid? [False, False] Translation: X:3.28, Y:0.44, Z:0.01 [[ 9.99990751e-01 -2.44389148e-03 -3.53903827e-03 3.27778338e+00] [ 2.44595068e-03 9.99996842e-01 5.77640616e-04 4.37153379e-01] [ 3.53761540e-03 -5.86291587e-04 9.99993571e-01 1.46318181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.763133365 meters 0.270096237802358 Centerline is valid? [False, False] Translation: X:3.28, Y:0.43, Z:0.01 [[ 9.99990590e-01 -2.23265697e-03 -3.71967149e-03 3.27856371e+00] [ 2.23669243e-03 9.99996914e-01 1.08109047e-03 4.34891306e-01] [ 3.71724631e-03 -1.08940006e-03 9.99992498e-01 1.39620382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.823133365 meters 0.2686729985820013 Centerline is valid? [False, False] Translation: X:3.26, Y:0.43, Z:0.01 [[ 9.99985449e-01 4.14532451e-03 -3.45237181e-03 3.25611666e+00] [-4.15125209e-03 9.99989919e-01 -1.71156532e-03 4.29910137e-01] [ 3.44524201e-03 1.72587208e-03 9.99992576e-01 1.45380379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.883133365 meters 0.270061715739701 Centerline is valid? [False, False] Translation: X:3.27, Y:0.43, Z:0.02 [[ 9.99989305e-01 -4.33566087e-03 -1.60986076e-03 3.27451163e+00] [ 4.33499369e-03 9.99990517e-01 -4.17692226e-04 4.31969152e-01] [ 1.61165647e-03 4.10709022e-04 9.99998617e-01 1.54058963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.943133365 meters 0.2681611570223336 Centerline is valid? [False, False] Translation: X:3.25, Y:0.42, Z:0.02 [[ 9.99998806e-01 1.42663865e-03 -5.94692330e-04 3.25193671e+00] [-1.42859281e-03 9.99993539e-01 -3.29862868e-03 4.23037506e-01] [ 5.89982536e-04 3.29947431e-03 9.99994383e-01 1.58351726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.003133365 meters 0.27062408619099615 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987438e-01 -4.41369983e-03 2.37532187e-03 3.26963397e+00] [ 4.41187500e-03 9.99989969e-01 7.72936261e-04 4.19979986e-01] [-2.37870955e-03 -7.62446928e-04 9.99996880e-01 1.68735381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.063133365 meters 0.2698814035546223 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987696e-01 -4.37234762e-03 2.34334117e-03 3.26997895e+00] [ 4.37027384e-03 9.99990055e-01 8.89359652e-04 4.19486298e-01] [-2.34720646e-03 -8.79107667e-04 9.99996859e-01 1.62689210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.123133365 meters 0.2701255157982287 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987643e-01 -4.41177837e-03 2.29150771e-03 3.27029416e+00] [ 4.40999206e-03 9.99989969e-01 7.84004816e-04 4.19934198e-01] [-2.29494358e-03 -7.73889596e-04 9.99997067e-01 1.58059440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.183133365 meters 0.27067872298745166 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99986738e-01 -4.46779679e-03 2.56157384e-03 3.26951588e+00] [ 4.46618661e-03 9.99989826e-01 6.33962995e-04 4.20635313e-01] [-2.56438019e-03 -6.22514121e-04 9.99996518e-01 1.61315120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.243133365 meters 0.2706117768236275 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987177e-01 -4.43718853e-03 2.44069821e-03 3.26995001e+00] [ 4.43548338e-03 9.99989916e-01 7.03601730e-04 4.20266341e-01] [-2.44379562e-03 -6.92767032e-04 9.99996774e-01 1.58390178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.303133365 meters 0.26890182578530203 Centerline is valid? [False, False] Translation: X:3.25, Y:0.42, Z:0.02 [[ 9.99996556e-01 1.90727319e-03 1.80287467e-03 3.24676261e+00] [-1.90371904e-03 9.99996245e-01 -1.97104363e-03 4.17125833e-01] [-1.80662722e-03 1.96760468e-03 9.99996432e-01 1.78514354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.363133365 meters 0.2714801297878972 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987647e-01 -3.64581281e-03 3.37852449e-03 3.26766887e+00] [ 3.63949658e-03 9.99991621e-01 1.87378929e-03 4.18427364e-01] [-3.38532766e-03 -1.86147001e-03 9.99992537e-01 1.73425949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42313336499996 meters 0.27185792370058187 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99988109e-01 -3.76850307e-03 3.09511666e-03 3.26843712e+00] [ 3.76379336e-03 9.99991752e-01 1.52607555e-03 4.19844562e-01] [-3.10084215e-03 -1.51440803e-03 9.99994046e-01 1.69408215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48313336499996 meters 0.27011230622681465 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99987700e-01 -3.85303250e-03 3.12307625e-03 3.26839312e+00] [ 3.84896559e-03 9.99991738e-01 1.30718059e-03 4.20782685e-01] [-3.12808705e-03 -1.29514390e-03 9.99994269e-01 1.68558737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54313336499996 meters 0.2689169767130094 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99988078e-01 -3.77394704e-03 3.09841949e-03 3.26848815e+00] [ 3.76930280e-03 9.99991766e-01 1.50338017e-03 4.19935530e-01] [-3.10406765e-03 -1.49168337e-03 9.99994070e-01 1.68045240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60313336499996 meters 0.26944043091903835 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99989088e-01 -3.63813924e-03 2.93060796e-03 3.26894148e+00] [ 3.63268149e-03 9.99991662e-01 1.86550203e-03 4.18386528e-01] [-2.93737048e-03 -1.85483571e-03 9.99993966e-01 1.67278107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66313336499996 meters 0.2695781442343878 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99989650e-01 -3.50003305e-03 2.90675197e-03 3.26888040e+00] [ 3.49362918e-03 9.99991466e-01 2.20526437e-03 4.16887719e-01] [-2.91444566e-03 -2.19508644e-03 9.99993344e-01 1.69795381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72313336499997 meters 0.26948484451480476 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99989494e-01 -3.47101418e-03 2.99396347e-03 3.26872989e+00] [ 3.46419807e-03 9.99991403e-01 2.27880796e-03 4.16589820e-01] [-3.00184751e-03 -2.26841233e-03 9.99992922e-01 1.68713553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78313336499997 meters 0.27101040118883635 Centerline is valid? [False, False] Translation: X:3.27, Y:0.42, Z:0.02 [[ 9.99989008e-01 -3.50653983e-03 3.11265078e-03 3.26855963e+00] [ 3.49974768e-03 9.99991489e-01 2.18488197e-03 4.16981169e-01] [-3.12028566e-03 -2.17396446e-03 9.99992769e-01 1.66191235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84313336499997 meters 0.27321218354487115 Centerline is valid? [False, False] Translation: X:3.29, Y:0.42, Z:0.02 [[ 9.99979700e-01 4.04705227e-03 4.92150882e-03 3.28729433e+00] [-4.04816542e-03 9.99991783e-01 2.16238873e-04 4.20219843e-01] [-4.92059325e-03 -2.36157566e-04 9.99987866e-01 1.87101174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.903133365 meters 0.269094248629979 Centerline is valid? [False, False] Translation: X:3.24, Y:0.42, Z:0.02 [[ 9.99985223e-01 4.51446852e-03 3.02876305e-03 3.24409216e+00] [-4.51338482e-03 9.99989748e-01 -3.64542537e-04 4.22872824e-01] [-3.03037772e-03 3.50867177e-04 9.99995347e-01 1.88665060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.963133365 meters 0.2687217444596536 Centerline is valid? [False, False] Translation: X:3.26, Y:0.43, Z:0.02 [[ 9.99992898e-01 -3.30274031e-03 1.81558866e-03 3.26277314e+00] [ 3.30142510e-03 9.99994286e-01 7.26915298e-04 4.32690889e-01] [-1.81797909e-03 -7.20916106e-04 9.99998088e-01 2.08239431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.023133365 meters 0.26944680114079383 Centerline is valid? [False, False] Translation: X:3.26, Y:0.44, Z:0.02 [[ 9.99991532e-01 -3.79586985e-03 1.58953555e-03 3.26286222e+00] [ 3.79644277e-03 9.99992730e-01 -3.57568843e-04 4.37383808e-01] [-1.58816671e-03 3.63600396e-04 9.99998673e-01 2.14767001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.083133365 meters 0.26850475543363617 Centerline is valid? [False, False] Translation: X:3.26, Y:0.44, Z:0.03 [[ 9.99994624e-01 -1.65550210e-03 2.83025100e-03 3.25702006e+00] [ 1.65144391e-03 9.99997606e-01 1.43559761e-03 4.40967751e-01] [-2.83262086e-03 -1.43091590e-03 9.99994964e-01 2.55217441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.143133365 meters 0.2717933421879067 Centerline is valid? [False, False] Translation: X:3.28, Y:0.45, Z:0.02 [[ 9.99974172e-01 4.06975199e-03 5.92393781e-03 3.27785598e+00] [-4.05879352e-03 9.99990032e-01 -1.86071062e-03 4.49105997e-01] [-5.93145139e-03 1.83661852e-03 9.99980722e-01 2.47262936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.203133365 meters 0.2702246063381367 Centerline is valid? [False, False] Translation: X:3.26, Y:0.46, Z:0.02 [[ 9.99985732e-01 -3.47347389e-03 4.05842771e-03 3.25933913e+00] [ 3.47895812e-03 9.99993044e-01 -1.34504022e-03 4.56493193e-01] [-4.05372751e-03 1.35914012e-03 9.99990860e-01 2.36394808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.263133365 meters 0.26934273461073127 Centerline is valid? [False, False] Translation: X:3.26, Y:0.46, Z:0.02 [[ 9.99982440e-01 -3.81324366e-03 4.53634661e-03 3.25808023e+00] [ 3.82440738e-03 9.99989674e-01 -2.45482428e-03 4.60989226e-01] [-4.52693892e-03 2.47213002e-03 9.99986698e-01 2.40327594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.323133365 meters 0.2713928660478477 Centerline is valid? [False, False] Translation: X:3.26, Y:0.46, Z:0.02 [[ 9.99982866e-01 -3.95304514e-03 4.31764528e-03 3.25865667e+00] [ 3.96518229e-03 9.99988201e-01 -2.80612428e-03 4.62469268e-01] [-4.30650161e-03 2.82319645e-03 9.99986742e-01 2.38053734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.383133365 meters 0.271459563720593 Centerline is valid? [False, False] Translation: X:3.26, Y:0.46, Z:0.02 [[ 0.99998205 -0.00415097 0.00432009 3.25833183] [ 0.00416515 0.99998595 -0.00327874 0.46450115] [-0.00430642 0.00329667 0.99998529 0.02436231] [ 0. 0. 0. 1. ]] SLAMing on 355.443133365 meters 0.270438201353661 Centerline is valid? [False, False] Translation: X:3.26, Y:0.47, Z:0.03 [[ 0.99998088 -0.00420924 0.00453118 3.25750853] [ 0.00422485 0.99998515 -0.00344178 0.46521674] [-0.00451662 0.00346086 0.99998381 0.02514476] [ 0. 0. 0. 1. ]] SLAMing on 355.503133365 meters 0.2693184332736324 Centerline is valid? [False, False] Translation: X:3.26, Y:0.47, Z:0.02 [[ 0.99998068 -0.00428216 0.00450579 3.25762746] [ 0.00429848 0.99998421 -0.0036201 0.4659565 ] [-0.00449022 0.0036394 0.9999833 0.02499037] [ 0. 0. 0. 1. ]] SLAMing on 355.563133365 meters 0.2721087457989463 Centerline is valid? [False, False] Translation: X:3.26, Y:0.47, Z:0.02 [[ 9.99992744e-01 -2.46049424e-03 2.90817398e-03 3.26380253e+00] [ 2.46873835e-03 9.99992935e-01 -2.83462454e-03 4.72597043e-01] [-2.90117886e-03 2.84178349e-03 9.99991754e-01 2.01729728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.623133365 meters 0.27083485689736186 Centerline is valid? [False, False] Translation: X:3.26, Y:0.48, Z:0.02 [[ 9.99991840e-01 -2.72746794e-03 2.98004717e-03 3.26346338e+00] [ 2.73866269e-03 9.99989185e-01 -3.75896839e-03 4.76498093e-01] [-2.96976248e-03 3.76709906e-03 9.99988495e-01 2.04415907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.683133365 meters 0.27074333318243227 Centerline is valid? [False, False] Translation: X:3.26, Y:0.48, Z:0.02 [[ 9.99990207e-01 -5.39387138e-04 4.39270018e-03 3.25766798e+00] [ 5.49702216e-04 9.99997094e-01 -2.34736297e-03 4.82748638e-01] [-4.39142128e-03 2.34975466e-03 9.99987597e-01 2.41412619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.743133365 meters 0.27284780904974243 Centerline is valid? [False, False] Translation: X:3.30, Y:0.49, Z:0.02 [[ 9.99969969e-01 -1.10576853e-03 7.67063752e-03 3.29853996e+00] [ 1.12062445e-03 9.99997504e-01 -1.93269688e-03 4.92973296e-01] [-7.66848126e-03 1.94123474e-03 9.99968713e-01 2.38719754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.803133365 meters 0.2706334644879691 Centerline is valid? [False, False] Translation: X:3.28, Y:0.50, Z:0.02 [[ 9.99962900e-01 -6.30874382e-03 5.86504066e-03 3.27739664e+00] [ 6.30480060e-03 9.99979886e-01 6.90571251e-04 4.99559399e-01] [-5.86927932e-03 -6.53567719e-04 9.99982562e-01 2.43117673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.863133365 meters 0.2707766162144306 Centerline is valid? [False, False] Translation: X:3.30, Y:0.50, Z:0.03 [[ 9.99982348e-01 1.88238279e-03 5.63561990e-03 3.29858961e+00] [-1.87846202e-03 9.99997990e-01 -7.00925142e-04 5.02564524e-01] [-5.63692798e-03 6.90326472e-04 9.99983874e-01 2.50812239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92313336499996 meters 0.2697536232896123 Centerline is valid? [False, False] Translation: X:3.30, Y:0.50, Z:0.03 [[ 9.99983487e-01 1.66838225e-03 5.49927373e-03 3.29884630e+00] [-1.66168232e-03 9.99997872e-01 -1.22267363e-03 5.04753338e-01] [-5.50130191e-03 1.21351540e-03 9.99984131e-01 2.51079597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98313336499996 meters 0.2695083716455554 Centerline is valid? [False, False] Translation: X:3.30, Y:0.51, Z:0.03 [[ 9.99983086e-01 1.52398371e-03 5.61291377e-03 3.29823792e+00] [-1.51479171e-03 9.99997505e-01 -1.64154009e-03 5.06421975e-01] [-5.61540144e-03 1.63300993e-03 9.99982900e-01 2.58520637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04313336499996 meters 0.26964388777429704 Centerline is valid? [False, False] Translation: X:3.30, Y:0.51, Z:0.03 [[ 9.99984151e-01 1.45878801e-03 5.43777050e-03 3.29872459e+00] [-1.44901301e-03 9.99997328e-01 -1.80111932e-03 5.07105080e-01] [-5.44038342e-03 1.79321138e-03 9.99983593e-01 2.56664337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10313336499996 meters 0.2676688346134094 Centerline is valid? [False, False] Translation: X:3.28, Y:0.51, Z:0.02 [[ 9.99977198e-01 -5.87591734e-03 3.32826385e-03 3.27971393e+00] [ 5.87846650e-03 9.99982435e-01 -7.56648717e-04 5.08594785e-01] [-3.32375939e-03 7.76196551e-04 9.99994175e-01 2.42659811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16313336499996 meters 0.267610355843378 Centerline is valid? [False, False] Translation: X:3.28, Y:0.51, Z:0.02 [[ 9.99977630e-01 -5.77019504e-03 3.38295421e-03 3.27931435e+00] [ 5.77185276e-03 9.99983227e-01 -4.80463153e-04 5.07396250e-01] [-3.38012510e-03 4.99978319e-04 9.99994162e-01 2.49398319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22313336499997 meters 0.26649274190445066 Centerline is valid? [False, False] Translation: X:3.28, Y:0.51, Z:0.02 [[ 9.99978259e-01 -5.63628648e-03 3.42246348e-03 3.27927290e+00] [ 5.63679135e-03 9.99984104e-01 -1.37888320e-04 5.05940458e-01] [-3.42163189e-03 1.57177034e-04 9.99994134e-01 2.48855731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28313336499997 meters 0.26699000419235397 Centerline is valid? [False, False] Translation: X:3.28, Y:0.50, Z:0.02 [[ 9.99980009e-01 -5.46796524e-03 3.17530759e-03 3.28017294e+00] [ 5.46697902e-03 9.99985005e-01 3.19189850e-04 5.03977256e-01] [-3.17700529e-03 -3.01824130e-04 9.99994908e-01 2.41845050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34313336499997 meters 0.26807670396958144 Centerline is valid? [False, False] Translation: X:3.30, Y:0.50, Z:0.02 [[ 9.99992831e-01 2.53435706e-03 2.81348829e-03 3.30098965e+00] [-2.53469209e-03 9.99996781e-01 1.15522268e-04 4.97120942e-01] [-2.81318646e-03 -1.22652766e-04 9.99996035e-01 2.47971868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.403133365 meters 0.2674668369849962 Centerline is valid? [False, False] Translation: X:3.30, Y:0.49, Z:0.03 [[ 9.99992149e-01 2.74901524e-03 2.85400308e-03 3.30073011e+00] [-2.75096084e-03 9.99995986e-01 6.78007305e-04 4.94693981e-01] [-2.85212777e-03 -6.85853232e-04 9.99995697e-01 2.52190387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.463133365 meters 0.266117686935375 Centerline is valid? [False, False] Translation: X:3.30, Y:0.49, Z:0.03 [[ 9.99991746e-01 6.34901038e-04 4.01308493e-03 3.29667199e+00] [-6.32790459e-04 9.99999661e-01 -5.27172168e-04 4.88143018e-01] [-4.01341827e-03 5.24628375e-04 9.99991809e-01 2.72060584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.523133365 meters 0.2665212966008519 Centerline is valid? [False, False] Translation: X:3.30, Y:0.49, Z:0.03 [[ 9.99992158e-01 8.99932732e-04 3.85665772e-03 3.29689871e+00] [-9.00242551e-04 9.99999592e-01 7.85984517e-05 4.85463223e-01] [-3.85658541e-03 -8.20697627e-05 9.99992560e-01 2.75485876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.583133365 meters 0.2682016944652724 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:0.03 [[ 9.99987359e-01 7.12497189e-04 4.97733353e-03 3.34029074e+00] [-7.19869268e-04 9.99998646e-01 1.47949571e-03 4.82120538e-01] [-4.97627265e-03 -1.48306004e-03 9.99986519e-01 2.64932671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.643133365 meters 0.2686328069815704 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:0.03 [[ 9.99986434e-01 8.05679671e-04 5.14617012e-03 3.33986317e+00] [-8.14462287e-04 9.99998215e-01 1.70476385e-03 4.81116233e-01] [-5.14478744e-03 -1.70893208e-03 9.99985305e-01 2.65858068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.703133365 meters 0.26996819186526383 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:0.03 [[ 9.99986439e-01 8.93696561e-04 5.13053293e-03 3.33996115e+00] [-9.03697122e-04 9.99997696e-01 1.94723738e-03 4.80124593e-01] [-5.12878087e-03 -1.95184742e-03 9.99984943e-01 2.64744942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.763133365 meters 0.2713583774432959 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:0.03 [[ 9.99987009e-01 9.96716557e-04 4.99883318e-03 3.34026958e+00] [-1.00786512e-03 9.99997010e-01 2.22820932e-03 4.78900885e-01] [-4.99659734e-03 -2.23321852e-03 9.99985023e-01 2.64513514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.823133365 meters 0.27032616235051954 Centerline is valid? [False, False] Translation: X:3.34, Y:0.48, Z:0.03 [[ 9.99980679e-01 -9.17682256e-04 6.14818288e-03 3.33540840e+00] [ 9.12527586e-04 9.99999230e-01 8.41158225e-04 4.75756055e-01] [-6.14895006e-03 -8.35531586e-04 9.99980746e-01 2.96412993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.883133365 meters 0.26883281537873915 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:0.03 [[ 9.99979895e-01 -8.34765480e-04 6.28590954e-03 3.33517443e+00] [ 8.28283934e-04 9.99999123e-01 1.03365572e-03 4.74920924e-01] [-6.28676689e-03 -1.02842842e-03 9.99979709e-01 2.94715842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.943133365 meters 0.26937904748955055 Centerline is valid? [False, False] Translation: X:3.34, Y:0.47, Z:0.03 [[ 9.99980784e-01 -7.13255581e-04 6.15816490e-03 3.33527818e+00] [ 7.05031236e-04 9.99998857e-01 1.33758643e-03 4.73639721e-01] [-6.15911190e-03 -1.33321903e-03 9.99980144e-01 2.99308263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.003133365 meters 0.26982572615964817 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:0.03 [[ 9.99980553e-01 -5.50783952e-04 6.21208177e-03 3.33490936e+00] [ 5.39556437e-04 9.99998218e-01 1.80889867e-03 4.71693656e-01] [-6.21306702e-03 -1.80551172e-03 9.99979069e-01 3.06050408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.063133365 meters 0.26891515457532633 Centerline is valid? [False, False] Translation: X:3.33, Y:0.47, Z:0.03 [[ 9.99979894e-01 -4.56834989e-04 6.32472508e-03 3.33472424e+00] [ 4.40893245e-04 9.99996723e-01 2.52170825e-03 4.68527387e-01] [-6.32585636e-03 -2.51886902e-03 9.99976819e-01 3.05723829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.123133365 meters 0.26707597105626096 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:0.03 [[ 9.99981550e-01 -1.70296440e-04 6.07219741e-03 3.33536190e+00] [ 1.49157634e-04 9.99993928e-01 3.48152780e-03 4.64694497e-01] [-6.07275344e-03 -3.48055785e-03 9.99975503e-01 3.04594592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.183133365 meters 0.26730955434221554 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:0.03 [[ 9.99983293e-01 1.57189036e-04 5.77832314e-03 3.33637416e+00] [-1.82558319e-04 9.99990347e-01 4.39015773e-03 4.60887105e-01] [-5.77757727e-03 -4.39113926e-03 9.99973668e-01 2.98948889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.243133365 meters 0.26812891514108905 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:0.03 [[ 9.99983570e-01 5.83217882e-04 5.70263341e-03 3.33684270e+00] [-6.13916129e-04 9.99985324e-01 5.38290261e-03 4.56656870e-01] [-5.69941031e-03 -5.38631510e-03 9.99969252e-01 2.95084949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.303133365 meters 0.26898730823603595 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:0.03 [[ 9.99984692e-01 6.51846262e-04 5.49453729e-03 3.33752359e+00] [-6.82304514e-04 9.99984403e-01 5.54331925e-03 4.55959616e-01] [-5.49083820e-03 -5.54698334e-03 9.99969540e-01 2.91120618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.363133365 meters 0.26938389705953064 Centerline is valid? [False, False] Translation: X:3.34, Y:0.46, Z:0.03 [[ 9.99984407e-01 7.03501735e-04 5.53986890e-03 3.33733764e+00] [-7.34916496e-04 9.99983652e-01 5.67067628e-03 4.55435180e-01] [-5.53578900e-03 -5.67465920e-03 9.99968576e-01 2.92965742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42313336499996 meters 0.26771607754969434 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:0.03 [[ 9.99976700e-01 -1.19531767e-03 6.72090417e-03 3.33168351e+00] [ 1.16762551e-03 9.99990820e-01 4.12271839e-03 4.53363677e-01] [-6.72577043e-03 -4.11477484e-03 9.99968916e-01 3.34048663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48313336499996 meters 0.26888977472289105 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:0.03 [[ 9.99980201e-01 -9.52745909e-04 6.22006070e-03 3.33316523e+00] [ 9.20527306e-04 9.99986157e-01 5.18059876e-03 4.48741650e-01] [-6.22491039e-03 -5.17477046e-03 9.99967236e-01 3.27912521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54313336499996 meters 0.26818268475997903 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:0.03 [[ 9.99982172e-01 -6.27710367e-04 5.93822280e-03 3.33396471e+00] [ 5.91172953e-04 9.99980897e-01 6.15267645e-03 4.44777159e-01] [-5.94197146e-03 -6.14905624e-03 9.99963440e-01 3.25111913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60313336499996 meters 0.2686451144548473 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:0.03 [[ 9.99971369e-01 -4.45926378e-03 6.11364970e-03 3.33369281e+00] [ 4.44099231e-03 9.99985642e-01 2.99896106e-03 4.39898447e-01] [-6.12693507e-03 -2.97172452e-03 9.99976814e-01 3.26591784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66313336499996 meters 0.26823310551482643 Centerline is valid? [False, False] Translation: X:3.33, Y:0.44, Z:0.03 [[ 0.99997317 -0.00418975 0.00600816 3.33415801] [ 0.0041679 0.99998467 0.00364441 0.43715398] [-0.00602334 -0.00361927 0.99997531 0.03232369] [ 0. 0. 0. 1. ]] SLAMing on 357.72313336499997 meters 0.27164717727649673 Centerline is valid? [False, False] Translation: X:3.33, Y:0.43, Z:0.03 [[ 0.99997494 -0.00386743 0.00592964 3.33467925] [ 0.00384177 0.99998324 0.00433221 0.43411986] [-0.00594629 -0.00430932 0.99997304 0.03186479] [ 0. 0. 0. 1. ]] SLAMing on 357.78313336499997 meters 0.2682082273374112 Centerline is valid? [False, False] Translation: X:3.31, Y:0.43, Z:0.03 [[ 0.99996197 0.00447926 0.00748241 3.31459734] [-0.0045086 0.99998219 0.00390977 0.42542496] [-0.00746476 -0.00394335 0.99996436 0.03093793] [ 0. 0. 0. 1. ]] SLAMing on 357.84313336499997 meters 0.2699697531746879 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:0.03 [[ 0.99995956 0.00475787 0.00763102 3.31402305] [-0.00479299 0.99997798 0.00459058 0.42233858] [-0.00760901 -0.00462697 0.99996035 0.03147908] [ 0. 0. 0. 1. ]] SLAMing on 357.903133365 meters 0.2706791775410588 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:0.03 [[ 0.99996025 0.00483005 0.00749487 3.3142517 ] [-0.00486592 0.99997676 0.00477505 0.42157538] [-0.00747164 -0.00481133 0.99996051 0.0317014 ] [ 0. 0. 0. 1. ]] SLAMing on 357.963133365 meters 0.2701300097108525 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:0.03 [[ 9.99972607e-01 5.18679814e-04 7.38357238e-03 3.31450691e+00] [-5.21629830e-04 9.99999785e-01 3.97617562e-04 4.22775020e-01] [-7.38336456e-03 -4.01458162e-04 9.99972662e-01 3.16329993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.023133365 meters 0.27046801715595137 Centerline is valid? [False, False] Translation: X:3.33, Y:0.42, Z:0.03 [[ 9.99936376e-01 -8.17928497e-03 7.76804903e-03 3.33484963e+00] [ 8.16694622e-03 9.99965340e-01 1.61879301e-03 4.22409347e-01] [-7.78102035e-03 -1.55524877e-03 9.99968518e-01 3.30349675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.083133365 meters 0.27043105011916313 Centerline is valid? [False, False] Translation: X:3.31, Y:0.42, Z:0.03 [[ 9.99959719e-01 6.58372395e-04 8.95136267e-03 3.31437243e+00] [-6.71100242e-04 9.99998768e-01 1.41896005e-03 4.15205100e-01] [-8.95041743e-03 -1.42491016e-03 9.99958929e-01 3.26144851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.143133365 meters 0.26840128743120045 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:0.03 [[ 9.99959060e-01 8.31663721e-04 9.01038216e-03 3.31393857e+00] [-8.50734058e-04 9.99997406e-01 2.11285875e-03 4.12396206e-01] [-9.00860160e-03 -2.12043769e-03 9.99957174e-01 3.33909814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.203133365 meters 0.26770313378990623 Centerline is valid? [False, False] Translation: X:3.31, Y:0.41, Z:0.03 [[ 9.99961771e-01 1.05299324e-03 8.68029215e-03 3.31468870e+00] [-1.07758888e-03 9.99995417e-01 2.82931420e-03 4.09426196e-01] [-8.67727312e-03 -2.83855983e-03 9.99958323e-01 3.34435082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.263133365 meters 0.2670102809478974 Centerline is valid? [False, False] Translation: X:3.29, Y:0.40, Z:0.03 [[ 9.99924906e-01 6.75547612e-03 1.02247497e-02 3.29193852e+00] [-6.76003761e-03 9.99977066e-01 4.11626728e-04 3.98350977e-01] [-1.02217345e-02 -4.80715510e-04 9.99947641e-01 3.42830787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.323133365 meters 0.266184667703206 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:0.03 [[ 9.99908905e-01 -3.05551122e-03 1.31470690e-02 3.30974809e+00] [ 3.04124383e-03 9.99994765e-01 1.10507059e-03 3.88883110e-01] [-1.31503768e-02 -1.06498648e-03 9.99912963e-01 3.48325893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.383133365 meters 0.26646399053229275 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:0.03 [[ 9.99914640e-01 -2.45991362e-03 1.28320627e-02 3.31075861e+00] [ 2.42675144e-03 9.99993677e-01 2.59925262e-03 3.81778792e-01] [-1.28383755e-02 -2.56789053e-03 9.99914287e-01 3.45794157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.443133365 meters 0.2665452150296897 Centerline is valid? [False, False] Translation: X:3.29, Y:0.37, Z:0.03 [[ 9.99923204e-01 2.96172533e-03 1.20338566e-02 3.28883626e+00] [-2.96287175e-03 9.99995608e-01 7.74389446e-05 3.71805477e-01] [-1.20335744e-02 -1.13087771e-04 9.99927588e-01 3.49984291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.503133365 meters 0.268598514166151 Centerline is valid? [False, False] Translation: X:3.33, Y:0.36, Z:0.03 [[ 9.99907242e-01 2.08149007e-03 1.34600894e-02 3.33198487e+00] [-2.08440366e-03 9.99997807e-01 2.02436345e-04 3.58003256e-01] [-1.34596386e-02 -2.30473828e-04 9.99909388e-01 3.33797956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.563133365 meters 0.2686016743257412 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99927491e-01 2.10266700e-04 1.20403135e-02 3.33759220e+00] [-2.00537433e-04 9.99999652e-01 -8.09259257e-04 3.51126819e-01] [-1.20404795e-02 8.06786045e-04 9.99927185e-01 3.00003027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.623133365 meters 0.26889408311496277 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:0.03 [[ 9.99998313e-01 -9.23067006e-04 1.58787201e-03 3.32853182e+00] [ 9.18533995e-04 9.99995508e-01 2.85313558e-03 3.31883075e-01] [-1.59049851e-03 -2.85167225e-03 9.99994669e-01 3.32861538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.683133365 meters 0.26999262423574144 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:0.03 [[ 9.99998731e-01 -7.63656734e-04 1.39799694e-03 3.32929672e+00] [ 7.59119630e-04 9.99994453e-01 3.24309074e-03 3.30195507e-01] [-1.40046580e-03 -3.24202538e-03 9.99993764e-01 3.26864078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.743133365 meters 0.27040540004253505 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:0.03 [[ 9.99999148e-01 -7.55964812e-04 1.06464702e-03 3.33040494e+00] [ 7.52464799e-04 9.99994324e-01 3.28405905e-03 3.29971953e-01] [-1.06712361e-03 -3.28325514e-03 9.99994041e-01 3.17167069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.803133365 meters 0.2720020579873677 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:0.03 [[ 9.99998765e-01 -6.51666290e-04 1.43044923e-03 3.33013752e+00] [ 6.47116099e-04 9.99994737e-01 3.17911395e-03 3.31009573e-01] [-1.43251342e-03 -3.17818435e-03 9.99993924e-01 3.06139026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.863133365 meters 0.2744214430371313 Centerline is valid? [False, False] Translation: X:3.33, Y:0.33, Z:0.03 [[ 9.99998246e-01 -9.06836436e-04 1.63883915e-03 3.32977648e+00] [ 9.02958053e-04 9.99996794e-01 2.36573532e-03 3.34313710e-01] [-1.64097923e-03 -2.36425137e-03 9.99995859e-01 3.02917332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92313336499996 meters 0.27399110811225624 Centerline is valid? [False, False] Translation: X:3.33, Y:0.34, Z:0.03 [[ 9.99998262e-01 -1.35290307e-03 1.28247330e-03 3.33029059e+00] [ 1.35110538e-03 9.99998105e-01 1.40156538e-03 3.38428404e-01] [-1.28436705e-03 -1.39983019e-03 9.99998195e-01 3.07362604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98313336499996 meters 0.2695884060157533 Centerline is valid? [False, False] Translation: X:3.29, Y:0.34, Z:0.03 [[ 9.99998811e-01 -5.03246420e-04 1.45741901e-03 3.28511616e+00] [ 4.99635430e-04 9.99996807e-01 2.47696625e-03 3.39184277e-01] [-1.45866088e-03 -2.47623513e-03 9.99995870e-01 3.20459472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04313336499996 meters 0.27103432579998576 Centerline is valid? [False, False] Translation: X:3.29, Y:0.34, Z:0.03 [[ 9.99998854e-01 -7.04027703e-04 1.34002433e-03 3.28503893e+00] [ 7.01563332e-04 9.99998064e-01 1.83863213e-03 3.41719141e-01] [-1.34131619e-03 -1.83768991e-03 9.99997412e-01 3.26827315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10313336499996 meters 0.27052219015048146 Centerline is valid? [False, False] Translation: X:3.29, Y:0.34, Z:0.03 [[ 9.99999114e-01 -7.24220725e-04 1.11671253e-03 3.28529592e+00] [ 7.22232656e-04 9.99998156e-01 1.77966412e-03 3.42154307e-01] [-1.11799934e-03 -1.77885602e-03 9.99997793e-01 3.31035054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16313336499996 meters 0.26974407492450314 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:0.03 [[ 9.99998473e-01 -1.02434158e-03 1.41557971e-03 3.28454990e+00] [ 1.02290211e-03 9.99998959e-01 1.01722635e-03 3.45280940e-01] [-1.41662022e-03 -1.01577680e-03 9.99998481e-01 3.31773700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22313336499997 meters 0.2699177103279386 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:0.03 [[ 9.99998535e-01 -1.16857527e-03 1.25105995e-03 3.28494371e+00] [ 1.16775592e-03 9.99999103e-01 6.55460133e-04 3.46793412e-01] [-1.25182478e-03 -6.53998239e-04 9.99999003e-01 3.30918419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28313336499997 meters 0.26898430195613177 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:0.03 [[ 9.99998523e-01 -1.15986937e-03 1.26859771e-03 3.28471223e+00] [ 1.15900237e-03 9.99999094e-01 6.83950236e-04 3.46736899e-01] [-1.26938985e-03 -6.82478918e-04 9.99998961e-01 3.34989991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34313336499997 meters 0.26776730377546093 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99997711e-01 -1.06696982e-03 1.85458529e-03 3.28314376e+00] [ 1.06478725e-03 9.99998740e-01 1.17743990e-03 3.44415462e-01] [-1.85583924e-03 -1.17546247e-03 9.99997587e-01 3.44608085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.403133365 meters 0.2690660441354843 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99997982e-01 -7.88217443e-04 1.84769967e-03 3.28390916e+00] [ 7.84626699e-04 9.99997804e-01 1.94327923e-03 3.41055315e-01] [-1.84922734e-03 -1.94182555e-03 9.99996405e-01 3.29152576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.463133365 meters 0.26918841584379527 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99998346e-01 -7.54546301e-04 1.65460944e-03 3.28470424e+00] [ 7.51160207e-04 9.99997625e-01 2.04612875e-03 3.40540010e-01] [-1.65614941e-03 -2.04488249e-03 9.99996538e-01 3.20750378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.523133365 meters 0.2696611966145445 Centerline is valid? [False, False] Translation: X:3.29, Y:0.34, Z:0.03 [[ 9.99999102e-01 -7.84102349e-04 1.08727527e-03 3.28595558e+00] [ 7.81993079e-04 9.99997814e-01 1.93902926e-03 3.40862025e-01] [-1.08879329e-03 -1.93817728e-03 9.99997529e-01 3.19501395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.583133365 meters 0.26986558132966415 Centerline is valid? [False, False] Translation: X:3.27, Y:0.34, Z:0.03 [[ 9.99964030e-01 8.44925016e-03 -7.41526505e-04 3.26721201e+00] [-8.44817987e-03 9.99963284e-01 1.43481823e-03 3.39966417e-01] [ 7.53622418e-04 -1.42850207e-03 9.99998696e-01 3.05260356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.643133365 meters 0.2706882260658832 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99997994e-01 7.29398464e-04 1.86542711e-03 3.28420635e+00] [-7.34631854e-04 9.99995792e-01 2.80631989e-03 3.43450335e-01] [-1.86337233e-03 -2.80768466e-03 9.99994322e-01 3.23434242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.703133365 meters 0.27133863459883845 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99997750e-01 8.55573587e-04 1.94128399e-03 3.28342117e+00] [-8.61758046e-04 9.99994550e-01 3.18715996e-03 3.41861663e-01] [-1.93854656e-03 -3.18882570e-03 9.99993037e-01 3.38714178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.763133365 meters 0.2699553398723869 Centerline is valid? [False, False] Translation: X:3.28, Y:0.34, Z:0.03 [[ 9.99997984e-01 1.00606241e-03 1.73747944e-03 3.28379184e+00] [-1.01242208e-03 9.99992778e-01 3.66329410e-03 3.39898790e-01] [-1.73378139e-03 -3.66504578e-03 9.99991781e-01 3.41214256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.823133365 meters 0.27219639611900937 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:0.03 [[ 9.99972186e-01 5.62891764e-03 4.89313869e-03 3.30410355e+00] [-5.63139123e-03 9.99984023e-01 4.91891392e-04 3.35334233e-01] [-4.89029169e-03 -5.19432888e-04 9.99987908e-01 3.38777563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.883133365 meters 0.2679092323004734 Centerline is valid? [False, False] Translation: X:3.26, Y:0.33, Z:0.03 [[ 9.99987353e-01 3.62888209e-03 3.48198056e-03 3.26058393e+00] [-3.62570456e-03 9.99993005e-01 -9.18443322e-04 3.28279879e-01] [-3.48528913e-03 9.05807074e-04 9.99993516e-01 3.46095199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.943133365 meters 0.27081048619394865 Centerline is valid? [False, False] Translation: X:3.29, Y:0.32, Z:0.03 [[ 9.99992769e-01 -2.33887269e-03 2.99845764e-03 3.28544997e+00] [ 2.33043915e-03 9.99993328e-01 2.81304040e-03 3.24370098e-01] [-3.00501698e-03 -2.80603234e-03 9.99991548e-01 3.28204658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.003133365 meters 0.2699959456629382 Centerline is valid? [False, False] Translation: X:3.27, Y:0.32, Z:0.03 [[ 9.99981659e-01 5.28512158e-03 2.95803050e-03 3.26748460e+00] [-5.29062582e-03 9.99984282e-01 1.85605738e-03 3.15109004e-01] [-2.94817452e-03 -1.87167317e-03 9.99993903e-01 3.08491240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.063133365 meters 0.2703393723248788 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99979741e-01 5.54257171e-03 3.13008030e-03 3.26692550e+00] [-5.55042110e-03 9.99981460e-01 2.50463546e-03 3.12342106e-01] [-3.11614014e-03 -2.52195799e-03 9.99991965e-01 3.12870612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.123133365 meters 0.26856073732296887 Centerline is valid? [False, False] Translation: X:3.25, Y:0.31, Z:0.03 [[ 9.99991170e-01 -3.57485821e-03 2.20895690e-03 3.24576067e+00] [ 3.56755188e-03 9.99988182e-01 3.30272977e-03 3.09154302e-01] [-2.22073759e-03 -3.29482004e-03 9.99992106e-01 3.12372764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.183133365 meters 0.2737348323481728 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:0.03 [[ 9.99998007e-01 1.93633446e-03 -4.85577284e-04 3.27110759e+00] [-1.93626979e-03 9.99998117e-01 1.33622887e-04 3.03568304e-01] [ 4.85835108e-04 -1.32682412e-04 9.99999873e-01 3.02292600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.243133365 meters 0.2713117823588298 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:0.03 [[ 9.99997722e-01 2.04798071e-03 -6.01376958e-04 3.27168206e+00] [-2.04774423e-03 9.99997826e-01 3.93575360e-04 3.02391364e-01] [ 6.02181685e-04 -3.92342997e-04 9.99999742e-01 2.96560479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.303133365 meters 0.2748403319975518 Centerline is valid? [False, False] Translation: X:3.27, Y:0.30, Z:0.03 [[ 9.99997736e-01 1.95888400e-03 -8.30962794e-04 3.27252390e+00] [-1.95877049e-03 9.99998072e-01 1.37392561e-04 3.03479577e-01] [ 8.31230328e-04 -1.35764584e-04 9.99999645e-01 2.88339430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.363133365 meters 0.27359970141647544 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99998233e-01 1.87250013e-03 -1.65637234e-04 3.27076364e+00] [-1.87256196e-03 9.99998177e-01 -3.73923247e-04 3.05709364e-01] [ 1.64936761e-04 3.74232753e-04 9.99999916e-01 2.93797628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42313336499996 meters 0.2722970836351022 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99998567e-01 1.69251446e-03 -3.81990963e-05 3.27026404e+00] [-1.69254491e-03 9.99998238e-01 -8.11771276e-04 3.07605184e-01] [ 3.68250944e-05 8.11834766e-04 9.99999670e-01 2.97286418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48313336499996 meters 0.27037486344663336 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99998227e-01 1.56320510e-03 -1.04950374e-03 3.27257788e+00] [-1.56437502e-03 9.99998155e-01 -1.11484375e-03 3.08559982e-01] [ 1.04775908e-03 1.11648359e-03 9.99998828e-01 2.91500994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54313336499996 meters 0.269474793377681 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99998123e-01 1.68118385e-03 -9.62648091e-04 3.27197575e+00] [-1.68189939e-03 9.99998310e-01 -7.42974671e-04 3.07230022e-01] [ 9.61397386e-04 7.44592354e-04 9.99999261e-01 3.01331656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60313336499996 meters 0.2713931898511784 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99998018e-01 1.78433914e-03 -8.83049755e-04 3.27188691e+00] [-1.78470165e-03 9.99998323e-01 -4.09898494e-04 3.05857056e-01] [ 8.82316876e-04 4.11473662e-04 9.99999526e-01 2.99794850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66313336499996 meters 0.27086196617880215 Centerline is valid? [False, False] Translation: X:3.29, Y:0.31, Z:0.03 [[ 9.99994148e-01 -3.40246101e-03 -3.56415522e-04 3.29403287e+00] [ 3.40355405e-03 9.99989364e-01 3.11240121e-03 3.08868416e-01] [ 3.45821907e-04 -3.11359607e-03 9.99995093e-01 2.97839661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72313336499997 meters 0.2703743361920574 Centerline is valid? [False, False] Translation: X:3.29, Y:0.31, Z:0.03 [[ 9.99993978e-01 -3.46865032e-03 -1.09297235e-04 3.29315248e+00] [ 3.46895472e-03 9.99989719e-01 2.92026515e-03 3.09781079e-01] [ 9.91667325e-05 -2.92062671e-03 9.99995730e-01 3.04382399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78313336499997 meters 0.2721641084673896 Centerline is valid? [False, False] Translation: X:3.29, Y:0.31, Z:0.03 [[ 9.99993618e-01 -3.57247292e-03 -3.64737520e-05 3.29302727e+00] [ 3.57255715e-03 9.99990096e-01 2.65424770e-03 3.10904194e-01] [ 2.69911628e-05 -2.65436106e-03 9.99996477e-01 3.03032811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84313336499997 meters 0.2695027366117825 Centerline is valid? [False, False] Translation: X:3.27, Y:0.31, Z:0.03 [[ 9.99990935e-01 3.98771418e-03 -1.49297135e-03 3.27432938e+00] [-3.98645048e-03 9.99991694e-01 8.48449809e-04 3.10162601e-01] [ 1.49634232e-03 -8.42490461e-04 9.99998526e-01 2.86518737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.903133365 meters 0.2701078772340064 Centerline is valid? [False, False] Translation: X:3.26, Y:0.31, Z:0.03 [[ 9.99986583e-01 -4.12841217e-03 -3.12890151e-03 3.25595360e+00] [ 4.13405511e-03 9.99989836e-01 1.79917215e-03 3.14182636e-01] [ 3.12144198e-03 -1.81208306e-03 9.99993486e-01 2.69433651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.963133365 meters 0.270130593264736 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.03 [[ 9.99985778e-01 -4.27675676e-03 -3.18635935e-03 3.25603304e+00] [ 4.28136320e-03 9.99989798e-01 1.44025962e-03 3.15691744e-01] [ 3.18016720e-03 -1.45388110e-03 9.99993886e-01 2.70142626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.023133365 meters 0.26953096999296733 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.03 [[ 9.99985612e-01 -4.42889147e-03 -3.02674352e-03 3.25516306e+00] [ 4.43205687e-03 9.99989638e-01 1.03990407e-03 3.17595583e-01] [ 3.02210654e-03 -1.05330381e-03 9.99994879e-01 2.80576624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.083133365 meters 0.26852507168513184 Centerline is valid? [False, False] Translation: X:3.25, Y:0.32, Z:0.03 [[ 9.99985718e-01 -4.48245643e-03 -2.91062005e-03 3.25460018e+00] [ 4.48510640e-03 9.99989533e-01 9.04559127e-04 3.18230764e-01] [ 2.90653494e-03 -9.17600649e-04 9.99995355e-01 2.87063378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.143133365 meters 0.26728476303683985 Centerline is valid? [False, False] Translation: X:3.24, Y:0.31, Z:0.03 [[ 9.99986876e-01 3.06127724e-03 -4.10804254e-03 3.23683174e+00] [-3.06454042e-03 9.99994994e-01 -7.88281944e-04 3.14685184e-01] [ 4.10560883e-03 8.00860861e-04 9.99991251e-01 2.65887093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.203133365 meters 0.2690547374213811 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.03 [[ 9.99992140e-01 -2.60675012e-03 -2.98727571e-03 3.25968996e+00] [ 2.61374385e-03 9.99993847e-01 2.33966560e-03 3.15718460e-01] [ 2.98115840e-03 -2.34745519e-03 9.99992801e-01 2.53274072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.263133365 meters 0.2692521393660466 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.03 [[ 9.99992626e-01 -2.66774577e-03 -2.76242142e-03 3.25894012e+00] [ 2.67378338e-03 9.99994040e-01 2.18424181e-03 3.16458563e-01] [ 2.75657795e-03 -2.19161182e-03 9.99993799e-01 2.58042180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.323133365 meters 0.2700435258697455 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.03 [[ 9.99992244e-01 -2.70363104e-03 -2.86399740e-03 3.25936875e+00] [ 2.70965092e-03 9.99994124e-01 2.10012377e-03 3.16795362e-01] [ 2.85830261e-03 -2.10786791e-03 9.99993693e-01 2.53757618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.383133365 meters 0.2692144290624741 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.02 [[ 9.99991664e-01 -2.71262800e-03 -3.05167387e-03 3.26020080e+00] [ 2.71899144e-03 9.99994134e-01 2.08301783e-03 3.16793488e-01] [ 3.04600552e-03 -2.09129794e-03 9.99993174e-01 2.43921947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.443133365 meters 0.2703440758649173 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:0.02 [[ 9.99992616e-01 3.24209565e-03 -2.06329857e-03 3.28229601e+00] [-3.24485038e-03 9.99993847e-01 -1.33316571e-03 3.18089728e-01] [ 2.05896362e-03 1.33985096e-03 9.99996983e-01 2.39324478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.503133365 meters 0.26883105168814553 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.02 [[ 9.99984384e-01 -4.72405596e-03 -2.98583185e-03 3.26301225e+00] [ 4.72441152e-03 9.99988834e-01 1.12043184e-04 3.20443595e-01] [ 2.98526921e-03 -1.26147732e-04 9.99995536e-01 2.26312043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.563133365 meters 0.2687170267191986 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.02 [[ 9.99984111e-01 -4.72522749e-03 -3.07399560e-03 3.26313080e+00] [ 4.72556885e-03 9.99988829e-01 1.03795464e-04 3.20450820e-01] [ 3.07347080e-03 -1.18320192e-04 9.99995270e-01 2.28145641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.623133365 meters 0.2688294640873523 Centerline is valid? [False, False] Translation: X:3.26, Y:0.32, Z:0.02 [[ 9.99984441e-01 -4.64382581e-03 -3.09072497e-03 3.26298523e+00] [ 4.64480779e-03 9.99989165e-01 3.10614809e-04 3.19589687e-01] [ 3.08924904e-03 -3.24965800e-04 9.99995175e-01 2.32503985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.683133365 meters 0.2690037158908379 Centerline is valid? [False, False] Translation: X:3.28, Y:0.32, Z:0.02 [[ 9.99991331e-01 3.62632324e-03 -2.04646866e-03 3.28195148e+00] [-3.62759551e-03 9.99993229e-01 -6.18320231e-04 3.15477460e-01] [ 2.04421258e-03 6.25738632e-04 9.99997715e-01 2.45998216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.743133365 meters 0.2699764653836896 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:0.02 [[ 9.99989984e-01 3.82403791e-03 -2.32550550e-03 3.28277244e+00] [-3.82393774e-03 9.99992688e-01 4.75193616e-05 3.12712486e-01] [ 2.32567021e-03 -3.86262974e-05 9.99997295e-01 2.41031869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.803133365 meters 0.2699396954417354 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:0.02 [[ 9.99989587e-01 3.96964567e-03 -2.25122904e-03 3.28225255e+00] [-3.96868138e-03 9.99992031e-01 4.32645223e-04 3.11098940e-01] [ 2.25292855e-03 -4.23706307e-04 9.99997372e-01 2.49321941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.863133365 meters 0.2678824426393083 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:0.03 [[ 9.99998161e-01 1.42671968e-03 -1.28138600e-03 3.27798467e+00] [-1.42866916e-03 9.99997822e-01 -1.52175743e-03 3.07072748e-01] [ 1.27921209e-03 1.52358531e-03 9.99998021e-01 2.75777302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92313336499996 meters 0.2708909438473044 Centerline is valid? [False, False] Translation: X:3.30, Y:0.31, Z:0.03 [[ 9.99988970e-01 -4.16749848e-03 -2.16596060e-03 3.30289851e+00] [ 4.17157366e-03 9.99989531e-01 1.88036651e-03 3.08199027e-01] [ 2.15810150e-03 -1.88938123e-03 9.99995886e-01 2.53132817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98313336499996 meters 0.2690473392563361 Centerline is valid? [False, False] Translation: X:3.29, Y:0.30, Z:0.02 [[ 9.99990877e-01 3.14175664e-03 -2.89393194e-03 3.28504571e+00] [-3.14109631e-03 9.99995040e-01 2.32693885e-04 3.02052714e-01] [ 2.89464865e-03 -2.23601643e-04 9.99995785e-01 2.31481106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04313336499996 meters 0.26915451435584853 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:0.02 [[ 9.99990416e-01 3.33543542e-03 -2.83591813e-03 3.28457640e+00] [-3.33336075e-03 9.99994174e-01 7.35980583e-04 2.99995510e-01] [ 2.83835642e-03 -7.26520392e-04 9.99995708e-01 2.39322080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10313336499996 meters 0.26913483168447355 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:0.02 [[ 9.99990095e-01 3.49212109e-03 -2.75944275e-03 3.28454899e+00] [-3.48897816e-03 9.99993260e-01 1.14296838e-03 2.98299679e-01] [ 2.76341554e-03 -1.13332942e-03 9.99995540e-01 2.36359711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16313336499996 meters 0.2698541781866066 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:0.02 [[ 9.99989115e-01 3.72012589e-03 -2.81601999e-03 3.28470601e+00] [-3.71499602e-03 9.99991435e-01 1.82471729e-03 2.95543472e-01] [ 2.82278405e-03 -1.81423592e-03 9.99994370e-01 2.36067087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22313336499997 meters 0.2678773903733551 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99987459e-01 4.01541364e-03 -2.99318862e-03 3.28518907e+00] [-4.00675656e-03 9.99987789e-01 2.89266446e-03 2.91323492e-01] [ 3.00476732e-03 -2.88063521e-03 9.99991337e-01 2.34114695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28313336499997 meters 0.26868516646780305 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99995447e-01 -2.01256264e-04 -3.01097433e-03 3.28555600e+00] [ 1.98035614e-04 9.99999408e-01 -1.06989711e-03 2.90071255e-01] [ 3.01118787e-03 1.06929595e-03 9.99994895e-01 2.28043664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34313336499997 meters 0.2687343378333114 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99995315e-01 -8.66021527e-05 -3.05977932e-03 3.28591152e+00] [ 8.42206054e-05 9.99999693e-01 -7.78459837e-04 2.88837806e-01] [ 3.05984580e-03 7.78198494e-04 9.99995016e-01 2.22999702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.403133365 meters 0.26948865387154586 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99995704e-01 -8.86523030e-05 -2.93002016e-03 3.28571867e+00] [ 8.63295774e-05 9.99999682e-01 -7.92850625e-04 2.88862175e-01] [ 2.93008952e-03 7.92594271e-04 9.99995393e-01 2.20689758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.463133365 meters 0.2690602307426415 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99995861e-01 -1.07425361e-04 -2.87510928e-03 3.28556477e+00] [ 1.05003607e-04 9.99999640e-01 -8.42454658e-04 2.89056820e-01] [ 2.87519875e-03 8.42149274e-04 9.99995512e-01 2.21156122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.523133365 meters 0.268289822602956 Centerline is valid? [False, False] Translation: X:3.29, Y:0.29, Z:0.02 [[ 9.99996180e-01 -7.27900666e-05 -2.76316065e-03 3.28512614e+00] [ 7.07037541e-05 9.99999712e-01 -7.55135846e-04 2.88741095e-01] [ 2.76321482e-03 7.54937595e-04 9.99995897e-01 2.24945395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.583133365 meters 0.2698096912841704 Centerline is valid? [False, False] Translation: X:3.31, Y:0.29, Z:0.02 [[ 9.99958568e-01 -8.76253983e-03 -2.46596449e-03 3.30648860e+00] [ 8.76125579e-03 9.99961478e-01 -5.31027044e-04 2.91321801e-01] [ 2.47052264e-03 5.09400096e-04 9.99996819e-01 2.27861439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.643133365 meters 0.2692394665454337 Centerline is valid? [False, False] Translation: X:3.31, Y:0.29, Z:0.02 [[ 9.99986820e-01 -4.48440529e-03 -2.49995352e-03 3.30658721e+00] [ 4.49347486e-03 9.99983301e-01 3.63416049e-03 2.91997921e-01] [ 2.48361472e-03 -3.64534607e-03 9.99990272e-01 2.26090195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.703133365 meters 0.2678222164819917 Centerline is valid? [False, False] Translation: X:3.28, Y:0.29, Z:0.03 [[ 9.99995358e-01 2.26071679e-03 -2.04269775e-03 3.28089929e+00] [-2.25786375e-03 9.99996474e-01 1.39792890e-03 2.93186442e-01] [ 2.04585087e-03 -1.39331028e-03 9.99996937e-01 2.52520725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.763133365 meters 0.27013619899609526 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99994709e-01 3.10653270e-03 -9.64975080e-04 3.32539296e+00] [-3.10542591e-03 9.99994521e-01 1.14635318e-03 3.00363989e-01] [ 9.68530976e-04 -1.14335046e-03 9.99998877e-01 2.42349375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.823133365 meters 0.2684075657313379 Centerline is valid? [False, False] Translation: X:3.30, Y:0.30, Z:0.02 [[ 9.99983997e-01 -5.56962775e-03 -9.92587438e-04 3.30497028e+00] [ 5.57161554e-03 9.99982456e-01 2.01124618e-03 3.02619425e-01] [ 9.81368131e-04 -2.01674431e-03 9.99997485e-01 2.28511580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.883133365 meters 0.26882010030598663 Centerline is valid? [False, False] Translation: X:3.30, Y:0.30, Z:0.02 [[ 9.99984152e-01 -5.54712509e-03 -9.61990910e-04 3.30480530e+00] [ 5.54910804e-03 9.99982459e-01 2.07102624e-03 3.02395800e-01] [ 9.50485794e-04 -2.07633161e-03 9.99997393e-01 2.30591004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.943133365 meters 0.27047227473703805 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99989154e-01 3.72457066e-03 -2.79621281e-03 3.32742474e+00] [-3.71952384e-03 9.99991448e-01 1.80791380e-03 2.99506411e-01] [ 2.80292260e-03 -1.79749362e-03 9.99994456e-01 2.34756958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.003133365 meters 0.26960778397777097 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99989228e-01 3.76121020e-03 -2.71971851e-03 3.32717751e+00] [-3.75605563e-03 9.99991145e-01 1.89788702e-03 2.99150668e-01] [ 2.72683277e-03 -1.88765116e-03 9.99994501e-01 2.36265177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.063133365 meters 0.2711969027360684 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99988830e-01 3.80764738e-03 -2.80042223e-03 3.32755038e+00] [-3.80201010e-03 9.99990741e-01 2.01558566e-03 2.98641410e-01] [ 2.80807094e-03 -2.00491591e-03 9.99994048e-01 2.32535369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.123133365 meters 0.2704735931208836 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99988329e-01 3.83284273e-03 -2.94114959e-03 3.32816028e+00] [-3.82671363e-03 9.99990501e-01 2.08671830e-03 2.98290808e-01] [ 2.94911971e-03 -2.07543901e-03 9.99993498e-01 2.26218453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.183133365 meters 0.27206808155691525 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99988197e-01 3.79570255e-03 -3.03294709e-03 3.32841697e+00] [-3.78964530e-03 9.99990818e-01 2.00040883e-03 2.98656058e-01] [ 3.04051220e-03 -1.98889143e-03 9.99993400e-01 2.25282025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.243133365 meters 0.26815248108321504 Centerline is valid? [False, False] Translation: X:3.28, Y:0.30, Z:0.02 [[ 9.99983457e-01 3.39656905e-03 -4.64216237e-03 3.28455351e+00] [-3.38744563e-03 9.99992319e-01 1.97178984e-03 2.98118102e-01] [ 4.64882403e-03 -1.95603215e-03 9.99987281e-01 2.28508458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.303133365 meters 0.27062398228656986 Centerline is valid? [False, False] Translation: X:3.33, Y:0.30, Z:0.02 [[ 9.99993662e-01 2.45683246e-03 -2.57695310e-03 3.32754512e+00] [-2.45570431e-03 9.99996888e-01 4.40858364e-04 3.03315207e-01] [ 2.57802820e-03 -4.34527335e-04 9.99996582e-01 2.26313324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.363133365 meters 0.27051390758764404 Centerline is valid? [False, False] Translation: X:3.31, Y:0.31, Z:0.02 [[ 9.99980052e-01 -6.21635860e-03 -1.11940152e-03 3.30593020e+00] [ 6.21787585e-03 9.99979748e-01 1.35706498e-03 3.06362800e-01] [ 1.11094285e-03 -1.36399820e-03 9.99998453e-01 2.15657739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42313336499996 meters 0.2705527145274344 Centerline is valid? [False, False] Translation: X:3.33, Y:0.31, Z:0.02 [[ 9.99996453e-01 2.56524504e-03 7.16704110e-04 3.32575125e+00] [-2.56536390e-03 9.99996696e-01 1.64980297e-04 3.10573196e-01] [-7.16278527e-04 -1.66818319e-04 9.99999730e-01 2.18935367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48313336499996 meters 0.26911951560918496 Centerline is valid? [False, False] Translation: X:3.30, Y:0.31, Z:0.02 [[ 9.99992410e-01 -3.89199772e-03 -1.78279197e-04 3.30354578e+00] [ 3.89243713e-03 9.99989212e-01 2.53452516e-03 3.13481932e-01] [ 1.68412908e-04 -2.53519986e-03 9.99996772e-01 2.22170131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54313336499996 meters 0.27032475747572854 Centerline is valid? [False, False] Translation: X:3.30, Y:0.32, Z:0.02 [[ 9.99991311e-01 -4.00603354e-03 1.15331245e-03 3.30024896e+00] [ 4.00436863e-03 9.99990942e-01 1.44230228e-03 3.18705540e-01] [-1.15907992e-03 -1.43767146e-03 9.99998295e-01 2.31685689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60313336499996 meters 0.2724852635149005 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:0.02 [[ 9.99983132e-01 5.65595137e-03 1.32106569e-03 3.32328962e+00] [-5.65698027e-03 9.99983698e-01 7.76403806e-04 3.25130658e-01] [-1.31665285e-03 -7.83863953e-04 9.99998826e-01 2.24580269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66313336499996 meters 0.27179665512326673 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:0.02 [[ 9.99985554e-01 5.25084524e-03 1.14926317e-03 3.32390471e+00] [-5.25061437e-03 9.99986195e-01 -2.03815284e-04 3.29402183e-01] [-1.15031751e-03 1.97778002e-04 9.99999319e-01 2.19374099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72313336499997 meters 0.271564653534256 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.02 [[ 9.99996660e-01 -2.52347847e-03 5.58224509e-04 3.34202855e+00] [ 2.52338043e-03 9.99996801e-01 1.76262037e-04 3.42768426e-01] [-5.58667516e-04 -1.74852836e-04 9.99999829e-01 2.46256485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78313336499997 meters 0.26933150482062457 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:0.02 [[ 9.99984157e-01 5.50758085e-03 -1.16326602e-03 3.32359128e+00] [-5.50948129e-03 9.99983483e-01 -1.63686922e-03 3.42533541e-01] [ 1.15423162e-03 1.64325227e-03 9.99997984e-01 2.40627624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84313336499997 meters 0.26954480725076135 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99997203e-01 -2.16521256e-03 -9.51893001e-04 3.34254217e+00] [ 2.16494492e-03 9.99997617e-01 -2.82097229e-04 3.47953070e-01] [ 9.52501533e-04 2.80035644e-04 9.99999507e-01 2.64898814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.903133365 meters 0.2693487539860294 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99997088e-01 -2.23389895e-03 -9.13373233e-04 3.34239170e+00] [ 2.23349657e-03 9.99997408e-01 -4.41321502e-04 3.48640044e-01] [ 9.14356734e-04 4.39280200e-04 9.99999485e-01 2.65852058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.963133365 meters 0.26995052910345674 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99996932e-01 -2.24943417e-03 -1.03766419e-03 3.34270544e+00] [ 2.24893094e-03 9.99997353e-01 -4.85881256e-04 3.48801427e-01] [ 1.03875441e-03 4.83546130e-04 9.99999344e-01 2.65325870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.023133365 meters 0.2685577512720949 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.03 [[ 9.99992126e-01 3.96449118e-03 -1.74136485e-04 3.32030528e+00] [-3.96505364e-03 9.99986501e-01 -3.35800066e-03 3.45435727e-01] [ 1.60821370e-04 3.35866468e-03 9.99994347e-01 2.63520962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.083133365 meters 0.26698757321778877 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.03 [[ 9.99992273e-01 3.93125501e-03 8.45477363e-06 3.31987363e+00] [-3.93120261e-03 9.99986346e-01 -3.44283882e-03 3.45816267e-01] [-2.19893356e-05 3.44277898e-03 9.99994073e-01 2.63584948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.143133365 meters 0.2691845410479574 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.03 [[ 9.99992824e-01 3.78830111e-03 2.29389045e-05 3.32017362e+00] [-3.78818341e-03 9.99985279e-01 -3.88485064e-03 3.47599002e-01] [-3.76555508e-05 3.88473587e-03 9.99992454e-01 2.55417639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.203133365 meters 0.27027151788538545 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.03 [[ 9.99993315e-01 3.65641096e-03 2.07850623e-05 3.32029415e+00] [-3.65628866e-03 9.99984174e-01 -4.27596105e-03 3.49191466e-01] [-3.64194042e-05 4.27585647e-03 9.99990858e-01 2.52416415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.263133365 meters 0.2712254171913534 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.02 [[ 9.99993706e-01 3.54687845e-03 -8.85708325e-05 3.32079561e+00] [-3.54724831e-03 9.99983132e-01 -4.59930976e-03 3.50491257e-01] [ 7.22561458e-05 4.59959500e-03 9.99989419e-01 2.46118002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.323133365 meters 0.2702568363388403 Centerline is valid? [False, False] Translation: X:3.32, Y:0.35, Z:0.02 [[ 9.99993956e-01 3.46731348e-03 -2.56239586e-04 3.32141531e+00] [-3.46850667e-03 9.99982403e-01 -4.81282280e-03 3.51367691e-01] [ 2.39547512e-04 4.81368248e-03 9.99988385e-01 2.40262838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.383133365 meters 0.26983856631852393 Centerline is valid? [False, False] Translation: X:3.30, Y:0.35, Z:0.02 [[ 9.99992725e-01 -2.17922522e-03 -3.13056869e-03 3.30018314e+00] [ 2.17372670e-03 9.99996091e-01 -1.75872503e-03 3.49676354e-01] [ 3.13438911e-03 1.75190723e-03 9.99993553e-01 2.49396430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.443133365 meters 0.27066975213434974 Centerline is valid? [False, False] Translation: X:3.30, Y:0.35, Z:0.03 [[ 9.99992952e-01 -2.16338178e-03 -3.06859346e-03 3.29976658e+00] [ 2.15810351e-03 9.99996188e-01 -1.72236398e-03 3.49528013e-01] [ 3.07230789e-03 1.71572950e-03 9.99993809e-01 2.55527365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.503133365 meters 0.27163384018732173 Centerline is valid? [False, False] Translation: X:3.30, Y:0.35, Z:0.02 [[ 9.99992366e-01 -2.17607906e-03 -3.24524915e-03 3.30042595e+00] [ 2.17038536e-03 9.99996101e-01 -1.75696165e-03 3.49626711e-01] [ 3.24905979e-03 1.74990480e-03 9.99993191e-01 2.49757012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.563133365 meters 0.2714424962424571 Centerline is valid? [False, False] Translation: X:3.28, Y:0.35, Z:0.02 [[ 9.99969424e-01 6.39036732e-03 -4.50716657e-03 3.28079928e+00] [-6.40281657e-03 9.99975712e-01 -2.75310327e-03 3.49364807e-01] [ 4.48946376e-03 2.78187765e-03 9.99986053e-01 2.33503438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.623133365 meters 0.2730230367261919 Centerline is valid? [False, False] Translation: X:3.30, Y:0.35, Z:0.02 [[ 9.99997914e-01 7.87817427e-04 -1.88446800e-03 3.30075367e+00] [-7.87380055e-04 9.99999663e-01 2.32823582e-04 3.52648931e-01] [ 1.88465079e-03 -2.31339304e-04 9.99998197e-01 2.34552452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.683133365 meters 0.2721902007936402 Centerline is valid? [False, False] Translation: X:3.30, Y:0.35, Z:0.02 [[ 9.99998327e-01 6.95680432e-04 -1.69147669e-03 3.30000143e+00] [-6.95701908e-04 9.99999758e-01 -1.21083793e-05 3.53769279e-01] [ 1.69146785e-03 1.32851226e-05 9.99998569e-01 2.40524567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.743133365 meters 0.27176483432921467 Centerline is valid? [False, False] Translation: X:3.30, Y:0.36, Z:0.02 [[ 9.99998297e-01 5.45664251e-04 -1.76275437e-03 3.30020354e+00] [-5.46394715e-04 9.99999765e-01 -4.13932897e-04 3.55410656e-01] [ 1.76252809e-03 4.14895352e-04 9.99998361e-01 2.39097465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.803133365 meters 0.2743148789651744 Centerline is valid? [False, False] Translation: X:3.30, Y:0.36, Z:0.02 [[ 9.99998536e-01 2.93749393e-04 -1.68602583e-03 3.29983018e+00] [-2.95587838e-04 9.99999362e-01 -1.09025583e-03 3.58243202e-01] [ 1.68570449e-03 1.09075260e-03 9.99997984e-01 2.42444903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.863133365 meters 0.2723804491406062 Centerline is valid? [False, False] Translation: X:3.28, Y:0.36, Z:0.03 [[ 9.99986127e-01 -5.26718960e-03 5.37380932e-05 3.27505211e+00] [ 5.26706811e-03 9.99984019e-01 2.05411138e-03 3.62870831e-01] [-6.45566285e-05 -2.05379984e-03 9.99997889e-01 2.53449498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92313336499996 meters 0.27103074438816344 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.03 [[ 9.99984804e-01 -5.51269776e-03 -4.47738223e-05 3.27519268e+00] [ 5.51275733e-03 9.99983736e-01 1.46180143e-03 3.65371511e-01] [ 3.67146247e-05 -1.46202604e-03 9.99998931e-01 2.54205065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98313336499996 meters 0.2712897665226031 Centerline is valid? [False, False] Translation: X:3.30, Y:0.37, Z:0.03 [[ 9.99995512e-01 2.98257108e-03 2.81816193e-04 3.29550712e+00] [-2.98269172e-03 9.99995460e-01 4.28650257e-04 3.65507004e-01] [-2.80536434e-04 -4.29488905e-04 9.99999868e-01 2.66407258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04313336499996 meters 0.27091446384314855 Centerline is valid? [False, False] Translation: X:3.28, Y:0.37, Z:0.02 [[ 9.99988634e-01 -4.72378876e-03 -6.46060786e-04 3.27653931e+00] [ 4.72500807e-03 9.99987034e-01 1.89897832e-03 3.68390785e-01] [ 6.37082037e-04 -1.90200938e-03 9.99997988e-01 2.45016644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10313336499996 meters 0.2710664691092993 Centerline is valid? [False, False] Translation: X:3.30, Y:0.37, Z:0.03 [[ 9.99994717e-01 3.23196571e-03 3.45659349e-04 3.29539110e+00] [-3.23200954e-03 9.99994769e-01 1.26312825e-04 3.68690326e-01] [-3.45249302e-04 -1.27429332e-04 9.99999932e-01 2.59593149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16313336499996 meters 0.2731292437581411 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:0.03 [[ 9.99987432e-01 -5.00356971e-03 -3.15977679e-04 3.31581129e+00] [ 5.00383244e-03 9.99987131e-01 8.36249091e-04 3.75114230e-01] [ 3.11789382e-04 -8.37819680e-04 9.99999600e-01 2.67234710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22313336499997 meters 0.27053711338489084 Centerline is valid? [False, False] Translation: X:3.29, Y:0.37, Z:0.03 [[ 9.99999080e-01 1.35320804e-03 -9.83327913e-05 3.29379847e+00] [-1.35341116e-03 9.99996888e-01 -2.09578175e-03 3.71952147e-01] [ 9.54964565e-05 2.09591291e-03 9.99997799e-01 2.69021303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28313336499997 meters 0.2716654826324588 Centerline is valid? [False, False] Translation: X:3.29, Y:0.37, Z:0.03 [[ 9.99999083e-01 1.30914251e-03 -3.46951391e-04 3.29455322e+00] [-1.30990419e-03 9.99996713e-01 -2.20430701e-03 3.72372780e-01] [ 3.44064498e-04 2.20475947e-03 9.99997510e-01 2.64510525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34313336499997 meters 0.27075076574776186 Centerline is valid? [False, False] Translation: X:3.30, Y:0.37, Z:0.03 [[ 9.99998932e-01 1.29923806e-03 -6.68589168e-04 3.29554146e+00] [-1.30071709e-03 9.99996698e-01 -2.21650502e-03 3.72397759e-01] [ 6.65707193e-04 2.21737230e-03 9.99997320e-01 2.58215564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.403133365 meters 0.26940866905731414 Centerline is valid? [False, False] Translation: X:3.30, Y:0.37, Z:0.03 [[ 9.99998895e-01 1.32289249e-03 -6.77671213e-04 3.29561379e+00] [-1.32435661e-03 9.99996780e-01 -2.16463622e-03 3.72155116e-01] [ 6.74805450e-04 2.16553130e-03 9.99997428e-01 2.57151546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.463133365 meters 0.2681256403488412 Centerline is valid? [False, False] Translation: X:3.30, Y:0.37, Z:0.03 [[ 9.99998997e-01 1.26300363e-03 -6.41504787e-04 3.29500833e+00] [-1.26449043e-03 9.99996503e-01 -2.32258066e-03 3.72894189e-01] [ 6.38569116e-04 2.32338951e-03 9.99997097e-01 2.68499779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.523133365 meters 0.26868901696395303 Centerline is valid? [False, False] Translation: X:3.32, Y:0.38, Z:0.03 [[ 9.99970570e-01 -7.57950353e-03 -1.18753786e-03 3.31644250e+00] [ 7.57737934e-03 9.99969701e-01 -1.78314129e-03 3.75576865e-01] [ 1.20101720e-03 1.77409039e-03 9.99997705e-01 2.77547293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.583133365 meters 0.2681588145310799 Centerline is valid? [False, False] Translation: X:3.32, Y:0.37, Z:0.03 [[ 9.99972227e-01 -7.37256980e-03 -1.09112831e-03 3.31610431e+00] [ 7.37121737e-03 9.99972065e-01 -1.23834634e-03 3.73292586e-01] [ 1.10022763e-03 1.23026901e-03 9.99998638e-01 2.80648922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.643133365 meters 0.2695988007992921 Centerline is valid? [False, False] Translation: X:3.33, Y:0.37, Z:0.03 [[ 9.99999825e-01 5.92191138e-04 5.23262620e-06 3.33461020e+00] [-5.92179225e-04 9.99997742e-01 -2.04085457e-03 3.66827658e-01] [-6.44119038e-06 2.04085112e-03 9.99997917e-01 2.98350566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.703133365 meters 0.26892190922208214 Centerline is valid? [False, False] Translation: X:3.34, Y:0.36, Z:0.03 [[ 9.99994022e-01 -3.45706039e-03 -6.49412353e-05 3.33509646e+00] [ 3.45664366e-03 9.99978421e-01 -5.58647559e-03 3.63653429e-01] [ 8.42526174e-05 5.58621772e-03 9.99984393e-01 2.92153015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.763133365 meters 0.2698599296797012 Centerline is valid? [False, False] Translation: X:3.34, Y:0.36, Z:0.03 [[ 9.99994411e-01 -3.34328276e-03 -1.02953014e-06 3.33515265e+00] [ 3.34323065e-03 9.99980452e-01 -5.28381082e-03 3.62405063e-01] [ 1.86947836e-05 5.28377784e-03 9.99986041e-01 2.88085020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.823133365 meters 0.26848776217300424 Centerline is valid? [False, False] Translation: X:3.33, Y:0.36, Z:0.03 [[ 9.99994723e-01 -3.24427294e-03 1.69171865e-04 3.33481456e+00] [ 3.24508448e-03 9.99982031e-01 -5.04050126e-03 3.61392388e-01] [-1.52816063e-04 5.04102364e-03 9.99987282e-01 2.87100815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.883133365 meters 0.26954379213328056 Centerline is valid? [False, False] Translation: X:3.34, Y:0.36, Z:0.03 [[ 9.99995112e-01 -3.12660995e-03 -2.91089632e-05 3.33561337e+00] [ 3.12643701e-03 9.99983896e-01 -4.73638024e-03 3.59987910e-01] [ 4.39173080e-05 4.73626608e-03 9.99988783e-01 2.79471909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.943133365 meters 0.26839574189592985 Centerline is valid? [False, False] Translation: X:3.34, Y:0.36, Z:0.03 [[ 9.99995485e-01 -3.00501807e-03 -1.92462470e-05 3.33540060e+00] [ 3.00490301e-03 9.99985629e-01 -4.43979953e-03 3.58733668e-01] [ 3.25876483e-05 4.43972165e-03 9.99990144e-01 2.83898903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.003133365 meters 0.2690973308048101 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:0.03 [[ 9.99996421e-01 -2.65381251e-03 3.39944316e-04 3.33418839e+00] [ 2.65490969e-03 9.99991133e-01 -3.26881995e-03 3.53372209e-01] [-3.31266467e-04 3.26971078e-03 9.99994600e-01 2.94183425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.063133365 meters 0.2679445011101043 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99997334e-01 -2.30836244e-03 5.51871052e-05 3.33517859e+00] [ 2.30848317e-03 9.99994695e-01 -2.29795012e-03 3.49159199e-01] [-4.98823107e-05 2.29807140e-03 9.99997358e-01 2.88162630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.123133365 meters 0.27034587098730906 Centerline is valid? [False, False] Translation: X:3.34, Y:0.35, Z:0.03 [[ 9.99998083e-01 -1.95367036e-03 -1.33732301e-04 3.33566207e+00] [ 1.95346706e-03 9.99996961e-01 -1.50380818e-03 3.45771303e-01] [ 1.36669840e-04 1.50354406e-03 9.99998860e-01 2.88742006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.183133365 meters 0.2705039378954596 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.03 [[ 9.99998497e-01 -1.72762423e-03 -1.48903449e-04 3.33584492e+00] [ 1.72748022e-03 9.99998045e-01 -9.61915083e-04 3.43493226e-01] [ 1.50564985e-04 9.61656409e-04 9.99999526e-01 2.86402204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.243133365 meters 0.27162976877299133 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.03 [[ 9.99999068e-01 -1.35639156e-03 -1.58123729e-04 3.33624046e+00] [ 1.35636975e-03 9.99999071e-01 -1.37919488e-04 3.39944775e-01] [ 1.58310655e-04 1.37704886e-04 9.99999978e-01 2.80657599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.303133365 meters 0.2709872454959389 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.03 [[ 9.99999372e-01 -1.11508882e-03 -1.14676720e-04 3.33624523e+00] [ 1.11513838e-03 9.99999284e-01 4.32997560e-04 3.37543188e-01] [ 1.14193807e-04 -4.33125169e-04 9.99999900e-01 2.79018163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.363133365 meters 0.27143633667270656 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.03 [[ 9.99999515e-01 -9.84520596e-04 3.55834954e-05 3.33591161e+00] [ 9.84493846e-04 9.99999239e-01 7.44116007e-04 3.36231040e-01] [-3.63160658e-05 -7.44080614e-04 9.99999723e-01 2.79090651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42313336499996 meters 0.2711212076198042 Centerline is valid? [False, False] Translation: X:3.34, Y:0.34, Z:0.03 [[ 9.99999505e-01 -9.90895602e-04 -8.87034684e-05 3.33656325e+00] [ 9.90960226e-04 9.99999241e-01 7.31493457e-04 3.36270545e-01] [ 8.79785675e-05 -7.31580996e-04 9.99999729e-01 2.70564637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48313336499996 meters 0.2697880788782845 Centerline is valid? [False, False] Translation: X:3.32, Y:0.34, Z:0.03 [[ 9.99988624e-01 4.30114759e-03 -2.06208984e-03 3.31585156e+00] [-4.30722980e-03 9.99986360e-01 -2.95422332e-03 3.35617330e-01] [ 2.04935516e-03 2.96307161e-03 9.99993510e-01 2.72217292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54313336499996 meters 0.27091415825606696 Centerline is valid? [False, False] Translation: X:3.33, Y:0.34, Z:0.03 [[ 9.99995141e-01 -3.07719942e-03 -4.98398390e-04 3.33372411e+00] [ 3.07663650e-03 9.99994633e-01 -1.12631733e-03 3.38346980e-01] [ 5.01861619e-04 1.12477847e-03 9.99999242e-01 2.94999784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60313336499996 meters 0.27133741140848044 Centerline is valid? [False, False] Translation: X:3.33, Y:0.34, Z:0.03 [[ 9.99995255e-01 -3.02842769e-03 -5.64653529e-04 3.33407247e+00] [ 3.02785559e-03 9.99994905e-01 -1.01128732e-03 3.37800840e-01] [ 5.67713263e-04 1.00957284e-03 9.99999329e-01 2.91120765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66313336499996 meters 0.2685196528638799 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:0.03 [[ 9.99981251e-01 5.27897510e-03 -3.10335291e-03 3.31491596e+00] [-5.28479688e-03 9.99984285e-01 -1.87076977e-03 3.38909773e-01] [ 3.09342839e-03 1.88713528e-03 9.99993435e-01 2.80765523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72313336499997 meters 0.27052187704430825 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:0.03 [[ 9.99994464e-01 -2.45262678e-03 -2.24869536e-03 3.33258437e+00] [ 2.45055544e-03 9.99996571e-01 -9.23424092e-04 3.47775599e-01] [ 2.25095246e-03 9.17908427e-04 9.99997045e-01 2.95028104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78313336499997 meters 0.2703726983924404 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:0.03 [[ 9.99996226e-01 1.66184962e-03 -2.18776973e-03 3.33219998e+00] [-1.65575795e-03 9.99994756e-01 2.78328975e-03 3.50253826e-01] [ 2.19238367e-03 -2.77965683e-03 9.99993733e-01 2.99511480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84313336499997 meters 0.26980226522990436 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:0.03 [[ 9.99996577e-01 1.54811835e-03 -2.10914471e-03 3.33185932e+00] [-1.54283428e-03 9.99995673e-01 2.50464337e-03 3.51444065e-01] [ 2.11301306e-03 -2.50138073e-03 9.99994639e-01 3.02458999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.903133365 meters 0.26870905354685526 Centerline is valid? [False, False] Translation: X:3.33, Y:0.35, Z:0.03 [[ 9.99996606e-01 1.54110508e-03 -2.10062082e-03 3.33163227e+00] [-1.53588057e-03 9.99995729e-01 2.48647527e-03 3.51543968e-01] [ 2.10444376e-03 -2.48324053e-03 9.99994702e-01 3.06990312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.963133365 meters 0.2725270679975223 Centerline is valid? [False, False] Translation: X:3.37, Y:0.36, Z:0.03 [[ 9.99997861e-01 1.93919810e-03 7.18807403e-04 3.37322258e+00] [-1.94128199e-03 9.99993882e-01 2.90983361e-03 3.55530342e-01] [-7.13160262e-04 -2.91122279e-03 9.99995508e-01 3.13311000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.023133365 meters 0.2704179927768982 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99997892e-01 1.98559301e-03 5.23499517e-04 3.37399833e+00] [-1.98717317e-03 9.99993419e-01 3.03540889e-03 3.54933971e-01] [-5.17468985e-04 -3.03644278e-03 9.99995256e-01 3.06719577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.083133365 meters 0.26934913551919915 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99997623e-01 2.16836678e-03 2.30503226e-04 3.37494442e+00] [-2.16916875e-03 9.99991389e-01 3.53786600e-03 3.52721604e-01] [-2.22829850e-04 -3.53835759e-03 9.99993715e-01 3.01391571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.143133365 meters 0.26933792844530285 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99997007e-01 2.42911096e-03 2.93341066e-04 3.37451775e+00] [-2.43032231e-03 9.99988217e-01 4.20226842e-03 3.49883487e-01] [-2.83129833e-04 -4.20296876e-03 9.99991127e-01 3.07268031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.203133365 meters 0.27111414169547715 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99996957e-01 2.44186855e-03 3.50706302e-04 3.37435909e+00] [-2.44333380e-03 9.99988026e-01 4.24014648e-03 3.49751783e-01] [-3.40348222e-04 -4.24099047e-03 9.99990949e-01 3.07774789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.263133365 meters 0.2722109429129773 Centerline is valid? [False, False] Translation: X:3.40, Y:0.35, Z:0.03 [[ 9.99956017e-01 9.21340033e-03 1.75408504e-03 3.39706888e+00] [-9.21621353e-03 9.99956246e-01 1.60253006e-03 3.52046166e-01] [-1.73924354e-03 -1.61862559e-03 9.99997178e-01 2.89417896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.323133365 meters 0.26961224152346613 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99997203e-01 -1.96503397e-04 2.35712111e-03 3.37349849e+00] [ 1.92354543e-04 9.99998432e-01 1.76023376e-03 3.52175444e-01] [-2.35746331e-03 -1.75977543e-03 9.99995673e-01 3.00209015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.383133365 meters 0.2750380068790474 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:0.03 [[ 9.99985859e-01 -9.69333530e-04 5.22899355e-03 3.41648122e+00] [ 9.63051632e-04 9.99998812e-01 1.20374306e-03 3.52553476e-01] [-5.23015417e-03 -1.19869024e-03 9.99985604e-01 2.93606042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.443133365 meters 0.26864732669455454 Centerline is valid? [False, False] Translation: X:3.37, Y:0.35, Z:0.03 [[ 9.99994085e-01 -1.86334604e-03 2.89115130e-03 3.37418370e+00] [ 1.86116445e-03 9.99997981e-01 7.57082585e-04 3.46828371e-01] [-2.89255617e-03 -7.51697199e-04 9.99995534e-01 2.95055455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.503133365 meters 0.271902969715472 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:0.03 [[ 9.99971380e-01 7.12561451e-03 2.54244285e-03 3.39611407e+00] [-7.12681769e-03 9.99974496e-01 4.64493270e-04 3.43706342e-01] [-2.53906821e-03 -4.82599503e-04 9.99996660e-01 2.95086751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.563133365 meters 0.27377199749766257 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:0.03 [[ 9.99993307e-01 2.85745436e-03 2.28501360e-03 3.39713277e+00] [-2.84870745e-03 9.99988638e-01 -3.82208395e-03 3.44417361e-01] [-2.29590907e-03 3.81554904e-03 9.99990085e-01 2.85238511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.623133365 meters 0.2721454029033645 Centerline is valid? [False, False] Translation: X:3.40, Y:0.34, Z:0.03 [[ 9.99992932e-01 2.98914185e-03 2.28056366e-03 3.39731471e+00] [-2.98106436e-03 9.99989301e-01 -3.53709804e-03 3.43123398e-01] [-2.29111215e-03 3.53027453e-03 9.99991144e-01 2.82252631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.683133365 meters 0.27390127968974115 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:0.03 [[ 9.99977873e-01 -5.56650110e-03 3.64235982e-03 3.41796411e+00] [ 5.57750824e-03 9.99979889e-01 -3.01883442e-03 3.45296003e-01] [-3.62548222e-03 3.03908291e-03 9.99988810e-01 2.75827344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.743133365 meters 0.27532672921761553 Centerline is valid? [False, False] Translation: X:3.42, Y:0.35, Z:0.03 [[ 9.99977402e-01 -5.56870690e-03 3.76637392e-03 3.41758617e+00] [ 5.58011339e-03 9.99979856e-01 -3.02480777e-03 3.45348852e-01] [-3.74945378e-03 3.04575621e-03 9.99988332e-01 2.77214222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.803133365 meters 0.2797844100641897 Centerline is valid? [False, False] Translation: X:3.42, Y:0.34, Z:0.02 [[ 9.99987841e-01 -3.97569920e-03 2.91734543e-03 3.42191278e+00] [ 3.97991428e-03 9.99991043e-01 -1.44045412e-03 3.43874005e-01] [-2.91159249e-03 1.45204739e-03 9.99994707e-01 2.45830000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.863133365 meters 0.2781031074443777 Centerline is valid? [False, False] Translation: X:3.43, Y:0.34, Z:0.02 [[ 9.99993742e-01 -2.68746366e-03 2.30070133e-03 3.42584889e+00] [ 2.68743556e-03 9.99996389e-01 1.53034344e-05 3.42020841e-01] [-2.30073415e-03 -9.12035201e-06 9.99997353e-01 2.11916796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92313336499996 meters 0.28009873133390184 Centerline is valid? [False, False] Translation: X:3.43, Y:0.34, Z:0.02 [[ 9.99994220e-01 -2.55736129e-03 2.24069267e-03 3.42557317e+00] [ 2.55662556e-03 9.99996677e-01 3.31154225e-04 3.40564417e-01] [-2.24153210e-03 -3.25423699e-04 9.99997435e-01 2.20575560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98313336499996 meters 0.2802369582735086 Centerline is valid? [False, False] Translation: X:3.43, Y:0.34, Z:0.02 [[ 9.99994554e-01 -2.39258442e-03 2.27300765e-03 3.42507632e+00] [ 2.39085078e-03 9.99996849e-01 7.65116890e-04 3.38948834e-01] [-2.27483110e-03 -7.59678301e-04 9.99997124e-01 2.30171756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04313336499996 meters 0.2795472469730196 Centerline is valid? [False, False] Translation: X:3.43, Y:0.34, Z:0.02 [[ 9.99995143e-01 -2.18672332e-03 2.22090167e-03 3.42539826e+00] [ 2.18367320e-03 9.99996671e-01 1.37486839e-03 3.36484271e-01] [-2.22390073e-03 -1.37001198e-03 9.99996589e-01 2.28470715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10313336499996 meters 0.28285697877972843 Centerline is valid? [False, False] Translation: X:3.40, Y:0.33, Z:0.02 [[ 9.99992394e-01 3.72812883e-03 1.14543572e-03 3.40406354e+00] [-3.72722736e-03 9.99992743e-01 -7.88138696e-04 3.26960283e-01] [-1.14836570e-03 7.83863403e-04 9.99999033e-01 2.38414421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16313336499996 meters 0.286801187946707 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:0.02 [[ 9.99982004e-01 -4.29923978e-03 4.18421444e-03 3.42358756e+00] [ 4.29631391e-03 9.99990520e-01 7.08002554e-04 3.21622506e-01] [-4.18721865e-03 -6.90013115e-04 9.99990996e-01 2.31557354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22313336499997 meters 0.28539000000633774 Centerline is valid? [False, False] Translation: X:3.40, Y:0.32, Z:0.02 [[ 9.99975869e-01 3.80118187e-03 5.81481540e-03 3.40281854e+00] [-3.80139554e-03 9.99992774e-01 2.56933436e-05 3.15247778e-01] [-5.81467572e-03 -4.77971369e-05 9.99983093e-01 2.08656360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28313336499997 meters 0.2865390273816997 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:0.02 [[ 9.99944824e-01 -2.61663117e-03 1.01736020e-02 3.41919732e+00] [ 2.58895568e-03 9.99992915e-01 2.73254182e-03 3.16700776e-01] [-1.01806799e-02 -2.70605205e-03 9.99944514e-01 2.00121298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34313336499997 meters 0.2897305512080072 Centerline is valid? [False, False] Translation: X:3.44, Y:0.32, Z:0.02 [[ 9.99898590e-01 3.33061173e-03 1.38461539e-02 3.43944667e+00] [-3.32257591e-03 9.99994298e-01 -6.03327963e-04 3.17913370e-01] [-1.38480844e-02 5.57261882e-04 9.99903955e-01 1.72221279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.403133365 meters 0.2889984843107409 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.02 [[ 9.99937958e-01 -1.85746670e-03 1.09832106e-02 3.41911350e+00] [ 1.81784694e-03 9.99991809e-01 3.61618561e-03 3.11653533e-01] [-1.09898376e-02 -3.59599546e-03 9.99933144e-01 1.61605222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.463133365 meters 0.29140822224875895 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99935597e-01 -1.80189904e-03 1.12051280e-02 3.41967884e+00] [ 1.76012579e-03 9.99991469e-01 3.73679188e-03 3.11040863e-01] [-1.12117657e-02 -3.71682878e-03 9.99930238e-01 1.46892683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.523133365 meters 0.29269198573700544 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99932880e-01 -1.66931927e-03 1.14651170e-02 3.41961226e+00] [ 1.62353370e-03 9.99990676e-01 4.00161458e-03 3.09726413e-01] [-1.14716901e-02 -3.98273199e-03 9.99926266e-01 1.38959086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.583133365 meters 0.28949112043406544 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99926612e-01 -1.74164091e-03 1.19890510e-02 3.41886446e+00] [ 1.69536882e-03 9.99991080e-01 3.86861130e-03 3.10338960e-01] [-1.19956818e-02 -3.84800153e-03 9.99920645e-01 1.31616729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.643133365 meters 0.2916942134753884 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99913868e-01 -1.93180662e-03 1.29817216e-02 3.41852250e+00] [ 1.88649475e-03 9.99992089e-01 3.50177574e-03 3.12014158e-01] [-1.29883837e-02 -3.47698417e-03 9.99909602e-01 1.03210327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.703133365 meters 0.29323606191559776 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99899011e-01 -2.15207290e-03 1.40476243e-02 3.41777852e+00] [ 2.10950440e-03 9.99993141e-01 3.04441343e-03 3.14160374e-01] [-1.40540797e-02 -3.01447245e-03 9.99896693e-01 7.67803831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.763133365 meters 0.2944491974870763 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:0.01 [[ 9.99887663e-01 -1.93567105e-03 1.48631614e-02 3.41705370e+00] [ 1.88437881e-03 9.99992224e-01 3.46419375e-03 3.12246040e-01] [-1.48697513e-02 -3.43579677e-03 9.99883536e-01 6.08367652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.823133365 meters 0.295779155906267 Centerline is valid? [False, False] Translation: X:3.44, Y:0.31, Z:0.00 [[ 9.99853445e-01 4.18804500e-03 1.65996807e-02 3.43865225e+00] [-4.18873512e-03 9.99991227e-01 6.80634619e-06 3.13596702e-01] [-1.65995066e-02 -7.63370143e-05 9.99862216e-01 4.61245995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.883133365 meters 0.29458873061967644 Centerline is valid? [False, False] Translation: X:3.43, Y:0.31, Z:-0.01 [[ 9.99639237e-01 3.15886930e-03 2.66724076e-02 3.42535156e+00] [-3.25480548e-03 9.99988387e-01 3.55418445e-03 3.06295560e-01] [-2.66608706e-02 -3.63971574e-03 9.99637910e-01 -1.36830998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.943133365 meters 0.2953756707953968 Centerline is valid? [False, False] Translation: X:3.41, Y:0.30, Z:-0.03 [[ 0.99947742 -0.00501463 0.0319334 3.41094265] [ 0.00484113 0.99997311 0.00550833 0.30355734] [-0.03196016 -0.00535085 0.99947482 -0.02841491] [ 0. 0. 0. 1. ]] SLAMing on 369.003133365 meters 0.2946922990988785 Centerline is valid? [False, False] Translation: X:3.41, Y:0.31, Z:-0.04 [[ 9.99445294e-01 -6.73367814e-03 3.26153547e-02 3.41448200e+00] [ 6.62577915e-03 9.99972217e-01 3.41517896e-03 3.05917709e-01] [-3.26374453e-02 -3.19718240e-03 9.99462143e-01 -3.63504222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.063133365 meters 0.295453139427215 Centerline is valid? [False, False] Translation: X:3.42, Y:0.31, Z:-0.05 [[ 9.99375803e-01 -7.29010264e-03 3.45667396e-02 3.41913103e+00] [ 7.18822822e-03 9.99969450e-01 3.07054061e-03 3.05113113e-01] [-3.45880681e-02 -2.82015038e-03 9.99397675e-01 -4.92943054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.123133365 meters 0.29773650949513686 Centerline is valid? [False, False] Translation: X:3.44, Y:0.31, Z:-0.06 [[ 9.99279012e-01 -1.02586600e-03 3.79526517e-02 3.44183590e+00] [ 1.02700172e-03 9.99999473e-01 -1.04287951e-05 3.08475436e-01] [-3.79526210e-02 4.93987146e-05 9.99279539e-01 -5.52950546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.183133365 meters 0.2985413607508168 Centerline is valid? [False, False] Translation: X:3.45, Y:0.31, Z:-0.07 [[ 9.99203384e-01 -1.98815231e-03 3.98577967e-02 3.44640086e+00] [ 2.02739416e-03 9.99997499e-01 -9.44150791e-04 3.08924056e-01] [-3.98558199e-02 1.02420613e-03 9.99204916e-01 -6.88838349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.243133365 meters 0.29877010468450493 Centerline is valid? [False, False] Translation: X:3.46, Y:0.31, Z:-0.08 [[ 9.99175783e-01 -3.76018795e-03 4.04180235e-02 3.45550810e+00] [ 3.87265333e-03 9.99988844e-01 -2.70462076e-03 3.08520877e-01] [-4.04074027e-02 2.85891656e-03 9.99179197e-01 -8.49889327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.303133365 meters 0.29540427889125354 Centerline is valid? [False, False] Translation: X:3.44, Y:0.30, Z:-0.10 [[ 9.99073040e-01 -1.25532752e-02 4.11761675e-02 3.44376187e+00] [ 1.25854349e-02 9.99920664e-01 -5.21890767e-04 3.03506038e-01] [-4.11663493e-02 1.03962697e-03 9.99151766e-01 -1.00018400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.363133365 meters 0.2972276610212005 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-0.11 [[ 0.99904972 -0.00737661 0.04295618 3.46855467] [ 0.00756656 0.9999623 -0.00426094 0.299222 ] [-0.04292313 0.00458192 0.99906787 -0.10687376] [ 0. 0. 0. 1. ]] SLAMing on 369.42313336499996 meters 0.2970063146984294 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.13 [[ 9.98812950e-01 -2.02181298e-03 4.86682934e-02 3.45617472e+00] [ 2.36703912e-03 9.99972439e-01 -7.03686215e-03 2.93179230e-01] [-4.86527248e-02 7.14370880e-03 9.98790208e-01 -1.26848999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48313336499996 meters 0.29439251668445826 Centerline is valid? [False, False] Translation: X:3.45, Y:0.29, Z:-0.14 [[ 0.99878365 0.00664669 0.04885726 3.44586992] [-0.00626698 0.99994899 -0.00792084 0.28816808] [-0.04890742 0.00760502 0.99877436 -0.14233524] [ 0. 0. 0. 1. ]] SLAMing on 369.54313336499996 meters 0.29754303149398226 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.16 [[ 0.99879723 0.00704882 0.04852224 3.45521677] [-0.00670388 0.99995112 -0.00726806 0.28533861] [-0.0485711 0.00693403 0.99879566 -0.15715843] [ 0. 0. 0. 1. ]] SLAMing on 369.60313336499996 meters 0.29684785478472114 Centerline is valid? [False, False] Translation: X:3.46, Y:0.29, Z:-0.17 [[ 0.99881705 0.00521058 0.04834611 3.46021759] [-0.00476312 0.9999448 -0.00936581 0.28549075] [-0.04839224 0.00912445 0.99878673 -0.16531245] [ 0. 0. 0. 1. ]] SLAMing on 369.66313336499996 meters 0.2960553933117321 Centerline is valid? [False, False] Translation: X:3.45, Y:0.29, Z:-0.18 [[ 9.98865440e-01 -3.19377646e-03 4.75145408e-02 3.45108878e+00] [ 3.53727483e-03 9.99968203e-01 -7.14700522e-03 2.85043160e-01] [-4.74902041e-02 7.30696851e-03 9.98844977e-01 -1.80600714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72313336499997 meters 0.2979162845343063 Centerline is valid? [False, False] Translation: X:3.46, Y:0.28, Z:-0.20 [[ 9.99515247e-01 -2.43114172e-03 3.10380500e-02 3.46226169e+00] [ 2.62731743e-03 9.99976821e-01 -6.28127279e-03 2.84434243e-01] [-3.10220599e-02 6.35977473e-03 9.99498467e-01 -1.96235893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78313336499997 meters 0.2985646754202864 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:-0.21 [[ 9.99893533e-01 -9.73430985e-04 1.45593902e-02 3.47157503e+00] [ 1.04777104e-03 9.99986450e-01 -5.09923085e-03 2.84917890e-01] [-1.45542292e-02 5.11394285e-03 9.99881004e-01 -2.07623779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84313336499997 meters 0.29972053134909843 Centerline is valid? [False, False] Translation: X:3.52, Y:0.29, Z:-0.22 [[ 9.99816237e-01 6.15472594e-04 1.91601906e-02 3.52112179e+00] [-5.36340373e-04 9.99991307e-01 -4.13489783e-03 2.87625342e-01] [-1.91625689e-02 4.12386160e-03 9.99807876e-01 -2.18631940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.903133365 meters 0.29851196492695503 Centerline is valid? [False, False] Translation: X:3.51, Y:0.29, Z:-0.23 [[ 9.99830645e-01 -4.78000214e-03 1.77717011e-02 3.50923727e+00] [ 4.76581122e-03 9.99988290e-01 8.40778286e-04 2.85779692e-01] [-1.77755120e-02 -7.55939324e-04 9.99841717e-01 -2.33081517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.963133365 meters 0.2970723890499449 Centerline is valid? [False, False] Translation: X:3.52, Y:0.29, Z:-0.24 [[ 9.99845583e-01 -2.70676935e-03 1.73632692e-02 3.51561956e+00] [ 2.65809542e-03 9.99992475e-01 2.82573627e-03 2.87088824e-01] [-1.73707872e-02 -2.77914670e-03 9.99845254e-01 -2.42060142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.023133365 meters 0.2967145628384451 Centerline is valid? [False, False] Translation: X:3.52, Y:0.29, Z:-0.26 [[ 9.99995711e-01 2.80835479e-04 2.91532873e-03 3.52417869e+00] [-2.88597379e-04 9.99996414e-01 2.66236524e-03 2.92676974e-01] [-2.91457059e-03 -2.66319518e-03 9.99992206e-01 -2.59341896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.083133365 meters 0.2969962119201876 Centerline is valid? [False, False] Translation: X:3.57, Y:0.30, Z:-0.26 [[ 9.99999869e-01 4.30233489e-04 -2.76422598e-04 3.56969132e+00] [-4.29856760e-04 9.99998981e-01 1.36149185e-03 2.97742349e-01] [ 2.77008076e-04 -1.36137285e-03 9.99999035e-01 -2.58938943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.143133365 meters 0.2966602765002672 Centerline is valid? [False, False] Translation: X:3.58, Y:0.30, Z:-0.27 [[ 9.99998238e-01 -1.87278130e-03 -1.27891669e-04 3.57628504e+00] [ 1.87258015e-03 9.99997037e-01 -1.55521022e-03 3.03214498e-01] [ 1.30803859e-04 1.55496799e-03 9.99998782e-01 -2.69409105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.203133365 meters 0.30013936734880386 Centerline is valid? [False, False] Translation: X:3.62, Y:0.30, Z:-0.28 [[ 9.99986650e-01 -2.24733064e-03 4.65295469e-03 3.62282846e+00] [ 2.25793132e-03 9.99994865e-01 -2.27426964e-03 3.04732607e-01] [-4.64781976e-03 2.28474533e-03 9.99986589e-01 -2.75485792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.263133365 meters 0.2995975955955428 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:-0.30 [[ 9.99991825e-01 -5.15133510e-04 4.01062799e-03 3.59717555e+00] [ 5.15955168e-04 9.99999846e-01 -2.03838249e-04 3.04005735e-01] [-4.01052237e-03 2.05905887e-04 9.99991937e-01 -2.95548031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.323133365 meters 0.29967994967951084 Centerline is valid? [False, False] Translation: X:3.60, Y:0.30, Z:-0.30 [[ 9.99989224e-01 -5.31798994e-04 4.61182428e-03 3.59874861e+00] [ 5.32951927e-04 9.99999827e-01 -2.48769529e-04 3.04921983e-01] [-4.61169119e-03 2.51224729e-04 9.99989335e-01 -3.00595992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.383133365 meters 0.29776830023180195 Centerline is valid? [False, False] Translation: X:3.61, Y:0.31, Z:-0.31 [[ 9.99990485e-01 5.92828667e-04 4.32181509e-03 3.60837952e+00] [-5.95098812e-04 9.99999686e-01 5.24008827e-04 3.06581509e-01] [-4.32150308e-03 -5.26575748e-04 9.99990524e-01 -3.13615472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.443133365 meters 0.3040888585314739 Centerline is valid? [False, False] Translation: X:3.61, Y:0.31, Z:-0.32 [[ 9.99988086e-01 4.90233816e-04 4.85676256e-03 3.60927806e+00] [-4.92102673e-04 9.99999805e-01 3.83607426e-04 3.07267981e-01] [-4.85657356e-03 -3.85992882e-04 9.99988132e-01 -3.17613606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.503133365 meters 0.3062097379487669 Centerline is valid? [False, False] Translation: X:3.62, Y:0.31, Z:-0.33 [[ 9.99986376e-01 1.81958777e-03 4.89255511e-03 3.61746917e+00] [-1.82643363e-03 9.99997359e-01 1.39513480e-03 3.07847472e-01] [-4.89000362e-03 -1.40405172e-03 9.99987058e-01 -3.29453796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.563133365 meters 0.3096616354263469 Centerline is valid? [False, False] Translation: X:3.64, Y:0.31, Z:-0.33 [[ 0.9999769 -0.00393923 0.0055387 3.64274478] [ 0.00390933 0.99997778 0.0053991 0.31131346] [-0.00555984 -0.00537732 0.99997009 -0.3340424 ] [ 0. 0. 0. 1. ]] SLAMing on 370.623133365 meters 0.31241738281723996 Centerline is valid? [False, False] Translation: X:3.65, Y:0.32, Z:-0.35 [[ 9.99983864e-01 -2.63080496e-03 5.03498993e-03 3.65253388e+00] [ 2.60047115e-03 9.99978488e-01 6.02169548e-03 3.16122995e-01] [-5.05072352e-03 -6.00850497e-03 9.99969194e-01 -3.47001140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.683133365 meters 0.3204652456974608 Centerline is valid? [False, False] Translation: X:3.68, Y:0.32, Z:-0.35 [[ 0.99994596 0.00601146 0.00848146 3.67716735] [-0.00604967 0.99997164 0.00448608 0.32245041] [-0.00845425 -0.00453715 0.99995397 -0.35278546] [ 0. 0. 0. 1. ]] SLAMing on 370.743133365 meters 0.30987953375061855 Centerline is valid? [False, False] Translation: X:3.66, Y:0.32, Z:-0.36 [[ 9.99987264e-01 -2.50582196e-04 5.04082964e-03 3.66428781e+00] [ 2.09430541e-04 9.99966664e-01 8.16253905e-03 3.23427426e-01] [-5.04270698e-03 -8.16137938e-03 9.99953980e-01 -3.61850984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.803133365 meters 0.31976091758616465 Centerline is valid? [False, False] Translation: X:3.69, Y:0.33, Z:-0.37 [[ 0.99994525 0.00789533 0.0068674 3.69484946] [-0.00793374 0.99995294 0.00558327 0.3333014 ] [-0.00682299 -0.00563745 0.99996083 -0.37312488] [ 0. 0. 0. 1. ]] SLAMing on 370.863133365 meters 0.3211149336651179 Centerline is valid? [False, False] Translation: X:3.70, Y:0.34, Z:-0.38 [[ 9.99961951e-01 5.59599904e-03 6.69188997e-03 3.70075743e+00] [-5.61125057e-03 9.99981697e-01 2.26250691e-03 3.41950453e-01] [-6.67910650e-03 -2.29997069e-03 9.99975050e-01 -3.81457851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92313336499996 meters 0.3215476509970713 Centerline is valid? [False, False] Translation: X:3.71, Y:0.35, Z:-0.39 [[ 9.99976558e-01 2.68007950e-03 6.30087745e-03 3.71021656e+00] [-2.67273875e-03 9.99995740e-01 -1.17316750e-03 3.46066536e-01] [-6.30399479e-03 1.15629940e-03 9.99979461e-01 -3.93314956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98313336499996 meters 0.3237793519497097 Centerline is valid? [False, False] Translation: X:3.72, Y:0.35, Z:-0.40 [[ 9.99982230e-01 5.67309740e-04 5.93452594e-03 3.71669965e+00] [-5.44121946e-04 9.99992215e-01 -3.90815495e-03 3.50996151e-01] [-5.93669688e-03 3.90485639e-03 9.99974754e-01 -4.01288833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04313336499996 meters 0.8927853605262422 Centerline is valid? [False, False] Translation: X:3.74, Y:0.36, Z:-0.41 [[ 9.99964921e-01 -5.31427507e-03 6.47412605e-03 3.74352031e+00] [ 5.31712522e-03 9.99985774e-01 -4.23104890e-04 3.55830411e-01] [-6.47178546e-03 4.57513787e-04 9.99978953e-01 -4.06301593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10313336499996 meters 0.8985768185424727 Centerline is valid? [False, False] Translation: X:3.75, Y:0.36, Z:-0.42 [[ 9.99971486e-01 -3.93561746e-03 6.44493684e-03 3.75226580e+00] [ 3.93487797e-03 9.99992250e-01 1.27415171e-04 3.62177195e-01] [-6.44538835e-03 -1.02051498e-04 9.99979223e-01 -4.18550680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16313336499996 meters 0.8806176619385924 Centerline is valid? [False, False] Translation: X:3.77, Y:0.37, Z:-0.43 [[ 9.99984873e-01 2.57153419e-04 5.49426869e-03 3.76540482e+00] [-2.73868455e-04 9.99995336e-01 3.04173190e-03 3.70677139e-01] [-5.49346087e-03 -3.04319059e-03 9.99980280e-01 -4.33517735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22313336499997 meters 0.9277555788821934 Centerline is valid? [False, False] Translation: X:3.77, Y:0.38, Z:-0.44 [[ 9.99981235e-01 -1.20340414e-03 6.00684468e-03 3.76865400e+00] [ 1.20058943e-03 9.99999168e-01 4.72168297e-04 3.79960524e-01] [-6.00740789e-03 -4.64947682e-04 9.99981847e-01 -4.40440970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28313336499997 meters 0.930821615693752 Centerline is valid? [False, False] Translation: X:3.77, Y:0.39, Z:-0.45 [[ 9.99981671e-01 6.41711747e-04 6.02052336e-03 3.77392513e+00] [-6.47638910e-04 9.99999308e-01 9.82595013e-04 3.90680490e-01] [-6.01988865e-03 -9.86476128e-04 9.99981394e-01 -4.48403696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34313336499997 meters 0.9673445093301751 Centerline is valid? [False, False] Translation: X:3.78, Y:0.41, Z:-0.46 [[ 9.99984514e-01 1.40092726e-03 5.38601117e-03 3.78430652e+00] [-1.39977338e-03 9.99998997e-01 -2.17999219e-04 4.07327713e-01] [-5.38631117e-03 2.10456648e-04 9.99985472e-01 -4.60931789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.403133365 meters 0.4542548125069946 Centerline is valid? [False, False] Translation: X:3.79, Y:0.42, Z:-0.47 [[ 9.99985775e-01 -1.03724114e-03 5.23194808e-03 3.79025758e+00] [ 1.05641881e-03 9.99992729e-01 -3.66406284e-03 4.17650656e-01] [-5.22810952e-03 3.66953785e-03 9.99979600e-01 -4.68493191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.463133365 meters 0.45947584892881693 Centerline is valid? [False, False] Translation: X:3.80, Y:0.42, Z:-0.48 [[ 9.99987913e-01 8.65526740e-04 4.83994307e-03 3.79750147e+00] [-8.53947074e-04 9.99996770e-01 -2.39407597e-03 4.23857708e-01] [-4.84199957e-03 2.38991398e-03 9.99985422e-01 -4.76637272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.523133365 meters SLAMing on 371.583133365 meters 0.5201610949933467 Centerline is valid? [False, False] Translation: X:3.83, Y:0.45, Z:-0.51 [[ 9.99995632e-01 2.29504114e-03 1.86221880e-03 3.82705742e+00] [-2.28430770e-03 9.99980885e-01 -5.74559111e-03 4.51797049e-01] [-1.87536957e-03 5.74131214e-03 9.99981760e-01 -5.09511120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.643133365 meters 0.539109587017234 Centerline is valid? [False, False] Translation: X:3.83, Y:0.46, Z:-0.52 [[ 9.99990152e-01 4.18119800e-03 1.48803193e-03 3.83470630e+00] [-4.17457486e-03 9.99981489e-01 -4.42655993e-03 4.57730613e-01] [-1.50651271e-03 4.42030443e-03 9.99989096e-01 -5.17471396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.703133365 meters 0.5833682805560598 Centerline is valid? [False, False] Translation: X:3.85, Y:0.47, Z:-0.53 [[ 9.99989349e-01 4.56455508e-03 6.82696080e-04 3.84746305e+00] [-4.56102314e-03 9.99976652e-01 -5.08855434e-03 4.67926476e-01] [-7.05907127e-04 5.08538635e-03 9.99986820e-01 -5.30030239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.763133365 meters 0.6434804331439422 Centerline is valid? [False, False] Translation: X:3.86, Y:0.47, Z:-0.54 [[ 9.99986703e-01 5.15459772e-03 1.57830429e-04 3.85835040e+00] [-5.15372241e-03 9.99973619e-01 -5.11856594e-03 4.73031031e-01] [-1.84210413e-04 5.11768446e-03 9.99986888e-01 -5.41078067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.823133365 meters 0.584725813173796 Centerline is valid? [False, False] Translation: X:3.87, Y:0.48, Z:-0.55 [[ 9.99974099e-01 7.19311348e-03 -2.45537285e-04 3.86631958e+00] [-7.19390317e-03 9.99968401e-01 -3.38305526e-03 4.75401364e-01] [ 2.21194826e-04 3.38473400e-03 9.99994247e-01 -5.48852513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.883133365 meters 0.9014761843141055 Centerline is valid? [False, False] Translation: X:3.88, Y:0.48, Z:-0.56 [[ 9.99957191e-01 9.25267026e-03 6.76440970e-05 3.87735783e+00] [-9.25255380e-03 9.99955983e-01 -1.55636669e-03 4.78169214e-01] [-8.20416673e-05 1.55567419e-03 9.99998787e-01 -5.61794507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.943133365 meters 0.5975812484306012 Centerline is valid? [False, False] Translation: X:3.89, Y:0.48, Z:-0.57 [[ 9.99974839e-01 7.08328186e-03 -3.84859141e-04 3.88577507e+00] [-7.08475932e-03 9.99966967e-01 -3.98373306e-03 4.80541612e-01] [ 3.56628524e-04 3.98635946e-03 9.99991991e-01 -5.69999507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.003133365 meters 0.6273250404985631 Centerline is valid? [False, False] Translation: X:3.90, Y:0.48, Z:-0.59 [[ 9.99965097e-01 8.32065536e-03 -7.55953248e-04 3.90102355e+00] [-8.32293990e-03 9.99960648e-01 -3.07092249e-03 4.82526461e-01] [ 7.30371412e-04 3.07710706e-03 9.99994999e-01 -5.85701676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.063133365 meters 0.6404498328797693 Centerline is valid? [False, False] Translation: X:3.91, Y:0.48, Z:-0.59 [[ 9.99967898e-01 8.00972332e-03 -2.15790583e-04 3.90715174e+00] [-8.01045601e-03 9.99961289e-01 -3.64058927e-03 4.84864952e-01] [ 1.86622117e-04 3.64220098e-03 9.99993350e-01 -5.94204761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.123133365 meters 0.6121229558732617 Centerline is valid? [False, False] Translation: X:3.92, Y:0.49, Z:-0.60 [[ 9.99948008e-01 1.01753748e-02 -6.65741428e-04 3.91584320e+00] [-1.01765390e-02 9.99946652e-01 -1.76933020e-03 4.85566223e-01] [ 6.47702315e-04 1.77601315e-03 9.99998213e-01 -6.02292205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.183133365 meters 0.6519240401130072 Centerline is valid? [False, False] Translation: X:3.93, Y:0.49, Z:-0.62 [[ 9.99930946e-01 1.17278871e-02 -7.47619736e-04 3.93145968e+00] [-1.17283476e-02 9.99931032e-01 -6.14570313e-04 4.87376481e-01] [ 7.40360563e-04 6.23296219e-04 9.99999532e-01 -6.18826940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.243133365 meters 0.7290648847376726 Centerline is valid? [False, False] Translation: X:3.94, Y:0.49, Z:-0.63 [[ 9.99949111e-01 1.00849912e-02 -2.60955101e-04 3.94273772e+00] [-1.00855601e-02 9.99946541e-01 -2.27957886e-03 4.86358452e-01] [ 2.37951618e-04 2.28209473e-03 9.99997368e-01 -6.32116973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.303133365 meters 0.6550013778578236 Centerline is valid? [False, False] Translation: X:3.95, Y:0.49, Z:-0.64 [[ 9.99967002e-01 8.10681126e-03 -5.24207364e-04 3.95064910e+00] [-8.10904352e-03 9.99957412e-01 -4.40650388e-03 4.87316612e-01] [ 4.88462344e-04 4.41060929e-03 9.99990154e-01 -6.39869627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.363133365 meters 0.6805743639639358 Centerline is valid? [False, False] Translation: X:3.97, Y:0.49, Z:-0.66 [[ 9.99944107e-01 1.05613675e-02 -4.89702223e-04 3.96593946e+00] [-1.05625810e-02 9.99940975e-01 -2.54538622e-03 4.89433379e-01] [ 4.62790558e-04 2.55041647e-03 9.99996641e-01 -6.56301430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42313336499996 meters 0.7271145812750617 Centerline is valid? [False, False] Translation: X:3.98, Y:0.49, Z:-0.67 [[ 9.99920827e-01 1.25451598e-02 -9.79241929e-04 3.97670144e+00] [-1.25463932e-02 9.99920492e-01 -1.26369468e-03 4.94896672e-01] [ 9.63310820e-04 1.27588059e-03 9.99998722e-01 -6.66475983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48313336499996 meters 0.7072303988952235 Centerline is valid? [False, False] Translation: X:3.99, Y:0.50, Z:-0.68 [[ 9.99906955e-01 1.35729436e-02 -1.36220918e-03 3.98740551e+00] [-1.35743780e-02 9.99907313e-01 -1.04928434e-03 4.98921020e-01] [ 1.34784104e-03 1.06767786e-03 9.99998522e-01 -6.76903598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54313336499996 meters 0.6903747969855903 Centerline is valid? [False, False] Translation: X:4.02, Y:0.50, Z:-0.69 [[ 9.99967363e-01 7.38754778e-03 3.27057158e-03 4.01742651e+00] [-7.39678774e-03 9.99968661e-01 2.82215938e-03 5.00390476e-01] [-3.24962025e-03 -2.84625900e-03 9.99990669e-01 -6.90223596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60313336499996 meters 0.6654319482291218 Centerline is valid? [False, False] Translation: X:4.02, Y:0.51, Z:-0.69 [[ 9.99992200e-01 2.41096440e-03 3.12840171e-03 4.01820313e+00] [-2.40276324e-03 9.99993674e-01 -2.62263072e-03 5.07030121e-01] [-3.13470499e-03 2.61509345e-03 9.99991667e-01 -6.90703954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66313336499996 meters 0.6642060027758454 Centerline is valid? [False, False] Translation: X:4.03, Y:0.51, Z:-0.70 [[ 9.99994106e-01 -2.48058049e-03 2.37394220e-03 4.03003422e+00] [ 2.49843781e-03 9.99968384e-01 -7.54905089e-03 5.11359745e-01] [-2.35514112e-03 7.55493754e-03 9.99968688e-01 -7.00313501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72313336499997 meters 0.6291707717106038 Centerline is valid? [False, False] Translation: X:4.04, Y:0.51, Z:-0.71 [[ 9.99993687e-01 -3.10932900e-03 1.71960804e-03 4.04036842e+00] [ 3.12272903e-03 9.99964348e-01 -7.84549549e-03 5.10666743e-01] [-1.69515251e-03 7.85081584e-03 9.99967745e-01 -7.09140236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78313336499997 meters 0.6090306253591515 Centerline is valid? [False, False] Translation: X:4.05, Y:0.51, Z:-0.72 [[ 9.99991885e-01 -3.98047384e-03 6.21404414e-04 4.05433631e+00] [ 3.98529687e-03 9.99960350e-01 -7.96343879e-03 5.06814897e-01] [-5.89681516e-04 7.96585064e-03 9.99968098e-01 -7.20695880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84313336499997 meters 0.6790074927779938 Centerline is valid? [False, False] Translation: X:4.06, Y:0.50, Z:-0.72 [[ 9.99999556e-01 9.42833451e-04 -3.57518326e-06 4.05956420e+00] [-9.42839402e-04 9.99996511e-01 -2.46751718e-03 4.99002218e-01] [ 1.24871305e-06 2.46751945e-03 9.99996956e-01 -7.24187500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6176.42 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%| | 0/12396 [00:00